Deep sea optical cable stripping device for underwater robot

Abstract

The utility model relates to a deep-sea optical cable stripping device for an underwater robot, which is characterized in that a girdling driving mechanism comprises a girdling driving gear, a first gear set, a second gear set and a driving gear, the upper side of the girdling driving gear is meshed with the upper side of the driving gear through the first gear set, and the lower side of the girdling driving gear is meshed with the lower side of the driving gear through the second gear set; an annular cutting gear opening is formed in one side of the annular cutting driving gear in the radial direction, a through hole for containing an optical cable is formed in the middle of the annular cutting driving gear, cutting mechanisms are fixedly arranged on the two sides of the annular cutting driving gear in the axial direction, and the optical cable enters the through hole from the annular cutting gear opening and then is cut into the annular cutting gear. The parts, located on the front side and the rear side of the girdling driving gear, of the optical cable are pressed and fixed through the pressing mechanisms on the corresponding sides, and then the cutting mechanism drives the optical cable to rotate and cut through the girdling driving gear. The cable stripping device can be installed on a mechanical arm of an underwater robot and complete cable stripping operation of the optical cable underwater, and meanwhile, due to the fact that only the outer layer of the optical cable is stripped, communication of the optical cable can not be interrupted.

Description

Technical Field

[0001] The utility model relates to the field of underwater robots, and specifically relates to a deep-sea optical cable stripping device for an underwater robot. Background Technique

[0002] Underwater optical cables are key communication devices commonly used in ocean engineering, and they are usually laid in the deep sea hundreds or even thousands of meters deep. When performing operations such as maintenance, repair, and function expansion on underwater optical cables, it is necessary to remove the armor layer outside the optical cable until the insulation layer without affecting optical and electrical communication. Since the armor layer of the optical cable is mainly composed of steel wires, the underwater cable stripping operation of the armor layer has extremely high difficulty, and there is no technology in the prior art that can achieve underwater optical cable stripping without affecting communication.

[0003] The patent with the authorization announcement number CN206848513U discloses an optical cable stripping device, which includes a cable stripping mechanism, a front traction mechanism, and a rear traction mechanism. The cable stripping mechanism is arranged between the front traction mechanism and the rear traction mechanism. The optical cable passes through the cable stripping mechanism and is jointly pulled by the front and rear traction mechanisms to complete the cable stripping work. The patent with the authorization announcement number CN210619853U discloses an OPGW optical cable automatic stripping device, which includes a rotating wire stripping mechanism, a cable guiding mechanism, and a wire guiding mechanism. The rotating wire stripping mechanism includes a rotating main shaft and a plurality of wire take-up discs. A plurality of sub-rods extend from the axial surface of the rotating main shaft, and the wire take-up discs are installed on the sub-rods. When the rotating main shaft rotates, it will drive the wire take-up discs to rotate. The axis of the rotating main shaft is a hollow structure, and the optical cable passes through the axis of the rotating main shaft and enters the cable guiding mechanism. However, the above-mentioned devices are all used for onshore optical cable stripping operations and have a large floor area. In particular, the structure of the CN210619853U patent is relatively complex, and the above-mentioned devices cannot be combined with underwater robots and used for underwater cable stripping operations. Content of the Utility Model

[0004] The purpose of the utility model is to provide a deep-sea optical cable stripping device for an underwater robot, which can be installed on the robotic arm of the underwater robot and complete the optical cable stripping operation underwater. At the same time, since only the outer layer of the optical cable is stripped, it can not interrupt the optical cable communication.

[0005] The purpose of the utility model is achieved by the following technical solutions:

[0006] A deep - sea optical cable stripping device for an underwater robot, comprising a base and a circumferential cutting drive mechanism, a pressing mechanism and a cutting mechanism provided on the base. The circumferential cutting drive mechanism includes a circumferential cutting drive gear, a first gear set, a second gear set and a drive gear. The upper side of the circumferential cutting drive gear is meshed with the upper side of the drive gear through the first gear set, and the lower side is meshed with the lower side of the drive gear through the second gear set. One side in the radial direction of the circumferential cutting drive gear is provided with a circumferential cutting gear opening for the optical cable to pass through, and a through - hole for accommodating the optical cable is provided in the middle. On both sides in the axial direction of the circumferential cutting drive gear, cutting mechanisms are fixedly provided. After the optical cable enters the through - hole from the circumferential cutting gear opening, the parts of the optical cable on the front and rear sides of the circumferential cutting drive gear are first fixed by being pressed by the corresponding pressing mechanisms, and then the cutting mechanisms drive to rotate around the optical cable for cutting through the circumferential cutting drive gear.

[0007] A circumferential cutting installation cavity is provided on the base, and the circumferential cutting installation cavity includes a first gear cavity and a second gear cavity that are connected. The circumferential cutting drive gear is arranged in the first gear cavity, and the drive gear is arranged in the second gear cavity. An upper limit protrusion is formed in the middle of the upper side of the circumferential cutting installation cavity, and a lower limit protrusion is formed in the middle of the lower side. The two ends of the gear shafts of the gears in the first gear set are respectively installed on the upper limit protrusion through the corresponding first gear mounting plates on the corresponding sides, and the two ends of the gear shafts of the gears in the second gear set are respectively installed on the lower limit protrusion through the corresponding second gear mounting plates on the corresponding sides. A drive gear shaft is provided in the middle of the drive gear, and the two ends of the drive gear shaft are respectively installed on the corresponding side walls of the circumferential cutting installation cavity.

[0008] A side limit protrusion and a cutting installation groove are provided on the side of the first gear cavity away from the drive gear, and the two cutting installation grooves are respectively arranged on both sides of the side limit protrusion. Upper notches are respectively formed on both sides of the upper limit protrusion, and lower notches are respectively formed on both sides of the lower limit protrusion. The cutting mechanisms are arranged in the corresponding cutting installation grooves, and the cutting installation grooves are communicated with the corresponding side upper notches and the corresponding side lower notches to form a rotation groove for the corresponding side cutting mechanism to rotate circumferentially around the optical cable.

[0009] The circumferential cutting drive mechanism includes a circumferential cutting drive device, and a driving gear meshed with the drive gear is provided on the power shaft of the circumferential cutting drive device.

[0010] A cable groove for accommodating the optical cable is provided on the base, and the front and rear ends of the optical cable entering the through - hole in the middle of the circumferential cutting drive gear are respectively supported by the corresponding cable grooves. The pressing mechanism includes a pressing drive device and a pressing cover, and the pressing cover is driven to swing by the pressing drive device. The optical cable in the cable groove is fixed by being pressed by the corresponding pressing cover.

[0011] The base is provided with a pressing installation groove, and the pressing mechanism is arranged in the corresponding pressing installation groove. The front end of the pressing installation groove is provided with a first hinge shaft, and the rear end of the pressing cover is rotatably installed on the first hinge shaft. An articulated seat is arranged on the upper side of the pressing cover, and the power shaft end of the pressing driving device is articulated to the articulated seat through a second hinge shaft. The rear end of the pressing installation groove is provided with a third hinge shaft, and the rear end of the pressing driving device is rotatably installed on the third hinge shaft.

[0012] The cutting mechanism includes a cutting mounting plate, a cutting moving device, a cutting rotating device and a cutting tool. The cutting mounting plate is fixedly arranged on the corresponding side wall of the circumferential cutting driving gear. The cutting moving device and the cutting rotating device are both arranged on the cutting mounting plate. The cutting rotating device is slidably connected to the cutting mounting plate and is driven to move by the cutting moving device. The cutting tool is installed on the power shaft of the cutting rotating device.

[0013] The advantages and positive effects of the present utility model are as follows:

[0014] 1. The present utility model includes a circumferential cutting driving mechanism, a pressing mechanism and a cutting mechanism. A circumferential cutting driving gear is arranged in the circumferential cutting driving mechanism. A circumferential cutting gear opening for placing an optical cable is arranged on one side of the circumferential cutting driving gear. A through hole for accommodating the optical cable is arranged in the middle of the circumferential cutting driving gear. After the optical cable is placed in the circumferential cutting driving gear, both ends of it are fixed by the pressing mechanism. Then the circumferential cutting driving gear rotates and drives the whole cutting mechanism to rotate around the optical cable to complete the circumferential cutting of the outer layer of the optical cable. Since each mechanism of the present utility model is arranged on a base and has a relatively small volume, the present utility model can be installed on the robotic arm of an underwater robot. At the same time, the circumferential cutting gear opening can ensure that the optical cable smoothly enters the circumferential cutting driving gear without the need for a complex operation of passing the optical cable through the circumferential cutting driving gear. Moreover, the first gear set and the second gear set between the circumferential cutting driving gear and the driving gear can ensure the uninterrupted transmission of torque, thus being not affected by the circumferential cutting gear opening. Therefore, the present utility model can cooperate with the underwater robot to complete the cable stripping operation of the optical cable underwater.

[0015] 2. The cutting tool in the cutting mechanism of the present utility model can move radially to adjust its position, so as to control the cutting depth of the optical cable to ensure that only the outer layer of the optical cable is cut, thereby not interrupting the optical cable communication.

[0016] 3. The overall structure of the present utility model is compact and the control is simple. It only needs the underwater robot to provide a power supply and a control signal. Description of the Drawings

[0017] Figure 1 is a structural schematic diagram of the present utility model.

[0018] Figure 2 is Figure 1 a schematic structural diagram of the circumferential cutting drive mechanism in

[0019] Figure 3 is Figure 1 a schematic structural diagram of the pressing mechanism in

[0020] Figure 4 is Figure 1 a top view of the present utility model in

[0021] Figure 5 is Figure 4 a schematic diagram of the working state of the present utility model in

[0022] Among them, 1 is the base, 101 is the cable groove, 102 is the pressing installation groove, 103 is the cutting installation groove, 104 is the circumferential cutting installation cavity, 1041 is the side limit protrusion, 1042 is the upper limit protrusion, 1043 is the second gear cavity, 1044 is the first gear cavity, 2 is the circumferential cutting drive mechanism, 201 is the circumferential cutting drive gear, 2011 is the circumferential cutting gear opening, 202 is the first gear set, 2021 is the first gear mounting plate, 203 is the second gear set, 204 is the drive gear, 2041 is the drive gear shaft, 205 is the driving gear, 206 is the circumferential cutting drive device, 3 is the pressing mechanism, 301 is the pressing drive device, 3011 is the third hinge shaft, 3012 is the second hinge shaft, 302 is the gland, 3021 is the hinge seat, 3022 is the first hinge shaft, 4 is the cutting mechanism, 401 is the cutting moving device, 402 is the cutting rotating device, 403 is the cutting tool, 404 is the cutting mounting plate, 4041 is the limit strip, and 5 is the optical cable. Specific embodiments

[0023] The present utility model will be further described in detail below with reference to the accompanying drawings.

[0024] Such as Figures 1 to 5As shown in the figure, the utility model includes a base 1, and a circumferential cutting drive mechanism 2, a pressing mechanism 3 and a cutting mechanism 4 arranged on the base 1. The circumferential cutting drive mechanism 2 includes a circumferential cutting drive gear 201, a first gear set 202, a second gear set 203 and a drive gear 204. The upper side of the circumferential cutting drive gear 201 is meshed with the upper side of the drive gear 204 through the first gear set 202, and the lower side is meshed with the lower side of the drive gear 204 through the second gear set 203. One side in the radial direction of the circumferential cutting drive gear 201 is provided with a circumferential cutting gear opening 2011 for the optical cable 5 to pass through, and a through hole for accommodating the optical cable 5 is arranged in the middle. Cutting mechanisms 4 are fixedly arranged on both sides in the axial direction of the circumferential cutting drive gear 201. After the optical cable 5 enters the through hole from the circumferential cutting gear opening 2011, the parts of the optical cable 5 located on the front and rear sides of the circumferential cutting drive gear 201 are first respectively fixed by pressing through the corresponding pressing mechanisms 3, and then the cutting mechanism 4 drives the rotation through the circumferential cutting drive gear 201 and completes the cutting of the outer layer of the optical cable 5. When the utility model works, the first gear set 202 and the second gear set 203 between the circumferential cutting drive gear 201 and the drive gear 204 can ensure the uninterrupted transmission of torque. For example, when the circumferential cutting gear opening 2011 rotates to the position of the first gear set 202, at this time, the circumferential cutting drive gear 201 is disengaged from the first gear set 202, but the second gear set 203 can still drive the circumferential cutting drive gear 201 to rotate, thereby ensuring the uninterrupted continuous rotation of the circumferential cutting drive gear 201.

[0025] As Figures 1 to 2 shown, in this embodiment, a circumferential cutting installation cavity 104 is arranged on the base 1, and the circumferential cutting installation cavity 104 includes a first gear cavity 1044 and a second gear cavity 1043 which are communicated. The circumferential cutting drive gear 201 is arranged in the first gear cavity 1044, and the drive gear 204 is arranged in the second gear cavity 1043. An upper limit protrusion 1042 is formed in the middle of the upper side of the circumferential cutting installation cavity 104, and a lower limit protrusion is formed in the middle of the lower side. The two ends of the gear shafts of the gears in the first gear set 202 are respectively fixed on the upper limit protrusion 1042 through the corresponding first gear mounting plates 2021 on the corresponding sides, and the two ends of the gear shafts of the gears in the second gear set 203 are respectively fixed on the lower limit protrusion through the corresponding second gear mounting plates on the corresponding sides. As Figure 5 shown, the thicknesses of the first gear mounting plate 2021 and the second gear mounting plate need to avoid interference with the cutting mechanism 4 arranged on the circumferential cutting drive gear 201, so as to ensure that the circumferential cutting drive gear 201 can drive the cutting mechanism 4 to rotate around the circumference of the optical cable 5. In addition, as Figure 2 and Figure 4As shown, a drive gear shaft 2041 is provided in the middle of the drive gear 204, and both ends of the drive gear shaft 2041 are respectively installed on the corresponding side walls of the circumferential cutting installation cavity 104. At the same time, as Figure 5 shown, the position of the drive gear shaft 2041 also needs to avoid interference with the cutting mechanism 4 on the circumferential cutting drive gear 201.

[0026] The circumferential cutting drive gear 201 is directly arranged in the first gear cavity 1044. In this embodiment, the outer diameter of the circumferential cutting drive gear 201 is 140 mm, and its tolerance grade is f7. The inner diameter of the first gear cavity 1044 is 140 mm, and its tolerance grade is H8. At the same time, in this embodiment, the tooth tip of the circumferential cutting drive gear 201 and the circumferential inner wall of the first gear cavity 1044 are subjected to surface hardening and smoothing treatment. Coupled with the above tolerance matching method, the circumferential cutting drive gear 201 can rotate in the first gear cavity 1044 without radial runout. In this way, a through hole for the optical cable 5 to pass through can be formed without a gear shaft in the middle of the circumferential cutting drive gear 201. Additionally, as Figure 1 and Figures 4 to 5 shown, the axial limitation of the circumferential cutting drive gear 201 is realized by the cutting mechanisms 4 on both sides. As Figure 1 shown, a side limit protrusion 1041 and a cutting installation groove 103 are provided on the side of the first gear cavity 1044 away from the drive gear 204. And the two cutting installation grooves 103 are respectively arranged on both sides of the side limit protrusion 1041. Upper notches are respectively formed on both sides of the upper limit protrusion 1042, and lower notches are respectively formed on both sides of the lower limit protrusion. The cutting mechanism 4 is arranged in the corresponding cutting installation groove 103, and the cutting installation groove 103 communicates with the upper notch and the lower notch on the corresponding side to form a rotation groove for the corresponding side cutting mechanism 4 to rotate around the optical cable 5 in a circumferential manner.

[0027] As Figure 2 shown, in this embodiment, the circumferential cutting drive mechanism 2 includes a circumferential cutting drive device 206. The circumferential cutting drive device 206 can adopt devices such as a motor. A driving gear 205 is provided on the power shaft of the circumferential cutting drive device 206 and meshes with the drive gear 204 to drive it to rotate. Additionally, as Figure 2 shown, in this embodiment, both the first gear set 202 and the second gear set 203 include two meshing gears.

[0028] As Figure 1 shown, in this embodiment, a cable groove 101 for accommodating the optical cable 5 is provided on the base 1, and the front and rear ends of the optical cable 5 entering the through hole in the middle of the circumferential cutting drive gear 201 are respectively supported by the cable grooves 101 on the corresponding sides. As Figure 3As shown in the figure, in this embodiment, the pressing mechanism 3 includes a pressing driving device 301 and a pressing cover 302, and the pressing cover 302 is driven by the pressing driving device 301 to swing. The optical cable 5 in the cable trough 101 is pressed and fixed by the pressing cover 302 on the corresponding side. Then, the circumferential cutting driving gear 201 starts to rotate and drives the cutting mechanism 4 to complete the circumferential cutting around the optical cable 5.

[0029] As Figure 1 and Figure 3 As shown in the figure, in this embodiment, a pressing installation groove 102 is provided on the base 1, and the pressing mechanism 3 is arranged in the corresponding pressing installation groove 102. A first hinge shaft 3022 is provided at the front end of the pressing installation groove 102, and the rear end of the pressing cover 302 is rotatably installed on the first hinge shaft 3022. A hinge seat 3021 is provided on the upper side of the pressing cover 302, and the power shaft end of the pressing driving device 301 is hinged to the hinge seat 3021 through a second hinge shaft 3012. A third hinge shaft 3011 is provided at the rear end of the pressing installation groove 102, and the rear end of the pressing driving device 301 is rotatably installed on the third hinge shaft 3011. The pressing cover 302 is integrally arc-shaped to match the shape of the optical cable 5. When the power shaft of the pressing driving device 301 expands and contracts, it drives the pressing cover 302 to lift to release the optical cable 5 or drop to press the optical cable 5. The pressing driving device 301 can adopt devices such as an electric push rod.

[0030] As Figures 4 to 5 As shown in the figure, in this embodiment, the cutting mechanism 4 includes a cutting installation plate 404, a cutting moving device 401, a cutting rotating device 402, and a cutting knife 403. The cutting installation plate 404 is fixedly arranged on the corresponding side wall of the circumferential cutting driving gear 201. The cutting moving device 401 and the cutting rotating device 402 are both arranged on the cutting installation plate 404, and the cutting rotating device 402 is slidably connected to the cutting installation plate 404 and driven to move by the cutting moving device 401. In this embodiment, a slider is provided on the housing of the cutting rotating device 402 to cooperate with a chute arranged on the cutting installation plate 404 to realize the sliding connection between the two. The cutting knife 403 is installed on the power shaft of the cutting rotating device 402 and is driven to rotate by the cutting rotating device 402 to achieve cutting. In this embodiment, the cutting moving device 401 can adopt devices such as an electric push rod, and the cutting rotating device 402 can adopt devices such as a right-angle reduction motor. When the present utility model works, after the optical cable 5 is pressed and fixed, the cutting moving device 401 extends radially along the optical cable 5 to adjust the position of the cutting knife 403. After the position of the cutting knife 403 is determined, the cutting rotating device 402 drives the cutting knife 403 to rotate, and at the same time, the circumferential cutting driving gear 201 drives the entire cutting mechanism 4 to rotate around the circumference of the optical cable 5 to achieve the purpose of continuously cutting the outer layer of the optical cable 5 in the circumferential direction by the cutting knife 403.

[0031] In this embodiment, the cutting mounting plates 404 on both sides can cooperate with the side limit protrusions 1041, upper limit protrusions 1042, lower limit protrusions and other structures to limit the axial displacement of the circumferential cutting drive gear 201. As shown in Figure 4 the figure, a limit strip 4041 can be provided on the cutting mounting plate 404 to form a gap on both sides of the circumferential cutting drive gear 201 that can accommodate the first gear mounting plate 2021 and the second gear mounting plate. And as shown in Figure 5 the figure, the limit strip 4041 needs to be provided at a position avoiding components such as the first gear mounting plate 2021, the second gear mounting plate, and the drive gear 204. Additionally, as shown in Figure 2 the figure, the area of the cutting mounting plate 404 can be larger than the protrusion opening formed between the side limit protrusion 1041 and the upper limit protrusion 1042. In this way, even when the cutting mounting plate 404 rotates to the position of the protrusion opening, it can cover the opening and still play a limiting role, so that the circumferential cutting drive gear 201 will not axially move.

[0032] The utility model is mainly used for underwater robots. The overall structure of the utility model is relatively small to achieve the purpose of being installed on the manipulator of the underwater robot. Therefore, the structural dimensions of the cable groove 101 on the base 1 are also relatively small. The purpose of setting the circumferential cutting gear opening 2011 on the circumferential cutting drive gear 201 of the utility model is, firstly, to ensure that the optical cable 5 can smoothly enter the circumferential cutting drive gear 201, and secondly, to facilitate cooperation with the operation of the underwater robot. Generally, it is very difficult for the manipulator on the underwater robot to pass the optical cable 5 through the circumferential cutting drive gear 201, especially when the structural dimensions of the cable groove 101 and the like are relatively small.

[0033] The working principle of the utility model is as follows:

[0034] When in use, the utility model can be installed on the manipulator of the underwater robot and complete the cable stripping operation of the optical cable 5 underwater. At the same time, since the utility model only strips the outer layer of the optical cable 5, the optical cable communication can be uninterrupted during the operation.

[0035] The working process of the utility model includes the following steps:

[0036] Step 1: The gland 302 on the base 1 is in the lifted and open state. At the same time, the circumferential cutting gear opening 2011 on the circumferential cutting drive gear 201 rotates to the upward side. Then, the control system of the underwater robot controls the movement of the manipulator so that the optical cable 5 can enter the through hole in the middle of the circumferential cutting drive gear 201 via the circumferential cutting gear opening 2011, and at the same time, parts at both the front and rear ends of the optical cable 5 enter the corresponding cable grooves 101.

[0037] Step 2: The pressing drive device 301 in the pressing mechanism 3 is activated to drive the pressing cover 302 to drop and press the parts of the optical cable 5 on the front and rear sides of the circumferential cutting drive gear 201, thereby fixing the optical cable 5.

[0038] Step 3: The cutting moving device 401 in the cutting mechanism 4 is activated to drive the cutting knife 403 to move to a set position, and this position needs to ensure that only the outer layer of the optical cable 5 is cut during cutting.

[0039] Step 4: The circumferential cutting drive device 206 in the circumferential cutting drive mechanism 2 is activated, and torque is transmitted in sequence through the driving gear 205, the drive gear 204, the first gear set 202, and the second gear set 203 to drive the circumferential cutting drive gear 201 to rotate. The rotation of the circumferential cutting drive gear 201 drives the entire cutting mechanism 4 to rotate around the optical cable 5. At the same time, the cutting knife 403 on the cutting mechanism 4 is also activated to rotate to complete the circumferential cutting of the outer layer of the optical cable 5. During the cutting process, the cutting moving device 401 in the cutting mechanism 4 can control the radial movement of the cutting knife 403 according to the actual situation to control the cutting depth of the outer layer of the optical cable 5.

[0040] In addition, during the above cutting process, the circumferential cutting drive gear 201 can ensure uninterrupted torque transmission through the first gear set 202 and the second gear set 203. For example, when the circumferential cutting gear opening 2011 rotates to the position of the first gear set 202, at this time, the circumferential cutting drive gear 201 is disengaged from the first gear set 202, but the second gear set 203 can still drive the circumferential cutting drive gear 201 to rotate, thereby ensuring the uninterrupted continuous rotation of the circumferential cutting drive gear 201.

[0041] Step 5: After cutting is completed, each mechanism returns to its original position, and other robotic arms of the underwater robot can take out the optical cable 5 and perform the next operation.

Claims

1. An underwater optical cable stripping device for an underwater robot, characterized in that: It includes a base (1), a circumferential cutting drive mechanism (2), a pressing mechanism (3), and a cutting mechanism (4) provided on the base (1). The circumferential cutting drive mechanism (2) includes a circumferential cutting drive gear (201), a first gear set (202), a second gear set (203), and a drive gear (204). The upper side of the circumferential cutting drive gear (201) is meshed with the upper side of the drive gear (204) through the first gear set (202), and the lower side is meshed with the lower side of the drive gear (204) through the second gear set (203). On one side in the radial direction of the circumferential cutting drive gear (201), there is a circumferential cutting gear opening (2011) for the optical cable (5) to pass through, and a through hole for accommodating the optical cable (5) is provided in the middle. On both sides in the axial direction of the circumferential cutting drive gear (201), the cutting mechanisms (4) are fixedly provided. After the optical cable (5) enters the through hole from the circumferential cutting gear opening (2011), the parts of the optical cable (5) on the front and rear sides of the circumferential cutting drive gear (201) are first pressed and fixed by the pressing mechanisms (3) on the corresponding sides, and then the cutting mechanisms (4) are driven by the circumferential cutting drive gear (201) to rotate around the optical cable (5) for cutting.

2. The deep - sea optical cable stripping device for an underwater robot according to claim 1, wherein: A circumferential cutting installation cavity (104) is provided on the base (1), and the circumferential cutting installation cavity (104) includes a first gear cavity (1044) and a second gear cavity (1043) that are connected. The circumferential cutting drive gear (201) is arranged in the first gear cavity (1044), and the drive gear (204) is arranged in the second gear cavity (1043). In the middle of the upper side of the circumferential cutting installation cavity (104), an upper limit protrusion (1042) is formed, and in the middle of the lower side, a lower limit protrusion is formed. The two ends of the gear shafts of the gears in the first gear set (202) are respectively installed on the upper limit protrusion (1042) through the first gear mounting plates (2021) on the corresponding sides. The two ends of the gear shafts of the gears in the second gear set (203) are respectively installed on the lower limit protrusion through the second gear mounting plates on the corresponding sides. A drive gear shaft (2041) is provided in the middle of the drive gear (204), and the two ends of the drive gear shaft (2041) are respectively installed on the corresponding side walls of the circumferential cutting installation cavity (104).

3. The deep - sea optical cable stripping device for an underwater robot according to claim 2, wherein: On one side of the first gear cavity (1044) away from the drive gear (204), a side limit protrusion (1041) and a cutting installation groove (103) are provided. The two cutting installation grooves (103) are respectively arranged on both sides of the side limit protrusion (1041). Upper notches are respectively formed on both sides of the upper limit protrusion (1042), and lower notches are respectively formed on both sides of the lower limit protrusion. The cutting mechanisms (4) are arranged in the corresponding cutting installation grooves (103), and the cutting installation grooves (103) are communicated with the corresponding side upper notches and the corresponding side lower notches to form a rotation groove for the corresponding side cutting mechanism (4) to rotate around the optical cable (5) in a circle.

4. The deep - sea optical cable stripping device for an underwater robot according to claim 1, wherein: The circumferential cutting drive mechanism (2) includes a circumferential cutting drive device (206), and a driving gear (205) is provided on the power shaft of the circumferential cutting drive device (206) and meshed with the drive gear (204).

5. The deep - sea optical cable stripping device for an underwater robot according to claim 1, characterized in that: A cable groove (101) for accommodating an optical cable (5) is provided on the base (1), and the front and rear ends of the optical cable (5) entering the central through hole of the circumferential cutting drive gear (201) are respectively supported by the cable grooves (101) on the corresponding sides. The pressing mechanism (3) includes a pressing drive device (301) and a gland (302), and the gland (302) is driven to swing by the pressing drive device (301). The optical cable (5) in the cable groove (101) is pressed and fixed by the gland (302) on the corresponding side.

6. The deep-sea optical cable stripping device for an underwater robot according to claim 5, wherein: A pressing installation groove (102) is provided on the base (1), and the pressing mechanism (3) is arranged in the corresponding pressing installation groove (102). A first hinge shaft (3022) is provided at the front end of the pressing installation groove (102), and the rear end of the gland (302) is rotatably installed on the first hinge shaft (3022). A hinge seat (3021) is provided on the upper side of the gland (302), and the power shaft end of the pressing drive device (301) is hinged to the hinge seat (3021) through a second hinge shaft (3012). A third hinge shaft (3011) is provided at the rear end of the pressing installation groove (102), and the rear end of the pressing drive device (301) is rotatably installed on the third hinge shaft (3011).

7. The deep-sea optical cable stripping device for an underwater robot according to claim 1, characterized in that: The cutting mechanism (4) includes a cutting mounting plate (404), a cutting moving device (401), a cutting rotating device (402) and a cutting tool (403). The cutting mounting plate (404) is fixedly arranged on the corresponding side wall of the circumferential cutting drive gear (201). The cutting moving device (401) and the cutting rotating device (402) are both arranged on the cutting mounting plate (404), and the cutting rotating device (402) is slidably connected to the cutting mounting plate (404) and driven to move by the cutting moving device (401). The cutting tool (403) is installed on the power shaft of the cutting rotating device (402).

Images