Underwater operation robot device for submarine cable maintenance and docking tasks

Abstract

And the underwater operation robot device is used for submarine cable maintenance and docking tasks. The device comprises a carrier frame, and a floating box is arranged at the top of the carrier frame and used for guaranteeing the stability of the carrier frame; a hydraulic pump station, a pressure-resistant protective shell, a support steering wheel and a lighting system are mounted on a horizontal plate of the carrier frame, and the support steering wheel is tightly sleeved with the pressure-resistant protective shell; a double-operation manipulator device is mounted on the right side of a bottom plate of the carrier frame and comprises a mechanical arm I and a mechanical arm II; the lighting system is arranged between the mechanical arm I and the mechanical arm II; a hydraulic pump station is arranged on the left side of the horizontal plate and connected with an oil cylinder to provide lubrication for a mechanical device. The carrier frame is further provided with a power propelling device. According to the underwater operation robot, the deepwater submarine pipeline tie-back task can be completed, flexible underwater operation can be achieved through six-degree-of-freedom movement, and manual underwater operation is not needed.

Description

Technical Field

[0001] The invention belongs to the field of underwater robots, and in particular relates to an underwater operation robot device used for submarine cable maintenance and docking tasks. Background Art

[0002] As countries continue to increase their investment in areas such as marine development and marine protection, autonomous underwater robots have become the focus of marine development in countries around the world. Due to their flexible operation and small size, they are currently one of the few equipment capable of deep-sea operations. In order to cope with the complexity and challenges faced in maintaining submarine cables, researchers have developed an underwater docking robot for submarine cable maintenance. This robot has core technologies such as high-precision positioning and autonomous navigation, as well as the ability to work stably in complex submarine environments, and reliable docking technology to achieve automatic inspection of submarine cables.

[0003] As marine resources are continuously developed and utilized, the laying and maintenance of submarine cables, as the main channel for information transmission and energy supply, are becoming increasingly important. Underwater robots, also known as unmanned remote-controlled submersibles, are extreme operation robots that work underwater. The underwater environment is harsh and dangerous, and the diving depth of humans is limited, so underwater robots have become an important tool for developing the ocean. Conventional underwater robots are too large or too heavy to achieve flexible underwater operations. Summary of the invention

[0004] The purpose of the present invention is to provide an underwater operation robot device for submarine cable maintenance and docking tasks, which solves the technical problems in the prior art that the robot is too large or too heavy to achieve flexible underwater operations and can complete deep-water submarine pipeline reconnection tasks.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] An underwater operation robot device for submarine cable maintenance and docking tasks, comprising: a carrier frame, a buoyancy box is provided on the top of the carrier frame to ensure the stability of the carrier frame; a hydraulic pump station, a pressure-resistant protective shell, a support steering disc and a lighting system are installed on the horizontal plate of the carrier frame, and the pressure-resistant protective shell is tightly sleeved on the outside of the support steering disc; a double-operation manipulator device is installed on the right side of the bottom plate of the carrier frame, and the double-operation manipulator device includes a No. 1 manipulator arm and a No. 2 manipulator arm; the lighting system is provided between the No. 1 manipulator arm and the No. 2 manipulator arm; a hydraulic pump station is provided on the left side of the horizontal plate, and the hydraulic pump station is connected to the oil cylinder to provide lubrication for the mechanical device; a power propulsion device is also installed on the carrier frame.

[0007] Furthermore, the No. 1 robotic arm includes a connector 1, a connector 2, and a connector 3, the connector 1 is hinged to the connector 2, the connector 2 is hinged to the connector 3, the connector 3 is hinged to a base, and the base is mounted on a horizontal plate of the carrier frame; an integrated electronic cabin is provided between the connector 1 and the connector 2, a servo motor is installed on the upper part of the connector 1, a drive shaft of the servo motor is connected to a bracket, a push rod and a push rod connector are provided inside the bracket, one end of the push rod is connected to the bracket, and the other end of the push rod is connected to a spring; the push rod connector is hinged to one end of an L-shaped hinge at the through hole of the bracket, and the other end of the L-shaped hinge is connected to the No. 1 gripper.

[0008] Furthermore, the No. 1 hand gripper includes two V-shaped fingers, and the two V-shaped fingers are respectively connected to connecting rod one and connecting rod two, and the connecting rod one and connecting rod two are respectively hinged to the support plate, and the two connecting rods two have U-shaped grooves respectively, and the groove rod passes through the U-shaped grooves, and the groove rod is installed on the groove rod frame, and the groove rod frame is connected to the hydraulic cylinder, and the hydraulic cylinder is used to push the groove rod frame to move forward and backward, and drive the V-shaped fingers through various transmission structures to realize the loosening action of the workpiece, so that the workpiece is successfully placed in the preset position.

[0009] Furthermore, the No. 2 mechanical arm includes a No. 2 gripper, the hydraulic cylinder 1, and the hydraulic cylinder 2. The No. 2 gripper is mounted on a motor, and the motor controls the No. 2 gripper to clamp, rotate, and adjust to a desired direction. The motor is connected to one end of the arm, and the other end of the arm is connected to a joint through a rotating shaft, and the joint is mounted on a support.

[0010] The hydraulic cylinder has one end close to the joint connected by a rotating shaft, and the other end mounted on the support, for adjusting the distance control of the manipulator in the horizontal direction;

[0011] One end of the hydraulic cylinder is connected to the arm through a rotating shaft, and the other end is connected to the joint, which is used to adjust the distance control of the manipulator in the horizontal direction.

[0012] Furthermore, the surface of the No. II grip has serrated scratches for clamping and fixing underwater cables, thereby facilitating the laying and maintenance of submarine cables.

[0013] Furthermore, the power propulsion device includes three pairs of underwater thrusters, four of which are horizontal thrusters and the other two are vertical thrusters; the four horizontal thrusters are located on the same horizontal plane, and the four horizontal thrusters are symmetrically arranged around the center point of a circle, so that they have better maneuverability on the horizontal plane, and the thrust of the four horizontal thrusters is output in a circular shape; the two vertical thrusters are installed on the same vertical plane, and are used for lifting and lowering the robot and controlling the vertical plane movement.

[0014] Furthermore, the underwater thrusters are installed on horizontal cross frames on both sides of the carrier frame, and the vertical thrusters are installed on vertical frames on both sides of the carrier frame.

[0015] Furthermore, the lighting system is clamped on a horizontal plate by a fixed bracket and is located directly in front of the oil tank. The fixed bracket and the horizontal plate are an integrated structure. The lighting system is located directly in front of the bottom of the carrier frame and vertically installs an LED deep-water lighting lamp and a wide-angle camera. The deep-water lighting lamp can achieve a pitch movement of 90° up and down and is used for underwater lighting. The LED deep-water lighting lamp and the wide-angle camera are combined to monitor the surrounding environment.

[0016] Furthermore, the buoyancy box is made of high-strength PE plastic material and is manufactured by rotational molding to ensure the stability and load-bearing capacity of the underwater robot and prevent the device from being unstable due to erosion by water flow.

[0017] Furthermore, the carrier frame includes a plurality of rectangular titanium alloy skeletons, and the titanium alloy skeletons and the clamps are arranged at corresponding intervals and fixed to the titanium alloy outer frame by screws.

[0018] The beneficial effects of the present invention are:

[0019] The buoyancy box of the present invention provides distributed buoyancy for the underwater robot to ensure that it maintains a good linear shape in the water and reaches a zero buoyancy state in the water, thereby improving the overall performance of the platform; the carrier frame is responsible for carrying sensors, controllers and working tools, and the power propulsion device uses six propeller thrusters to achieve three translational motions and three rotational motions, which is convenient for adapting to the complex environment of the ocean and provides operational flexibility and stability.

[0020] The deepwater lighting of the present invention is located in front of the oil tank and is used to search for equipment and monitor the surrounding environment. The deepwater lighting can achieve 90° pitching movement up and down, and is used to display the underwater status of the anchor chain and the buoy. The dual-operation manipulator device realizes folding and stretching movement through multiple hinged connecting rods, and realizes the docking and maintenance tasks of the submarine cable by fixing one end and clamping the other end. It can complete the deepwater submarine pipeline reconnection task, and can realize flexible underwater operations through six-degree-of-freedom movement without the need for manpower to go into the water for operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Attached Figure 1 It is a structural schematic diagram of the present invention.

[0022] Attached Figure 2 Yes Figure 1 Schematic diagram of the structure of the No. 1 robotic arm device.

[0023] Attached Figure 3 Yes Figure 2 Schematic diagram of the structure of the medium No. 1 gripper.

[0024] Attached Figure 4 Yes Figure 1 Schematic diagram of the structure of the medium-sized robot arm device II.

[0025] The above drawings include the following reference numerals:

[0026] 1. No. Ⅰ mechanical arm; 2. Lighting system; 3. No. Ⅱ mechanical arm; 4. Underwater thruster; 5. Carrier frame; 6. Hydraulic pump station; 7-pressure protection shell; 8. Support steering wheel; 9. Floating tank;

[0027] 1-1, base; 1-2, connector 1; 1-3, connector 2; 1-4, connector 3; 1-5, push rod; 1-6, bracket; 1-7, No. Ⅰ grip; 1-8, L-shaped hinge; 1-9, push rod link; 1-10, servo motor; 1-11 integrated electronic cabin.

[0028] 1-7-1, V-finger; 1-7-2, connecting rod one; 1-7-3, support plate; 1-7-4, hydraulic cylinder; 1-7-5, slot rod frame; 1-7-6, slot rod; 1-7-7, connecting rod two;

[0029] 3-1, No. Ⅱ gripper; 32-motor; 33-big arm; 34-joint; 35-support; 36-hydraulic cylinder 1; 37-hydraulic cylinder 2. DETAILED DESCRIPTION

[0030] The present invention is further described below in conjunction with the accompanying drawings.

[0031] Embodiment 1:

[0032] According to an embodiment of the present invention, there is provided an underwater operation robot device for submarine cable maintenance and docking tasks, as shown in the attached Figure 1 As shown, it includes: a carrier frame 5, a power propulsion device, a lighting system, and a dual-operation manipulator device.

[0033] The top of the carrier frame 5 is provided with a buoyancy box 9, which is welded and fastened to ensure the stability of the carrier frame. The buoyancy box provides distributed buoyancy for the underwater robot to ensure that it maintains a good linear shape in the water and reaches a zero buoyancy state in the water, thereby improving the overall performance of the platform.

[0034] Preferably, the buoyancy box 4 in this embodiment is made of high-strength PE plastic material and is manufactured by rotational molding to ensure the stability and load-bearing capacity of the underwater robot and prevent the device from being washed away by water and becoming unstable.

[0035] Preferably, the carrier frame 5 in this embodiment includes a plurality of rectangular titanium alloy skeletons, and the titanium alloy skeletons and the clamps are arranged at corresponding intervals and fixed to the titanium alloy outer frame by screws.

[0036] The dual-operation manipulator device comprises a No. Ⅰ manipulator 1 and a No. Ⅱ manipulator 3 .

[0037] The horizontal plate of the carrier frame 5 is equipped with a hydraulic pump station 6, a pressure-resistant protective shell 7, a support steering disc 8 and a lighting system 2. The horizontal plate is the load-bearing structure of the entire platform. The frame side plate is welded to the bottom plate, and the pressure-resistant protective shell 7 is tightly sleeved on the outside of the support steering disc 8 and screwed to the horizontal plate. The dual-operation manipulator is placed on the right side of the bottom plate of the carrier frame 5. The lighting system is installed in the middle of the dual-operation manipulator device for underwater lighting and monitoring the surrounding environment. The hydraulic pump station is located on the left side of the horizontal plate and is directly connected to the oil cylinder to provide lubrication for the mechanical device.

[0038] It is worth noting that in order to ensure that each module of the underwater robot can be reasonably installed on the carrier frame, space should be left for the subsequent addition of functional modules or the addition of a counterweight system. The deviation can be adjusted by increasing the volume and counterweight of the buoyancy module to achieve zero buoyancy in the water.

[0039] Preferably, the power propulsion device in this embodiment includes three pairs of underwater thrusters, four of which are horizontal thrusters 4, and the other two are vertical thrusters 15; the four horizontal thrusters 4 are located on the same horizontal plane, and the four horizontal thrusters 4 are symmetrically arranged around the center point of the circle, so that they have better maneuverability in the horizontal plane, and the thrust of the four horizontal thrusters 4 is output in a ring shape to form a steering thruster, and the two vertical thrusters 15 are installed on the same vertical plane for robot lifting and lowering and controlling vertical plane movement; the underwater thrusters 4 are installed on the horizontal cross frames on both sides of the carrier frame 5, and the vertical thrusters 15 are installed on the vertical frames on both sides of the carrier frame 5.

[0040] Specifically, the horizontal propeller and the vertical propeller are both installed on both sides of the frame through propeller mounting seats and fixing locks matched with the propellers, and threaded holes are opened on the carrier frame to install screws.

[0041] The underwater propeller includes a propeller housing and a blade device, the propeller housing is connected to the blade device, and a driving device runs through the inner cavity of the blade device; the driving device drives the transmission shaft by changing the motor power, and adjusts the speed of the blade by the speed reduction gear.

[0042] Preferably, the lighting system in this embodiment is clamped on the horizontal plate by a fixing bracket; the fixing bracket and the horizontal plate are an integrated structure. The lighting system is located in front of the bottom of the frame and has an LED deep-water lighting lamp installed vertically. The LED deep-water lighting lamp is located in front of the fuel tank and is used to search for equipment and monitor the surrounding environment. It can achieve 90° pitch movement up and down, and is used to monitor the surrounding environment and display the underwater status of the anchor chain and buoy. The lighting device includes a frame, a front cover, a support ring, a fuselage, a rear cover, a mounting bracket, fastening screws and other parts.

[0043] As attached Figure 2 As shown, the No. 1 mechanical arm in this embodiment includes a connecting piece 1-2, a connecting piece 2 1-3, a connecting piece 3 1-4, a push rod 1-5, a bracket 1-6, a No. 1 hand grip 1-7, an L-shaped hinge 1-8, a push rod connecting piece 1-9, and a screw; the No. 1 mechanical arm includes a connecting piece 1-2, a connecting piece 2 1-3, and a connecting piece 3 1-4, the connecting piece 1-2 is hinged to the connecting piece 2 1-3, the connecting piece 2 1-3 is hinged to the connecting piece 3 1-4, the connecting piece 3 1-4 is hinged to the base 1-1, and the base 1-1 is installed on the carrier frame 5. On the horizontal plate; an integrated electronic cabin 1-11 is provided between the connector 1-6 and the connector 2-7; a servo motor 1-10 is installed on the upper part of the connector 1-2; the driving shaft of the servo motor 1-10 is connected to the bracket 1-6; a push rod 1-5 and a push rod connector 1-9 are provided inside the bracket 1-6; one end of the push rod is connected to the bracket 1-6, and the other end of the push rod 1-5 is connected to a spring; the push rod connector 1-9 is hinged to one end of an L-shaped hinge 1-8 at the through hole of the bracket 1-6, and the other end of the L-shaped hinge 1-8 is connected to the No. 1 hand grip 1-7. The push rod 1-5 generates a pulling force under the action of the hydraulic cylinder, and drives the No. 1 hand grip 1-7 to achieve clamping movement on the workpiece through the hinge and the connector, thereby driving the workpiece.

[0044] The connecting piece 1-2, the connecting piece 2-3, and the connecting piece 3-1-4 are connected to the push rod 1-5 by screws and nails to generate tension under the action of the hydraulic cylinder, and drive the No. 1 hand grip to clamp the workpiece through the hinge and the connecting piece to drive the workpiece.

[0045] Specifically, the connector 1-2 in this embodiment is connected to the rotating disc at the lower end of the integrated electronic cabin 1-11; the upper end of the integrated electronic cabin 1-11 is connected to the through hole at the bottom of the connector 1; the threaded hole at the bottom of the servo motor 69 is connected to the upper part of the connector 1 through a nut; the drive shaft of the servo motor 69 is directly connected to the bracket 65; high-strength bolts are used with special washers and nuts for fastening connection, and wear-resistant alloy bushings are provided at the holes of the electronic cabin and the connector. The base is installed on the horizontal plate of the carrier frame, and the outer side of the rotating disc is threaded with a flange nut.

[0046] As attached Figure 3 As shown, the No. Ⅰ hand grip 1-7 in this embodiment includes two V-shaped fingers 1-7-1, and the two V-shaped fingers 1-7-1 are respectively connected to the connecting rod 1-7-1 and the connecting rod 2 1-7-7, and the connecting rod 1 1-7-1 and the connecting rod 2 1-7-1 are respectively hinged to the support plate 1-7-3, and the two connecting rods 1-7-7 have U-shaped grooves respectively, and the groove rod 1-7-6 passes through the U-shaped grooves, and the groove rod 1-7-6 is installed on the groove rod frame 1-7-5, and the groove rod frame 1-7-5 is connected to the hydraulic cylinder 1-7-4, and the hydraulic cylinder 1-7-4 is used to push the groove rod frame 1-7-5 to move forward and backward, and drive the V-shaped fingers 1-7-1 through the transmission structures at various locations to realize the loosening action of the workpiece, so that the workpiece is successfully placed in the preset position.

[0047] As attached Figure 4 As shown, the mechanical arm 2 in this embodiment includes a gripper 2-1, a hydraulic cylinder 1-3-6, and a hydraulic cylinder 2-3-7. The gripper 2-1 is mounted on a motor 3-2, and the motor 3-2 controls the gripper 2-1 to clamp, rotate, and adjust to the desired direction. The motor 3-2 is connected to one end of the arm 3-3, and the other end of the arm 3-3 is connected to the joint 3-4 through a rotating shaft, and the joint 3-4 is mounted on a support 3-5. The end of the hydraulic cylinder 1-3-6 close to the joint is connected through a rotating shaft, and the other end is mounted on the support 3-5, which is used to adjust the distance control of the manipulator in the horizontal direction. The hydraulic cylinder 2-3-7 is connected to the arm 3-3 through a rotating shaft at one end, and connected to the joint 3-4 at the other end, which is used to adjust the distance control of the manipulator in the horizontal direction. The gripper 2-1 has serrated scratches on its surface, which is used to clamp and fix underwater cables, facilitating the laying and maintenance of submarine cables.

[0048] Embodiment 2:

[0049] Based on the underwater operation robot device for submarine cable maintenance and docking tasks described in Example 1, the No. Ⅰ robot arm 1 and the No. Ⅱ robot arm 3 are used to grab the cable and perform guided docking and maintenance of the submarine cable. The deployment process is as follows:

[0050] First, the offshore platform is connected to the underwater robot through a hanger, and after the lifting winch is started, the robot is moved a certain distance away from the hull deck, and then lowered into the water. The floating box 9 serving as a buoyancy regulating device is used to start the heave compensation, so that the robot is in the middle position and reciprocates to offset the heave motion, and the ore collecting car is lowered at a uniform speed. When the robot reaches the specified depth and approaches the seabed, it is slowly lowered until the underwater robot touches the bottom.

[0051] When working underwater, after the joint used to repair the damaged part of the cable is made, the mechanical protection shell and the bend limiter are installed and the joint is sunk.

[0052] The No. Ⅱ mechanical arm 1 first drives the mechanical arm to adjust the driving angle through the hydraulic cylinder 1-3-6, and then starts the motor 3-2 to realize the grabbing and fixing task of the No. Ⅱ hand grip 3-1, while the No. Ⅰ mechanical arm 1 adjusts the angle of the connector 1-2 to align the No. Ⅰ hand grip 1-7 with the joint to be grabbed, and aligns the joint with the cable installation. The middle joint uses a prefabricated joint or a soft joint. After the maintenance docking is completed, the underwater operation robot adjusts the lurking height through the buoy 9, and aligns the lifting ring with the lifting device through the multi-degree-of-freedom underwater thruster 4 to complete the recovery. Completing the recovery process is the reverse process of the deployment process.

[0053] Preferably, in this embodiment, when the V-shaped finger 1-7-1 approaches an object, the groove rod 1-7-6 generates a driving force under the action of the hydraulic cylinder 1-7-4, and drives the end V-shaped finger 1-7-1 to clamp the workpiece through the support plate 1-7-3, the connecting rod 1-7-1 and the connecting rod 2 1-7-7, so that the finger clamps and drives the workpiece. Similarly, after the V-shaped finger 1-7-1 moves the workpiece to the preset position, the groove rod 1-7-6 generates a thrust under the action of the hydraulic cylinder 1-7-4, and drives the V-shaped finger 1-7-1 through various transmission structures to loosen the workpiece, so that the workpiece is successfully placed at the preset position.

[0054] Preferably, the dual-operation manipulator device described in this embodiment uses a single sliding pin lever type. When half extended, the front length is about 800mm. It weighs about 2000N in the air, and the center of gravity is located 1400mm away from the tail section. When the end hand approaches the object, the push rod generates a pulling force under the action of the hydraulic cylinder, and drives the end hand claw to realize the clamping movement through the sliding pin, hinge and various transmission structures, so that the claw clamps and drives the workpiece. Similarly, after the end finger moves the workpiece to the preset position, the push rod generates a thrust under the action of the hydraulic cylinder, and drives the end two fingers through various transmission structures to realize the loosening action of the workpiece, so that the workpiece is successfully placed in the preset position. The upper part of the lifting ring is an annular body with an arc-shaped upper part and a straight part at the lower part; the lifting ring buckle is elliptical as a whole, and is an integrated structure; the lifting ring sleeve is welded to the upper elliptical part and the lower straight part of the lifting ring.

[0055] Preferably, the design technical indicators of the present invention are:

[0056] (1) The horizontal navigation speed of the vessel should be determined according to the actual operation requirements and should be 1-2 knots, equivalent to about 0.5-1 m / s.

[0057] (2) The working depth and maximum diving depth of the submarine cable underwater docking robot shall be specified according to the use requirements. The working depth refers to the maximum diving depth that the underwater robot can reach during normal operation. Within this depth range, the robot can dive freely without causing permanent deformation of the pressure hull or causing sealing performance problems. The limit depth refers to the maximum diving limit that the underwater robot can reach, but at this depth, the robot can only make a limited number of short stops. The limit depth is not equivalent to the destruction depth, because there are many potential factors that have not been fully considered during the prototype design stage.

[0058] (3) After considering stability factors, the maximum diving depth is limited to 600 meters.

[0059] (4) Effective load: Since the submarine cable underwater docking robot must carry a variety of equipment when performing submarine pipeline reconnection work, a higher load capacity should be selected, initially set to 100 kg.

[0060] (5) Overall size: Using a frame design, the initial planned size is 1m×0.85m×0.6m.

[0061] (6) Air mass: including carrying structure, propeller, enclosed cabin, working equipment, etc., totaling 700 kg.

[0062] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0063] The buoyancy box of the present invention provides distributed buoyancy for the underwater robot to ensure that it maintains a good linear shape in the water and reaches a zero buoyancy state in the water, thereby improving the overall performance of the platform; the carrier frame is responsible for carrying sensors, controllers and operating tools, and the power propulsion device uses six propeller thrusters to achieve three translational movements and three rotational movements, which is convenient for adapting to the complex environment of the ocean and provides operational flexibility and stability. The dual-operation manipulator device realizes folding and stretching movements through multiple articulated connecting rods, and realizes the docking and maintenance tasks of submarine cables by fixing one end and clamping the other end. It can complete the task of deep-water submarine pipeline reconnection, and can realize flexible underwater operations through six-degree-of-freedom movements without the need for manpower to go into the water.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An underwater operation robot device for submarine cable maintenance and docking tasks, characterized in that: include: A carrier frame (5), wherein a buoyancy box (4) is provided on the top of the carrier frame (5) for ensuring the stability of the carrier frame; a hydraulic pump station (6), a pressure-resistant protective shell (7), a support steering disc (8) and a lighting system (2) are installed on the horizontal plate of the carrier frame (5), and the pressure-resistant protective shell (7) is tightly sleeved on the outside of the support steering disc (8); a dual-operation manipulator device is installed on the right side of the bottom plate of the carrier frame, and the dual-operation manipulator device includes a No. 1 manipulator arm (1) and a No. 2 manipulator arm (3); the lighting system (2) is provided between the No. 1 manipulator arm (1) and the No. 2 manipulator arm (3); a hydraulic pump station (6) is provided on the left side of the horizontal plate, and the hydraulic pump station (6) is connected to the oil cylinder to provide lubrication for the mechanical device; a power propulsion device is also installed on the carrier frame (5).

2. The underwater operation robot device for submarine cable maintenance and docking tasks according to claim 1 is characterized in that: The robot arm No. Ⅰ comprises a connecting piece 1 (1-2), a connecting piece 2 (1-3), and a connecting piece 3 (1-4); the connecting piece 1 (1-2) is hinged to the connecting piece 2 (1-3); the connecting piece 2 (1-3) is hinged to the connecting piece 3 (1-4); the connecting piece 3 (1-4) is hinged to a base (1-1); the base (1-1) is mounted on a horizontal plate of the carrier frame (5); an integrated electronic cabin (1-11) is provided between the connecting piece 1 (6) and the connecting piece 2 (7); the connecting piece 1 ( A servo motor (1-10) is installed on the upper part of 1-2, and the driving shaft of the servo motor (1-10) is connected to the bracket (1-6). A push rod (1-5) and a push rod connecting piece (1-9) are arranged inside the bracket (1-6). One end of the push rod is connected to the bracket (1-6), and the other end of the push rod (1-5) is connected to a spring; the push rod connecting piece (1-9) is hinged to one end of an L-shaped hinge (1-8) at a through hole of the bracket (1-6), and the other end of the L-shaped hinge (1-8) is connected to the No. 1 hand grip (1-7).

3. The underwater operation robot device for submarine cable maintenance and docking tasks according to claim 2 is characterized in that: The No. Ⅰ hand grip (1-7) includes two V-shaped fingers (1-7-1), the two V-shaped fingers (1-7-1) are respectively connected to the connecting rod one (1-7-1) and the connecting rod two (1-7-7), the connecting rod one (1-7-1) and the connecting rod two (1-7-1) are respectively hinged to the support plate (1-7-3), the two connecting rods (1-7-7) are respectively provided with a U-shaped groove, the groove rod (1-7-6) passes through the U-shaped groove, the groove rod (1-7-6) is installed on the groove rod frame (1-7-5), the groove rod frame (1-7-5) is connected to the hydraulic cylinder (1-7-4), the hydraulic cylinder (1-7-4) is used to push the groove rod frame (1-7-5) to move forward and backward, and drive the V-shaped fingers (1-7-1) through the transmission structures at various locations to realize the loosening action of the workpiece, so that the workpiece is successfully placed in the preset position.

4. The underwater operation robot device for submarine cable maintenance and docking tasks according to claim 1 is characterized in that: The mechanical arm No. II (3) comprises a gripper No. II (3-1), a hydraulic cylinder No. 1 (3-6), and a hydraulic cylinder No. 2 (3-7); the gripper No. II (3-1) is mounted on a motor (3-2); the motor (3-2) controls the gripper No. II (3-1) to clamp, rotate, and adjust to a desired direction; the motor (3-2) is connected to one end of the upper arm (3-3); the other end of the upper arm (3-3) is connected to a joint (3-4) via a rotating shaft; and the joint (3-4) is mounted on a support member (3-5); The hydraulic cylinder 1 (3-6) has one end close to the joint connected via a rotating shaft, and the other end mounted on the support (3-5) for adjusting the distance control of the manipulator in the horizontal direction; One end of the second hydraulic cylinder (3-7) is connected to the large arm (3-3) via a rotating shaft, and the other end is connected to the joint (3-4), and is used to adjust the distance control of the manipulator in the horizontal direction.

5. The underwater operation robot device for submarine cable maintenance and docking tasks according to claim 1 is characterized in that: The surface of the No. II hand grip (3-1) is provided with serrated scratches and is used for clamping and fixing the underwater cable, so as to facilitate the laying and maintenance of the submarine cable.

6. The underwater operation robot device for submarine cable maintenance and docking tasks according to claim 1 is characterized in that: The power propulsion device comprises three pairs of underwater thrusters, four of which are horizontal thrusters (4) and the other two are vertical thrusters (15); the four horizontal thrusters (4) are located on the same horizontal plane, and the four horizontal thrusters (4) are symmetrically arranged around the center point of a circle, so that the robot has good maneuverability on the horizontal plane, and the thrust of the four horizontal thrusters (4) is output in a circular shape; the two vertical thrusters (15) are installed on the same vertical plane and are used for lifting and lowering the robot and controlling the vertical plane movement.

7. The underwater operation robot device for submarine cable maintenance and docking tasks according to claim 6 is characterized in that: The underwater propeller (4) is installed on the horizontal cross frames on both sides of the carrier frame (5), and the vertical propeller (15) is installed on the vertical frames on both sides of the carrier frame (5).

8. The underwater operation robot device for submarine cable maintenance and docking tasks according to claim 1 is characterized in that: The lighting system (2) is clamped on a horizontal plate by a fixed bracket and is located directly in front of the oil tank. The fixed bracket and the horizontal plate are an integrated structure. The lighting system (2) is located directly in front of the bottom of the carrier frame (5) and vertically installs an LED deep-water lighting lamp and a wide-angle camera. The deep-water lighting lamp can achieve a pitch movement of 90° up and down and is used for underwater lighting. The LED deep-water lighting lamp and the wide-angle camera are combined to monitor the surrounding environment.

9. The underwater operation robot device for submarine cable maintenance and docking tasks according to claim 1 is characterized in that: The buoyancy box (4) is made of high-strength PE plastic material and is manufactured by rotational molding, thereby ensuring the stability and load-bearing capacity of the underwater robot and preventing the device from being washed away by water flow and becoming unstable.

10. The underwater operation robot device for submarine cable maintenance and docking tasks according to claim 1, characterized in that: The carrier frame (5) comprises a plurality of rectangular titanium alloy frames, wherein the titanium alloy frames and the clamps are arranged at corresponding intervals and fixed to the titanium alloy outer frame by screws.

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