Underwater foreign matter clamping manipulator

Abstract

The invention relates to the technical field of manipulators, in particular to an underwater foreign matter clamping manipulator. The manipulator comprises a clamping base, a first guide rail, a second guide rail, a first clamping assembly, a second clamping assembly, a linear driving device and a reverse transmission assembly, wherein the first guide rail and the second guide rail are arranged in parallel; the linear driving device drives the first clamping assembly to move, and the second clamping assembly synchronously and reversely moves through the reverse transmission assembly in flexible closed-loop transmission, so that symmetrical translation clamping is completed. Furthermore, the clamping mechanism further comprises a rotary driving assembly, so that the whole clamping mechanism can rotate around the vertical axis, and the operation flexibility is improved. The linear driving device is matched with the flexible reverse transmission assembly, accurate translation of the double clamping plates is achieved through the least driving sources, the size and the weight of the manipulator body are reduced, and the manipulator is particularly suitable for underwater operation in a narrow space.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to an underwater foreign object gripping robotic arm. Background Technology

[0002] In underwater operations such as marine observation, pipeline maintenance, and shipwreck salvage, robotic arms are often used to grasp and remove foreign objects. Existing underwater robotic grippers mostly employ linkage-driven structures, such as four-bar linkages, resulting in large size and difficulties in sealing. When driving the grippers to open and close, due to the kinematic characteristics of the linkage mechanism, the movement trajectory of the grippers is not purely translational, but rather generates an additional displacement perpendicular to the gripping direction, i.e., back-and-forth movement. This non-translational characteristic causes the gripping points of the two grippers to potentially slip relative to each other during the closing process, making the gripping unstable and unreliable, especially for objects with smooth surfaces or irregular shapes, which are prone to falling off. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to solve at least one of the technical problems mentioned above.

[0004] The solution to the technical problem of this invention is: an underwater foreign object gripping robot, comprising: a gripping base; a first guide rail disposed on the gripping base; a second guide rail disposed on the gripping base and spaced parallel to the first guide rail; a first gripping assembly slidably disposed on the first guide rail, the first gripping assembly including a first clamping plate for gripping; a second gripping assembly slidably disposed on the second guide rail and opposite to the first gripping assembly, the second gripping assembly including a second clamping plate for gripping; and a linear drive device disposed on the gripping base, the drive end of the linear drive device being fixedly connected to the first gripping assembly to drive the first gripping assembly. The component reciprocates linearly along the first guide rail; a reverse transmission assembly is disposed on the clamping base, and the first clamping assembly is transmitted to the second clamping assembly via the reverse transmission assembly, enabling the first clamping assembly and the second clamping assembly to move towards or away from each other; it also includes a rotary drive assembly, which includes a rotary bearing seat, a bearing body, and a rotary drive device, the rotary bearing seat being used to connect to an external support platform; the bottom of the clamping base is rotatably disposed on the rotary bearing seat via the bearing body; the rotary drive device is disposed on the rotary bearing seat, and the rotary drive device is used to drive the clamping base to rotate around the central axis of the bearing body.

[0005] As a further improvement to the above technical solution, the reverse transmission assembly includes a flexible transmission component and two guide rollers. The two guide rollers are rotatably mounted on the clamping base and are spaced apart at both ends of the clamping base along the extension directions of the first guide rail and the second guide rail. The flexible transmission component is wound around the two guide rollers to form a first closed loop connected end to end. The first closed loop has a first straight segment and a second straight segment with opposite directions of movement. The first clamping assembly is fixedly connected to the first straight segment, and the second clamping assembly is fixedly connected to the second straight segment.

[0006] As a further improvement to the above technical solution, the flexible transmission component is a steel wire rope.

[0007] As a further improvement to the above technical solution, the first clamping assembly further includes a first slider and an active clamping plate connector. The first slider is slidably connected to the first guide rail and fixedly connected to the active clamping plate connector. The active clamping plate connector is fixedly connected to the driving end of the linear drive device, and the first clamping plate is disposed on the active clamping plate connector. The second clamping assembly further includes a second slider and a passive clamping plate connector. The second slider is slidably connected to the second guide rail and fixedly connected to the passive clamping plate connector. The second clamping plate is disposed on the passive clamping plate connector. The active clamping plate connector and the passive clamping plate connector are respectively fixedly connected to the first straight line segment and the second straight line segment.

[0008] As a further improvement to the above technical solution, the linear drive device is a first hydraulic cylinder, which is mounted on the clamping base. The piston rod of the first hydraulic cylinder is fixedly connected to the first clamping assembly. The first hydraulic cylinder is provided with inlet and outlet ports for connecting to an external hydraulic system to achieve telescopic drive.

[0009] As a further improvement to the above technical solution, the rotary drive device includes a transmission grooved wheel, a fixed pulley, a second hydraulic cylinder, a connecting block, and a rotary transmission cable. The transmission grooved wheel is fixedly mounted on the bottom of the clamping base and rotates synchronously with the clamping base. The fixed pulley is rotatably mounted on the rotary bearing seat. The rotary transmission cable is wound around the fixed pulley and the transmission grooved wheel to form a second closed loop connected end to end. The transmission grooved wheel has a groove that cooperates with the rotary transmission cable, and the rotary transmission cable and the transmission grooved wheel are in a driving cooperation. The second hydraulic cylinder is mounted on the rotary bearing seat, and the piston rod of the second hydraulic cylinder is fixedly connected to the connecting block. The connecting block is fixedly connected to the straight section of the rotary transmission cable to drive the transmission grooved wheel to rotate the clamping base.

[0010] As a further improvement to the above technical solution, the rotating transmission cable is a steel wire rope, and the groove surface of the transmission wheel is provided with anti-slip texture that cooperates with the steel wire rope.

[0011] As a further improvement to the above technical solution, the rotary drive assembly further includes a first bearing end cap, the rotary bearing housing is provided with a stepped hole, the bearing body is disposed in the stepped hole by an interference fit, and the first bearing end cap is disposed on the rotary bearing housing for axially limiting the outer ring of the bearing body.

[0012] As a further improvement to the above technical solution, a second bearing end cap is also included. The second bearing end cap is disposed on the bottom of the clamping base and is used to axially limit the inner ring of the bearing body.

[0013] The beneficial effects of this invention are as follows: the clamping base provides basic support; the first and second guide rails respectively constrain the movement trajectory of the first and second clamping components, ensuring that they only make pure linear movements along the clamping direction and eliminating additional displacement in the vertical direction; the linear drive device provides linear driving force to the first clamping component; the reverse transmission component is used to transmit the linear movement of the first clamping component in the reverse direction to the second clamping component, realizing the synchronous movement of the two clamping components in opposite directions, and ensuring the consistency and synchronicity of the clamping action. A single linear drive source combined with a reverse transmission component enables synchronous centering movement of the two grippers. Through the rigid constraints of the first and second guide rails, the first and second gripping components only perform linear reciprocating motion along the gripping direction, eliminating additional displacement in the vertical direction and preventing foreign objects from slipping out. The single linear drive source combined with the reverse transmission component achieves strictly synchronous opposite / backward movement of the two grippers, ensuring automatic centering during the gripping process without the need for complex dual-motor control. The bulky linkage mechanism is eliminated, resulting in a flat overall design. Utilizing a hydraulic cylinder and flexible transmission cable, the structure is simple, highly resistant to mud and sand, and, combined with the rotary drive component, particularly suitable for operations in confined spaces such as shipwreck compartments and inside pipelines. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of a robotic arm according to one embodiment of the present invention.

[0015] Figure 2 This is an exploded view of a robotic arm according to one embodiment of the present invention.

[0016] Figure 3 This is a cross-sectional view of a robotic arm according to one embodiment of the present invention.

[0017] Figure 4 This is a schematic diagram illustrating the cooperation between a linear drive device and a reverse transmission component according to one embodiment of the present invention.

[0018] Figure 5This is a schematic diagram of the structure of a rotary drive device according to one embodiment of the present invention.

[0019] Reference numerals in the attached drawings: 100-clamping base, 110-first guide rail, 120-second guide rail, 200-first clamping assembly, 210-first slider, 220-active clamping plate connector, 230-first clamping plate, 300-second clamping assembly, 310-second slider, 320-passive clamping plate connector, 330-second clamping plate, 400-linear drive device, 500-reverse transmission assembly, 510-flexible transmission component, 520-guide wheel, 600-rotary drive assembly, 610-rotary bearing seat, 611-stepped hole, 620-bearing body, 630-rotary drive device, 631-transmission pulley, 632-fixed pulley, 633-second hydraulic cylinder, 634-connecting block, 635-rotary transmission cable, 636-first bearing end cap, 637-second bearing end cap. Detailed Implementation

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments have been briefly explained above. Obviously, the described drawings are only a part of the embodiments of the present invention, and not all of them. Those skilled in the art can obtain other design schemes and drawings based on these drawings without creative effort.

[0021] The following will clearly and completely describe the concept, specific structure, and technical effects of the present invention in conjunction with embodiments and accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are all within the scope of protection of the present invention. Furthermore, all connections / linkages mentioned herein do not simply refer to direct connection of components, but rather to the ability to form a better connection structure by adding or reducing connecting accessories according to specific implementation conditions. The various technical features in this invention can be combined interactively without contradicting each other.

[0022] In underwater operations such as marine observation, pipeline maintenance, and shipwreck salvage, robotic arms are often used to grasp and remove foreign objects. Existing underwater robotic grippers mostly employ linkage-driven structures, such as four-bar linkages, resulting in large size and difficulties in sealing. When driving the grippers to open and close, due to the kinematic characteristics of the linkage mechanism, the movement trajectory of the grippers is not purely translational, but rather generates an additional displacement perpendicular to the gripping direction, i.e., back-and-forth movement. This non-translational characteristic causes the gripping points of the two grippers to potentially slip relative to each other during the closing process, making the gripping unstable and unreliable, especially for objects with smooth surfaces or irregular shapes, which are prone to falling off.

[0023] Therefore, this invention proposes an underwater foreign object grasping robot, referring to... Figures 1-5 It includes: a clamping base 100; a first guide rail 110 disposed on the clamping base 100; a second guide rail 120 disposed on the clamping base 100 and spaced parallel to the first guide rail 110; a first clamping assembly 200 slidably disposed on the first guide rail 110, the first clamping assembly 200 including a first clamping plate 230 for clamping; and a second clamping assembly 300 slidably disposed on the second guide rail 120 and disposed opposite to the first clamping assembly 200, the second clamping assembly 300 including a second clamping plate 230 for clamping. Clamping plate 330; linear drive device 400, disposed on clamping base 100, the drive end of the linear drive device 400 is fixedly connected to the first clamping component 200 to drive the first clamping component 200 to perform linear reciprocating motion along the first guide rail 110; reverse transmission component 500, disposed on clamping base 100, the first clamping component 200 is transmitted to the second clamping component 300 via the reverse transmission component 500, so that the first clamping component 200 and the second clamping component 300 can move towards or away from each other.

[0024] The clamping base 100 provides basic support; the first and second guide rails 120 respectively constrain the movement trajectory of the first and second clamping components 300, ensuring that they only make pure linear movements along the clamping direction and eliminating additional displacement in the vertical direction; the linear drive device 400 provides linear driving force to the first clamping component 200; the reverse transmission component 500 is used to transmit the linear movement of the first clamping component 200 in the reverse direction to the second clamping component 300, realizing the synchronous movement of the two clamping components in opposite directions, and ensuring the consistency and synchronicity of the clamping action. Through the rigid constraints of the first and second guide rails 120, the first and second clamping components 300 only perform linear reciprocating motion along the clamping direction, eliminating additional displacement in the vertical direction and preventing foreign objects from slipping off. By using a single linear drive source in conjunction with the reverse transmission component 500, the strictly synchronous opposite / backward movement of the two grippers is achieved, ensuring automatic centering during the clamping process without the need for complex dual-motor control. The bulky linkage mechanism is eliminated, and the overall design is flat. Utilizing a hydraulic cylinder and flexible transmission cable, the structure is simple and has strong resistance to mud and sand. Combined with the rotary drive component 600, it is particularly suitable for operation in confined spaces such as shipwreck compartments and inside pipelines.

[0025] The robotic arm is initially in an open state. When gripping is required, the drive end of the linear drive device 400 extends, pushing the first gripping component 200 to move along the first guide rail 110 toward the foreign object. The first gripping component 200 pulls the reverse transmission component 500, which transmits power in the opposite direction to the second gripping component 300, causing it to move synchronously toward each other along the second guide rail 120. After the double grippers contact the foreign object, the drive device stops advancing, completing the stable gripping.

[0026] In complex underwater environments, foreign objects may be located at various angles. A gripper with a fixed orientation may require frequent adjustments to the robot arm or platform's posture to align with the target, resulting in cumbersome and inefficient operation. Therefore, in one embodiment, a rotary drive assembly 600 is also included. The rotary drive assembly 600 includes a rotary bearing housing 610, a bearing body 620, and a rotary drive device 630. The rotary bearing housing 610 is used to connect to an external support platform. The bottom of the gripping base 100 is rotatably mounted on the rotary bearing housing 610 via the bearing body 620. The rotary drive device 630 is mounted on the rotary bearing housing 610 and is used to drive the gripping base 100 to rotate around the central axis of the bearing body 620. The rotary drive assembly 600 can drive the gripping base 100 to rotate in its entire circumference. The robotic arm can grasp foreign objects in different positions without relying on an external support platform to make large-scale posture adjustments. Through the independent angle adjustment of the rotary drive assembly 600, the angle of the gripping base 100 can be finely adjusted when the underwater robot's posture is restricted, so that the double grippers and foreign objects can be precisely and symmetrically aligned. In confined spaces such as the narrow compartments of shipwrecks and underwater pipeline branches, the rotary drive assembly 600 can drive the gripping base 100 to complete angle switching within a small range, avoiding the collision risk caused by large-scale posture adjustments of the support platform.

[0027] If a rigid connecting rod is used, the joints are prone to wear due to high underwater resistance, and it will occupy more space; if a gear and rack are used, the entry of mud and sand may cause jamming. Therefore, in one embodiment, the reverse transmission assembly 500 includes a flexible transmission member 510 and two guide rollers 520. The two guide rollers 520 are rotatably mounted on the clamping base 100 and are spaced apart at both ends of the clamping base 100 along the extension direction of the first guide rail 110 and the second guide rail 120. The flexible transmission member 510 is wound around the two guide rollers 520 to form a first closed loop connected end to end. The first closed loop has a first straight segment and a second straight segment with opposite directions of movement. The first clamping assembly 200 is fixedly connected to the first straight segment, and the second clamping assembly 300 is fixedly connected to the second straight segment. Two guide wheels 520 mounted at both ends of the base and a flexible transmission component 510 wound around the wheels form a closed loop, generating two parallel straight segments. When one side of the closed loop moves in one direction, the other side will inevitably move in the opposite direction. The two clamping components are fixed to the straight segments on both sides, so that the first clamping component 200 and the second clamping component 300 move synchronously in opposite directions. This achieves reverse synchronous transmission in a compact space, and has a simple structure, light weight, and is suitable for underwater suspension operations.

[0028] Some flexible transmission components 510, such as toothed belts, require extremely high precision in the tooth profile of the guide pulley 520. When underwater sediment enters the gap between the teeth, jamming and tooth skipping can easily occur, necessitating additional protective devices and increasing costs. Therefore, in one embodiment, the flexible transmission component 510 is a steel wire rope. The flexible transmission component 510 can be a high-strength, corrosion-resistant stainless steel wire rope, and the pulley is a grooved pulley. The steel wire rope combines rigidity and flexibility, is not easily deviated or loosened due to water flow disturbances, and has strong fit with the groove of the guide pulley 520. Even if a small amount of sediment enters the groove, it can be scraped off during movement, preventing jamming. The closed-loop circuit, combined with the high tension retention of the steel wire rope, enables stable transmission in complex water flow environments.

[0029] The driving force and transmission tension act directly on the clamping plate, which may cause local stress concentration in the clamping plate. Under heavy load clamping, the root of the clamping plate may bend and deform. Therefore, in one embodiment, the first clamping assembly 200 further includes a first slider 210 and an active clamping plate connector 220. The first slider 210 is slidably connected to the first guide rail 110, and the first slider 210 is fixedly connected to the active clamping plate connector 220. The active clamping plate connector 220 is fixedly connected to the driving end of the linear drive device 400, and the first clamping plate 230 is disposed on the active clamping plate connector 220. The second clamping assembly 300 further includes a second slider 310 and a passive clamping plate connector 320. The second slider 310 is slidably connected to the second guide rail 120, and the second slider 310 is fixedly connected to the passive clamping plate connector 320. The second clamping plate 330 is disposed on the passive clamping plate connector 320. The active clamping plate connector 220 and the passive clamping plate connector 320 are respectively fixedly connected to the first straight segment and the second straight segment. Specifically, the inner side of the clamping plate is equipped with rubber pads or serrated textures for anti-slip clamping. The active clamping plate connector 220 simultaneously bears the driving force of the linear drive device 400 and the tension of the flexible transmission component 510, while the passive clamping plate connector 320 bears the reverse tension of the flexible transmission component 510. The rigid structure of the connector can evenly distribute the force to the slider and the clamping plate, reducing the stress concentration coefficient under heavy load clamping and ensuring the stability of pure translational clamping. The clamping plate, connector, and slider are segmented and detachable structures. When the clamping plate is worn or needs to be replaced with a special clamping plate, there is no need to disassemble the entire assembly, improving maintenance efficiency. At the same time, the clamping plate type can be quickly switched according to the material and shape of the foreign object to adapt to more scenarios.

[0030] The underwater environment places special requirements on the sealing, corrosion resistance, and power source of the drive device. Electric or pneumatic drives present complex sealing challenges underwater and may pose safety hazards. Therefore, in one embodiment, the linear drive device 400 is a first hydraulic cylinder, mounted on the clamping base 100. The piston rod of the first hydraulic cylinder is fixedly connected to the first clamping assembly 200. The first hydraulic cylinder has inlet and outlet ports for connecting to an external hydraulic system to achieve telescopic drive. This eliminates concerns about internal oil leakage polluting the water, and avoids the complex dynamic sealing and waterproof pressure balance issues of electric drives. The hydraulic cylinder uses an integrated cylinder structure, requiring only 1-2 fluororubber sealing rings at the piston rod and cylinder barrel mating points, reducing the number of sealing points compared to electric drives. Furthermore, the cylinder body can directly withstand water pressure through pressure-resistant design, eliminating the need for an additional pressure-resistant shell, making it suitable for deeper and narrower underwater operating spaces.

[0031] Traditional hydraulic motor-driven rotary mechanisms, while providing sufficient torque, are bulky and unsuitable for confined underwater spaces. Therefore, in one embodiment, the rotary drive device 630 includes a transmission pulley 631, a fixed pulley 632, a second hydraulic cylinder 633, a connecting block 634, and a rotary transmission cable 635. The transmission pulley 631 is fixedly mounted on the bottom of the clamping base 100 and rotates synchronously with it. The fixed pulley 632 is rotatably mounted on the rotary bearing seat 610. The rotary transmission cable 635 is wound around the fixed pulley 632 and the transmission pulley 631 to form a head-to-tail loop. The second closed-loop circuit is connected, and the transmission groove wheel 631 is provided with a groove that cooperates with the rotary transmission cable 635. The rotary transmission cable 635 and the transmission groove wheel 631 are in transmission cooperation. The second hydraulic cylinder 633 is mounted on the rotary bearing seat 610. The piston rod of the second hydraulic cylinder 633 is fixedly connected to the connecting block 634. The connecting block 634 is fixedly connected to the straight section of the rotary transmission cable 635 to drive the transmission groove wheel 631 to drive the clamping base 100 to rotate. The axis of the second hydraulic cylinder 633 is parallel to the straight section of the rotary transmission cable 635. The second hydraulic cylinder 633 drives the connecting block 634, which in turn drives the rotary transmission cable 635 to reciprocate. The flexible rotary transmission cable 635 transmits power, and the transmission cable has no meshing gap, which can prevent seawater and silt from seeping into the core transmission area and reduce the underwater failure rate of the equipment. The second hydraulic cylinder 633, in conjunction with the transmission cable and the grooved wheel, can amplify the torque by increasing the diameter of the transmission grooved wheel 631 to ensure rotational force. At the same time, the overall structure is compact, and because there is no complex gear meshing, it has higher reliability in the seabed environment full of silt.

[0032] Slippage may occur between the transmission pulley 631 and the rotating transmission cable 635, leading to control inaccuracies. In actual operation, the reliability of friction transmission highly depends on the magnitude of the normal force between the contact surfaces and the surface roughness. Therefore, in one embodiment, the rotating transmission cable 635 is a steel wire rope, and the groove surface of the transmission pulley 631 is provided with anti-slip textures that cooperate with the steel wire rope. The groove of the transmission pulley 631 is designed with specialized anti-slip textures, which can form a tighter contact with the surface of the steel wire rope, thereby effectively improving static friction and ensuring the accuracy of rotation angle transmission and control precision. Furthermore, the meshing effect of the anti-slip textures enhances the mechanical interlocking effect of the transmission interface, making torque transmission smoother and more reliable, further reducing energy loss in power transmission, and improving the overall efficiency and stability of the transmission system.

[0033] Under high pressure in the deep sea, the outer ring of the bearing is prone to radial fretting, causing the bearing rotation center to shift. Therefore, in one embodiment, the rotary drive assembly 600 further includes a first bearing end cap 636, the rotary bearing housing 610 is provided with a stepped hole 611, the bearing body 620 is disposed in the stepped hole 611 by an interference fit, and the first bearing end cap 636 is disposed on the rotary bearing housing 610 for axially limiting the outer ring of the bearing body 620. The stepped surface of the stepped hole 611 provides an axial support reference for the outer ring of the bearing. The first bearing end cap 636 achieves axial clamping from the other side, forming a bidirectional fixation, reducing the axial movement of the outer ring of the bearing. Even under high load and high pressure conditions, it can ensure that the pure translational trajectory of the clamping plate is without deviation. The radial interference fit of the stepped hole 611 and the axial clamping structure work together to offset the bearing housing deformation caused by the high pressure of the deep sea and avoid the generation of fit clearance. At the same time, the clamping force can maintain the preload state of the interference fit. The axial clamping structure can enhance the connection rigidity between the bearing and the bearing housing, enabling the bearing to withstand greater axial impact loads. Under sudden conditions such as underwater foreign object collisions, the bearing will not loosen or shift, ensuring the working stability of the rotary drive assembly 600.

[0034] Contaminants such as silt and aquatic organisms can enter the bearing through the gap between the inner and outer rings, shortening its lifespan. Therefore, in one embodiment, a second bearing end cap is included. This second end cap is disposed on the bottom of the clamping base 100 and serves to axially limit the inner ring of the bearing body. The two end caps work together to achieve bidirectional axial positioning of the inner and outer rings of the bearing. Simultaneously, sealing rings can be added to the contact surfaces of the first bearing end cap and the rotating bearing housing, and the contact surfaces of the second end cap and the clamping base 100, forming a contamination barrier. The second bearing end cap, in conjunction with the first bearing end cap, forms a sealed protective cavity on both sides of the inner and outer rings of the bearing, completely blocking the bidirectional infiltration path of seawater, keeping the internal grease of the bearing clean for a long time, extending its service life, and reducing maintenance costs.

[0035] The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. An underwater foreign object grasping robot, characterized in that, include: Clamping base; The first guide rail is disposed on the clamping base; The second guide rail is disposed on the clamping base and is parallel and spaced apart from the first guide rail; A first clamping assembly is slidably disposed on the first guide rail, the first clamping assembly including a first clamping plate for clamping; The second clamping assembly is slidably disposed on the second guide rail and disposed opposite to the first clamping assembly, the second clamping assembly including a second clamping plate for clamping; A linear drive device is disposed on the clamping base, and the drive end of the linear drive device is fixedly connected to the first clamping assembly to drive the first clamping assembly to perform linear reciprocating motion along the first guide rail. A reverse transmission assembly is disposed on the clamping base. The first clamping assembly is connected to the second clamping assembly via the reverse transmission assembly, so that the first clamping assembly and the second clamping assembly can move towards or away from each other. It also includes a rotary drive assembly, which includes a rotary bearing housing, a bearing body, and a rotary drive device. The rotary bearing housing is used to connect to an external support platform. The bottom of the clamping base is rotatably mounted on the rotary bearing housing via the bearing body. The rotary drive device is mounted on the rotary bearing housing and is used to drive the clamping base to rotate around the central axis of the bearing body.

2. The underwater foreign object grasping robot according to claim 1, characterized in that, The reverse transmission assembly includes a flexible transmission element and two guide rollers. The two guide rollers are rotatably mounted on the clamping base and are spaced apart at both ends of the clamping base along the extension directions of the first and second guide rails. The flexible transmission element is wound around the two guide rollers to form a first closed loop connected end to end. The first closed loop has a first straight segment and a second straight segment with opposite directions of movement. The first clamping assembly is fixedly connected to the first straight segment, and the second clamping assembly is fixedly connected to the second straight segment.

3. The underwater foreign object grasping robot according to claim 2, characterized in that, The flexible transmission component is a steel wire rope.

4. The underwater foreign object grasping robot according to claim 2, characterized in that, The first clamping assembly further includes a first slider and an active clamping plate connector. The first slider is slidably connected to the first guide rail and fixedly connected to the active clamping plate connector. The active clamping plate connector is fixedly connected to the driving end of the linear drive device, and the first clamping plate is disposed on the active clamping plate connector. The second clamping assembly further includes a second slider and a passive clamping plate connector. The second slider is slidably connected to the second guide rail and fixedly connected to the passive clamping plate connector. The second clamping plate is disposed on the passive clamping plate connector. The active clamping plate connector and the passive clamping plate connector are respectively fixedly connected to the first linear segment and the second linear segment.

5. The underwater foreign object grasping robot according to claim 1, characterized in that, The linear drive device is a first hydraulic cylinder, which is mounted on the clamping base. The piston rod of the first hydraulic cylinder is fixedly connected to the first clamping assembly. The first hydraulic cylinder is provided with inlet and outlet ports for connecting to an external hydraulic system to achieve telescopic drive.

6. The underwater foreign object grasping robot according to claim 1, characterized in that, The rotary drive device includes a transmission grooved wheel, a fixed pulley, a second hydraulic cylinder, a connecting block, and a rotary transmission cable. The transmission grooved wheel is fixedly mounted on the bottom of the clamping base and rotates synchronously with the clamping base. The fixed pulley is rotatably mounted on the rotary bearing seat. The rotary transmission cable is wound around the fixed pulley and the transmission grooved wheel to form a second closed loop connected end to end. The transmission grooved wheel has a groove that cooperates with the rotary transmission cable, and the rotary transmission cable and the transmission grooved wheel are in a driving engagement. The second hydraulic cylinder is mounted on the rotary bearing seat, and the piston rod of the second hydraulic cylinder is fixedly connected to the connecting block. The connecting block is fixedly connected to the straight section of the rotary transmission cable to drive the transmission grooved wheel to rotate the clamping base.

7. The underwater foreign object grasping robot according to claim 6, characterized in that, The rotating transmission cable is a steel wire rope, and the groove surface of the transmission pulley is provided with anti-slip texture that matches the steel wire rope.

8. The underwater foreign object grasping robot according to claim 1, characterized in that, The rotary drive assembly further includes a first bearing end cap, the rotary bearing housing has a stepped hole, the bearing body is disposed in the stepped hole by an interference fit, and the first bearing end cap is disposed on the rotary bearing housing for axially limiting the outer ring of the bearing body.

9. The underwater foreign object grasping robot according to claim 8, characterized in that, It also includes a second bearing end cap, which is disposed on the bottom of the clamping base and is used to axially limit the inner ring of the bearing body.

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