Underwater rock cutting robot

Abstract

The utility model relates to the technical field of underwater operation robots, in particular to an underwater rock cutting robot. The robot comprises a frame, a first driving mechanism and a cutting platform mechanism, wherein the cutting platform mechanism is mounted at the bottom of the frame; the cutting platform mechanism comprises a cutting part, a second driving part, a third driving part and a first connecting part, the first connecting part is installed at the bottom of the frame, the cutting part is rotationally connected with the first connecting part, the output end of the second driving part is connected with the cutting part, and the cutting part can be driven by the second driving part to rotate in the circumferential direction; the output end of the third driving part is connected with the cutting part through the first connecting part, and the cutting part can be driven by the third driving part to horizontally move and / or vertically move and / or horizontally swing. According to the robot, the position and angle adjustment of the cutting part is completed by arranging the cutting platform mechanism, so that the robot not only can perform horizontal cutting, but also can perform inclined cutting, and the cutting effect is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of underwater operation robots, and in particular to an underwater rock cutting robot. Background Art

[0002] The vast ocean contains rich biological resources and mineral resources. At the same time, marine mineral resources are also an important reserve of the world's mineral resources. The marine mineral resources that have been proven to have commercial mining value mainly include polymetallic nodules, cobalt-rich crusts and polymetallic sulfides. In the face of increasingly depleted terrestrial mineral resources, the exploration and development of marine mineral resources is particularly important.

[0003] At present, there are underwater cable-laying robots that can operate on the seabed. They mostly use high-pressure water jets, mechanical trenching chains and drag plows. Robots using the above operating methods can only operate on muddy and sandy seabeds, but not on hard rocky seabeds.

[0004] Therefore, there is an urgent need for an underwater rock cutting robot that can operate on hard rocks. Utility Model Content

[0005] The purpose of the present application is to provide an underwater rock cutting robot that can operate on hard rocks.

[0006] The embodiments of the present application can be implemented through the following technical solutions:

[0007] An underwater rock cutting robot interacts with a control platform via a cable, comprising a frame, a first drive mechanism, the first drive mechanism being used to drive the robot to move underwater;

[0008] Also included is a cutting platform mechanism, which is mounted on the bottom of the frame;

[0009] The cutting platform mechanism includes a cutting part, a second driving part, a third driving part and a first connecting part, the first connecting part is installed at the bottom of the frame, the cutting part is rotatably connected to the first connecting part, the output end of the second driving part is connected to the cutting part, and the cutting part can rotate circumferentially under the drive of the second driving part; the output end of the third driving part is connected to the cutting part through the first connecting part, and the cutting part can move horizontally and / or vertically and / or swing horizontally under the drive of the third driving part.

[0010] Optionally, the third driving part includes a first driving device, a linear guide rail and a sliding seat, the sliding seat is installed on the frame, and the bottom is connected to the cutting part through the first connecting part, the output end of the first driving device is connected to the sliding seat, and the sliding seat is slidably connected to the linear guide rail.

[0011] Optionally, the third driving part includes a second driving device, and an output end of the second driving device is hingedly connected to the first connecting part.

[0012] Optionally, the third driving part includes a third driving device, an output end of the third driving device is connected to the first connecting part, and the output end of the third driving device can rotate circumferentially around its axis.

[0013] Preferably, the robot further comprises at least two coccygeal guide mechanisms, which are mounted on the sides of the frame and arranged opposite to each other, are located on the same straight line as the cutting portion, and have bottom ends which can reciprocate in a vertical direction relative to the ground.

[0014] Furthermore, the coccyx guiding mechanism includes a fourth driving unit, a fifth driving unit, a coccyx, a coccyx guide tube and a second connecting unit, the coccyx guide tube is connected to the frame, the coccyx is movably connected to the coccyx guide tube along its axial direction, the output end of the fourth driving unit is connected to one axial end of the coccyx, and the fourth driving unit can drive the coccyx to axially displace in the coccyx guide tube; the fifth driving unit is connected to the outer periphery of the coccyx guide tube through the second connecting unit, the output end of the fifth driving unit is connected to the tail end of the coccyx guide tube, and the fifth driving unit can drive the tail end of the coccyx guide tube to swing clockwise and / or counterclockwise.

[0015] Preferably, the robot further comprises at least four self-rescue mechanisms, which are installed on the outside of the frame, and the bottom ends of which can reciprocate in a vertical direction relative to the ground.

[0016] Furthermore, the self-rescue mechanism includes an inner leg, an outer leg, a ball head shaft, a ball head base, a sixth driving part and an anti-wear pad, the outer leg is connected to the frame, the inner leg is movably connected to the outer leg along its axial direction, the output end of the sixth driving part is connected to the inner leg, and the sixth driving part can drive the inner leg to axially displace in the outer leg; the anti-wear pad is installed in the inner cavity of the outer leg, and one end of the inner leg along its axial direction is connected to the ball head base through the ball head shaft.

[0017] Preferably, the cutting portion comprises a cutter disc.

[0018] Preferably, the robot further comprises a cable bending protection mechanism, wherein the cable bending protection mechanism is sleeved on the outer circumference of the cable and connected to the frame.

[0019] The underwater rock cutting robot provided by the embodiment of the present application has at least the following beneficial effects:

[0020] (1) The present application sets a cutting platform mechanism, and the cutting part of the cutting platform mechanism can move horizontally and / or vertically and / or swing horizontally under the drive of the third driving part, so as to complete the position and angle adjustment of the cutting part, so that the robot can not only cut horizontally but also cut at an angle to ensure the cutting effect;

[0021] (2) The present application sets a tail vertebra guide mechanism. When the first driving device of the cutting platform mechanism reaches the travel limit and the robot needs to be moved, the tail vertebra guide mechanism needs to be used for positioning to ensure that the new cutting edge can overlap with the original cutting edge after the movement;

[0022] (3) The present application provides a self-rescue mechanism. When the cutting part is squeezed or stuck, the second drive device cannot retract the cutting part 21. The self-rescue mechanism can be used to lift the robot as a whole, thereby allowing the cutting part to escape from the rock layer. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is an overall structural diagram of an underwater rock cutting robot in this application;

[0024] Figure 2 This is an overall structural diagram from another angle of an underwater rock cutting robot in the present application;

[0025] Figure 3 It is an overall structural diagram of the connection between the cutting platform mechanism and a part of the frame in this application;

[0026] Figure 4 This is another overall structural diagram of the connection between the cutting platform mechanism and a part of the frame in the present application from another angle;

[0027] Figure 5 This is the overall structural diagram of the coccyx guiding mechanism in this application;

[0028] Figure 6 is a cross-sectional view of the coccyx guiding mechanism in the present application;

[0029] Figure 7 A cross-sectional view of the coccyx extending out of the coccyx guide tube in the present application;

[0030] Figure 8 This is the overall structure diagram of the self-help organization in this application;

[0031] Fig. 9 This is the overall structural diagram from another angle of the self-help organization in this application.

[0032] Figure numerals: 1. frame, 2. cutting platform mechanism, 21. cutting part, 22. second driving part, 23. third driving part, 231. first driving device, 232. linear guide rail, 233. sliding seat, 234. second driving device, 235. third driving device, 24. first connecting part, 241. connecting rod, 242. connecting seat, 243. mounting frame, 3. coccygeal guide mechanism, 31. fourth driving part, 32. fifth driving part, 33. coccygeal, 34. coccygeal guide tube, 35. second connecting part, 351. first ear plate, 352. double large ear plates, 353. double small ear plates, 354. base, 4. self-rescue mechanism, 41. inner leg, 42. outer leg, 43. ball head shaft, 44. ball head base, 45. sixth driving part, 46. anti-wear pad, 5. cable bending protection mechanism. DETAILED DESCRIPTION

[0033] Hereinafter, the present application will be further described based on preferred embodiments with reference to the accompanying drawings.

[0034] The vocabulary in this specification is used to illustrate the embodiments of the present application, but is not intended to limit the present application. Unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, an indirect connection through an intermediate medium, or a communication between the two components. For those skilled in the art, the specific meanings of the above terms in this application can be specifically understood.

[0035] In addition, in the description of the embodiments of the present application, various components on the drawings are enlarged or reduced in size for ease of understanding, but this practice is not intended to limit the scope of protection of the present application.

[0036] The present application provides an underwater rock cutting robot. Figure 1 and Figure 2 The overall structure diagrams of the robot in this application are shown in different angles, such as Figure 1 and Figure 2 As shown, the robot interacts with the control platform through cables to achieve signal transmission. The robot includes a frame 1, a first driving mechanism and a cutting platform mechanism 2. The frame 1 is used to install and fix other equipment, the first driving mechanism is used to drive the robot to move underwater, and the cutting platform mechanism 2 is used to achieve rock cutting. Through the coordinated cooperation of the frame 1, the first driving mechanism and the cutting platform mechanism 2, the robot can achieve underwater rock cutting operations.

[0037] Further, if Figure 1 and Figure 2As shown, the cutting platform mechanism 2 is installed at the bottom of the frame 1 to achieve the rock cutting operation at the bottom of the robot.

[0038] The specific structure of the cutting platform mechanism 2 will be described in detail below. Figure 3 and Figure 4 The overall structure diagram of the connection between the cutting platform mechanism 2 and the partial frame 1 is shown respectively. Figure 3 and Figure 4 As shown, the cutting platform mechanism 2 includes a cutting part 21, a second driving part 22, a third driving part 23 and a first connecting part 24, wherein the cutting part 21 is used to contact with the rock and cut the rock by rotation, the second driving part 22 is used to drive the cutting part 21 to rotate, the third driving part 23 is used to adjust the position and angle of the cutting part 21, the first connecting part 24 is used to fix the cutting part 21 and cooperate with the third driving part 23, and the third driving part 23 acts on the first connecting part 24 to adjust the cutting part 21.

[0039] Specifically, the first connecting part 24 is installed at the bottom of the frame 1, the cutting part 21 is rotatably connected to the first connecting part 24, the output end of the second driving part 22 is connected to the cutting part 21, and the cutting part 21 can rotate circumferentially under the drive of the second driving part 22, and the output end of the third driving part 23 is connected to the cutting part 21 through the first connecting part 24, and the cutting part 21 can move horizontally and / or vertically and / or swing horizontally under the drive of the third driving part 23.

[0040] Furthermore, the third driving part 23 includes a first driving device 231, a linear guide rail 232 and a sliding seat 233. The sliding seat 233 is installed on the frame 1, and the bottom is connected to the cutting part 21 through the first connecting part 24. The output end of the first driving device 231 is connected to the sliding seat 233, and the sliding seat 233 is slidingly connected to the linear guide rail 232. The first driving device 231 can drive the sliding seat 233 to horizontally displace on the linear guide rail 232, thereby driving the cutting part 21 to move in the horizontal direction, thereby realizing the adjustment of the horizontal cutting position.

[0041] In some specific embodiments of the present application, the linear guide rail 232 is installed on the upper end surface of the frame 1 , and the linear guide rail 232 is slidably connected to the sliding seat 233 through a slider, and the slider is installed on the lower end surface of the sliding seat 233 .

[0042] Furthermore, the third driving part 23 includes a second driving device 234 , an output end of the second driving device 234 is hingedly connected to the first connecting part 24 , and the second driving device 234 can adjust the height of the first connecting part 24 in the vertical direction, thereby realizing the retraction and extension of the cutting part 21 .

[0043] Furthermore, the third driving part 23 includes a third driving device 235, the output end of the third driving device 235 is connected to the first connecting part 24, and the output end of the third driving device 235 can rotate circumferentially around its axis, thereby driving the cutting part 21 to swing horizontally, thereby realizing the angle adjustment of the cutting part 21, so that the cutting part 21 can cut an inclined blade.

[0044] In some specific embodiments of the present application, the first connecting portion 24 includes a connecting rod 241, a connecting seat 242 and a mounting frame 243, the cutting portion 21 is rotatably connected to one side of the mounting frame 243, the top of the mounting frame 243 is movably connected to the connecting seat 242 through a third driving device 235, and the top of the connecting seat 242 is hingedly connected to the sliding seat 233 through at least two connecting rods 241. When the first driving device 231 is working, the sliding seat 233, the connecting rod 241, the connecting seat 242, the mounting frame 243, the cutting part 21, the second driving device 234 and the third driving device 235 can move horizontally synchronously; when the second driving device 234 is working, the connecting rod 241 can rotate around the hinge axis, thereby driving the connecting seat 242, the mounting frame 243, the cutting part 21 and the third driving device 235 to rotate, thereby realizing the retraction and extension of the cutting part 21; when the third driving device 235 is working, since one end of the third driving device 235 is connected to the connecting seat 242 and the other end is connected to the mounting frame 243, the rotation of the output end of the third driving device 235 can drive the mounting frame 243 to move slightly left and right, thereby driving the cutting part 21 to swing horizontally, thereby obtaining an inclined blade.

[0045] In some specific embodiments of the present application, the sliding seat 233 and the connecting seat 242 are both welded from carbon steel sheet metal materials, which ensures a firm structure while ensuring installation accuracy.

[0046] In some specific embodiments of the present application, the connecting rod 241 is made of H-shaped carbon steel material.

[0047] In some preferred embodiments of the present application, the second driving part 22 is a dual hydraulic driving device, and the dual hydraulic driving device is driven by gears so that the cutting part 21 can obtain a higher rotation speed and torque.

[0048] In some specific embodiments of the present application, the first drive device 231, the second drive device 234, and the third drive device 235 are all hydraulic cylinders, which can ensure the accuracy of the movement. It is conceivable that the above drive devices can also use cylinders, motors, screw rods and other devices. No matter what device is used, as long as it can drive the corresponding device to move in the required direction.

[0049] In some preferred embodiments of the present application, the first drive device 231, the second drive device 234, and the third drive device 235 are all equipped with built-in displacement sensors, which can provide real-time feedback on the position and angle of the cutting part 21, and pressure sensors are provided on the hydraulic circuit to monitor the pressure value in real time.

[0050] In some specific embodiments of the present application, the cutting part 21 includes a cutter disc, which is a full-section cutting mechanism and has good rock breaking and loading functions.

[0051] In some specific embodiments of the present application, the cutter disc is composed of eight groups of V-shaped saw discs that are staggered at 9 mm intervals, and each group of saw discs is 0.5 mm apart. The tail end of the cutter disc is made of diamond material, which makes it easier to cut rock formations.

[0052] In some preferred embodiments of the present application, Figure 1 and Figure 2 As shown, the robot also includes at least two coccygeal guide mechanisms 3. When the first driving device 231 of the cutting platform mechanism 2 reaches the travel limit and the robot needs to be moved, the coccygeal guide mechanism 3 needs to be used for positioning to ensure that the new cutting edge after the movement can overlap with the original cutting edge.

[0053] Furthermore, the coccyx guiding mechanism 3 is installed on the side of the frame 1 and arranged oppositely. The coccyx guiding mechanism 3 and the cutting part 21 are located on the same straight line to ensure the accuracy of positioning, and its bottom end can reciprocate in the vertical direction relative to the ground.

[0054] The specific structure of the coccyx guiding mechanism 3 will be described in detail below. Figure 5-Figure 7 As shown, the coccyx guiding mechanism 3 includes a fourth driving unit 31, a coccyx 33 and a coccyx guiding tube 34. The coccyx guiding tube 34 is connected to the frame 1. The coccyx 33 is movably connected in the coccyx guiding tube 34 along its axial direction. The coccyx 33 is connected to the output end of the fourth driving unit 31 by passing through the coccyx guiding tube 34. The fourth driving unit 31 can drive the coccyx 33 to axially displace in the coccyx guiding tube 34, thereby adjusting the length of the coccyx 33 extending out of the coccyx guiding tube 34.

[0055] In some preferred embodiments of the present application, the coccyx guide mechanism 3 also includes a fifth driving part 32 and a second connecting part 35. The fifth driving part 32 is connected to the outer periphery of the coccyx guide tube 34 through the second connecting part 35. The output end of the fifth driving part 32 is connected to the tail end of the coccyx guide tube 34. The fifth driving part 32 can drive the tail end of the coccyx guide tube 34 to swing clockwise and / or counterclockwise, thereby controlling the coccyx 33 to swing to a certain angle to position it with the oblique blade.

[0056] In some specific embodiments of the present application, the second connection part 35 includes a first ear plate 351, two large ear plates 352, two small ear plates 353 and a base 354. The first ear plate 351 is connected to the head end of the coccyx guide tube 34. The two large ear plates 352 and the two small ear plates 353 are installed at the tail end of the coccyx guide tube 34 through the base 354. The two large ear plates 352 and the two small ear plates 353 are respectively located on both sides of the coccyx guide tube 34. Since the coccyx guide tube 34 is fixed at the two large ear plates 352, the coccyx 33 and the coccyx guide tube 34 can be swung left and right under the driving action of the fifth driving part 32, so that the coccyx 33 is tilted at an angle, and under the driving of the fourth driving part 31, the coccyx 33 is extended from the coccyx guide tube 34 to the oblique knife edge position for positioning.

[0057] Furthermore, a slot is provided on one side of the base 354 to allow the coccyx 33 to swing to a certain angle.

[0058] In some specific embodiments of the present application, the coccyx guide tube 34 is formed by welding a seamless tube made of carbon steel and a double-ear plate, and the double-ear plate is welded to one side of the upper end of the seamless tube.

[0059] In some specific embodiments of the present application, the tail vertebrae 33 are made of 45 steel through quenching and tempering, so that it obtains higher strength and hardness while ensuring a certain toughness.

[0060] In some specific embodiments of the present application, the first ear plate 351 , the double large ear plates 352 , and the double small ear plates 353 are made of carbon steel material.

[0061] In some specific embodiments of the present application, a sensor is provided on the coccyx 33 to determine the advancing direction of the coccyx 33, thereby ensuring that the next cutting position coincides with the original cutting edge position.

[0062] In some preferred embodiments of the present application, Figure 1 and Figure 2 As shown, the robot also includes at least four self-rescue mechanisms 4. When the cutting part 21 is squeezed or stuck, the second drive device 234 cannot retract the cutting part 21. The self-rescue mechanism 4 can be used to lift the robot as a whole, thereby allowing the cutting part 21 to escape from the rock layer.

[0063] Furthermore, the self-rescue mechanism 4 is installed on the outside of the frame 1, and its bottom end can reciprocate in the vertical direction relative to the ground.

[0064] In some specific embodiments of the present application, the number of the self-rescue mechanisms 4 is four, and they are installed on the four corners of the frame 1.

[0065] The specific structure of the self-help mechanism 4 will be described in detail below. Figure 8 and Fig. 9As shown, the self-rescue mechanism 4 includes an inner leg 41, an outer leg 42, a ball shaft 43, a ball base 44 and a sixth driving part 45. The outer leg 42 is connected to the frame 1, and the inner leg 41 is movably connected to the outer leg 42 along its axial direction. One end of the inner leg 41 is connected to the output end of the sixth driving part 45, and the other end is connected to the ball base 44 through the ball shaft 43. The sixth driving part 45 can drive the inner leg 41 to axially displace in the outer leg 42, and at the same time drive the ball shaft 43 and the ball base 44 to displace synchronously, so that the ball base 44 can lift or drop the robot by contacting the ground.

[0066] Furthermore, the ball head of the ball head shaft 43 is connected to the semicircular surface of the ball head base 44. When it contacts the rock surface, even if the ground is uneven, the inner support leg 41 will be squeezed and cannot be extended.

[0067] In some preferred embodiments of the present application, the self-rescue mechanism 4 further includes an anti-wear pad 46 , which is installed in the inner cavity of the outer leg 42 and can provide guidance and anti-wear functions for the inner leg 41 .

[0068] In some specific embodiments of the present application, the fourth driving part 31, the fifth driving part 32, and the sixth driving part 45 are all hydraulic cylinders, which can ensure the accuracy of the movement. It is conceivable that the above driving devices can also use cylinders, motors, screws and other devices. No matter what device is used, as long as it can drive the corresponding device to move in the required direction.

[0069] In some specific embodiments of the present application, the inner supporting leg 41 and the outer supporting leg 42 are both welded from sheet metal parts made of carbon steel.

[0070] In some specific embodiments of the present application, the anti-wear pad 46 is made of POM material, which has the advantages of self-lubrication and self-repairing.

[0071] In some specific embodiments of the present application, the ball head shaft 43 is made of quenched and tempered steel to obtain higher strength and hardness while ensuring a certain toughness.

[0072] In some specific embodiments of the present application, the ball head base 44 is made of 45 steel, which is quenched and tempered after welding.

[0073] In some specific embodiments of the present application, the frame 1 is welded from H-shaped carbon steel material, which is durable and has a solid structure.

[0074] In some specific embodiments of the present application, the first driving mechanism includes a crawler track, a propeller, a hydraulic motor and a floating material. The crawler track is driven by a hydraulic motor, and the track plate is made of high-manganese steel material, so that the crawler track can obtain higher traction.

[0075] In some preferred embodiments of the present application, the track body is made of high-strength aluminum alloy material, which has the advantages of high strength and light weight.

[0076] In some preferred embodiments of the present application, the frame 1 is divided into three layers with a firm and lightweight structure. The lower layer is used to install the left and right tracks, and the uppermost layer is used to install the floating material and the propeller. The cutting platform mechanism 2 is installed on the second layer of the frame 1 and the cutting part 21 is located in the middle position of the robot, so that the cutting platform mechanism 2 can realize oblique cutting and cutting at different heights.

[0077] In some specific embodiments of the present application, the robot includes six groups of thrusters, two groups of thrusters are installed on the top layer of the frame 1, so that the propulsion direction is located on each side of the left and right, and the remaining four groups are installed on the outer ends of the upper layer of the frame 1, and the propulsion direction of the thrusters is toward the upper side, thereby controlling the position adjustment of the robot.

[0078] In some preferred embodiments of the present application, the robot further includes a cable bending protection mechanism 5, which is sleeved on the outer periphery of the cable and connected to the frame 1, so as to realize the hoisting of the robot and prevent the cable from being excessively bent.

[0079] In some specific embodiments of the present application, the cable bending protection mechanism 5 is installed at the center of the upper layer of the frame 1 .

[0080] In some preferred embodiments of the present application, the robot also includes a sonar, which is installed in front of the lower layer of the frame 1 through a sonar pan / tilt. The robot can scan the position information of the object through the sonar to provide direction for the robot's cutting operation.

[0081] In some preferred embodiments of the present application, the robot further includes two sets of cameras, which are respectively installed at the front and rear ends of the cutting platform mechanism 2, and can observe the operation status of the cutting part 21 in real time.

[0082] In summary, the working process of the robot in this application is as follows: the robot is remotely controlled by the control platform through a cable. First, the operator hoists the robot to the underwater working area through the hoisting platform, observes the video information sent back by the sonar and the camera through the display, determines the position where the robot needs to work, starts the thruster to fine-tune the robot position, and lowers the robot to the lowest surface after aligning it with the rock layer to be cut. Then, the cutting platform mechanism 2 is lowered to cut the rock layer. When the cutting formation limit of the cutting platform mechanism 2 is reached, the cutting platform mechanism 2 is retracted and the cutting operation is stopped. In order to make the next cutting edge coincide with the original cutting edge, the crawler drives the robot forward a short distance, and uses the tail vertebrae guide mechanism 3 to be lowered to the cutting edge and then moves the robot forward. When the tail vertebrae guide mechanism 3 reaches the tail end of the cutting edge, the tail vertebrae 33 is controlled to be retracted, and then the cutting platform mechanism 2 is lowered again for cutting. If an oblique edge is to be cut, the cutting part 21 can be driven by the third drive device 235 to adjust the angle. When the cutting part 21 is squeezed or stuck, the second driving device 234 cannot retract the cutting part 21, and the self-rescue mechanism 4 can be used to lift the robot as a whole, thereby separating the cutting part 21 from the rock layer. After the cutting operation is completed, the robot is lifted back to the shore by a cable.

[0083] The above is a detailed introduction to the specific implementation methods of the present application. For those skilled in the art, several improvements and modifications may be made to the present application without departing from the principles of the present application. These improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. An underwater rock cutting robot interacting with a control platform via a cable, comprising a frame and a first driving mechanism, wherein the first driving mechanism is used to drive the robot to move underwater, characterized in that: Also included is a cutting platform mechanism, which is mounted on the bottom of the frame; The cutting platform mechanism includes a cutting part, a second driving part, a third driving part and a first connecting part, the first connecting part is installed at the bottom of the frame, the cutting part is rotatably connected to the first connecting part, the output end of the second driving part is connected to the cutting part, and the cutting part can rotate circumferentially under the drive of the second driving part; the output end of the third driving part is connected to the cutting part through the first connecting part, and the cutting part can move horizontally and / or vertically and / or swing horizontally under the drive of the third driving part.

2. An underwater rock cutting robot according to claim 1, characterized in that: The third driving part includes a first driving device, a linear guide rail and a sliding seat. The sliding seat is installed on the frame, and the bottom is connected to the cutting part through the first connecting part. The output end of the first driving device is connected to the sliding seat, and the sliding seat is slidably connected to the linear guide rail.

3. The underwater rock cutting robot according to claim 1, characterized in that: The third driving part includes a second driving device, and an output end of the second driving device is hingedly connected to the first connecting part.

4. The underwater rock cutting robot according to claim 1, characterized in that: The third driving part comprises a third driving device, an output end of the third driving device is connected to the first connecting part, and the output end of the third driving device can rotate circumferentially around its axis.

5. The underwater rock cutting robot according to claim 1, characterized in that: The robot also includes at least two coccygeal guide mechanisms, which are installed on the sides of the frame and arranged opposite to each other. The coccygeal guide mechanisms and the cutting part are located on the same straight line, and their bottom ends can reciprocate in a vertical direction relative to the ground.

6. An underwater rock cutting robot according to claim 5, characterized in that: The coccyx guiding mechanism includes a fourth driving unit, a fifth driving unit, a coccyx, a coccyx guide tube and a second connecting unit. The coccyx guide tube is connected to the frame, and the coccyx is movably connected to the coccyx guide tube along its axial direction. The output end of the fourth driving unit is connected to one axial end of the coccyx, and the fourth driving unit can drive the coccyx to axially displace in the coccyx guide tube; the fifth driving unit is connected to the outer periphery of the coccyx guide tube through the second connecting unit, and the output end of the fifth driving unit is connected to the tail end of the coccyx guide tube, and the fifth driving unit can drive the tail end of the coccyx guide tube to swing clockwise and / or counterclockwise.

7. The underwater rock cutting robot according to claim 1, characterized in that: The robot further comprises at least four self-rescue mechanisms, which are installed on the outside of the frame, and the bottom ends of the self-rescue mechanisms can reciprocate in a vertical direction relative to the ground.

8. An underwater rock cutting robot according to claim 7, characterized in that: The self-rescue mechanism comprises an inner leg, an outer leg, a ball head shaft, a ball head base, a sixth drive unit and an anti-wear pad, the outer leg being connected to the frame, the inner leg being movably connected to the outer leg along its axial direction, the output end of the sixth drive unit being connected to the inner leg, and the sixth drive unit being able to drive the inner leg to axially displace in the outer leg; the anti-wear pad being installed in the inner cavity of the outer leg, and one end of the inner leg along its axial direction being connected to the ball head base through the ball head shaft.

9. The underwater rock cutting robot according to claim 1, characterized in that: The cutting portion includes a cutter disc.

10. The underwater rock cutting robot according to claim 1, characterized in that: The robot further comprises a cable bending protection mechanism, which is sleeved on the outer circumference of the cable and connected to the frame.

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