Grabbing and cutting robot

Abstract

The utility model belongs to the field of underwater robots, and particularly relates to a grabbing and cutting robot which comprises a power platform and a cutting mechanism, the output end of the power platform is detachably connected with the cutting mechanism, and the cutting mechanism is driven by a driving mechanism to clamp and cut a pipeline / cable. The cutting mechanism comprises a cable cutting operation head and a pipeline cutting operation head, and the output end of the power platform can be detachably connected with the cable cutting operation head and the pipeline cutting operation head. According to the grabbing and cutting robot, grabbing and cutting of the cable and the pipeline can be achieved through the cable cutting operation head and the pipeline cutting operation head correspondingly, and the maintenance cost and time of the submarine cable and the pipeline are greatly reduced.

Description

Technical Field

[0001] This application belongs to the field of underwater robots, and particularly relates to a grasping and cutting robot. Background Art

[0002] An underwater robot is an extreme operation robot working underwater. It can replace staff to enter waters that are dangerous, unclear, or inaccessible directly by humans, and use various sensors and tools carried by itself to detect, record, and process target objects, effectively ensuring the safety of personnel's lives and improving work efficiency. The underwater robot has sufficient power to support long-term work. And because it operates under human control through cables, it has higher execution power, and the transmission and exchange of information and data are also faster and more convenient. Today, with the increasing importance of ocean resource development and underwater engineering systems, various countries are committed to the research of underwater robot technology.

[0003] With the development of technology, more and more submarine cables and pipelines are laid on the seabeds around the world. When part of the submarine cables and pipelines fails, it is often necessary to salvage one end of the cables and pipelines onto the shore for repair, which has the problems of complex process and long cycle.

[0004] Based on the above problems, there is an urgent need for a robot that can grasp and cut the faulty part of the cables and pipelines and then salvage them onto the working ship for repair. Utility Model Content

[0005] The purpose of this application is to provide a robot that can grasp and cut the faulty part of the cables and pipelines and then salvage them onto the working ship for repair.

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

[0007] A grasping and cutting robot includes a power platform and a cutting mechanism. The output end of the power platform is detachably connected to the cutting mechanism, and the cutting mechanism clamps and cuts the cable / pipeline under the drive of a driving mechanism.

[0008] The cutting mechanism includes a cable cutting operation head and a pipeline cutting operation head. The output end of the power platform is detachably connected to the cable cutting operation head and the pipeline cutting operation head;

[0009] The cable cutting operation head includes a first frame, a clamping mechanism, a first driving mechanism, and a cutter head cutting mechanism. The first frame is used to provide an installation position for the clamping mechanism, the first driving mechanism, and the cutter head cutting mechanism. The first driving mechanism is used to provide power for the clamping mechanism and the cutter head cutting mechanism. The clamping mechanism is used to clamp and hold the cable, and the cutter head cutting mechanism is used to cut the cable;

[0010] The pipeline cutting operation head includes a first frame, a clamping mechanism, a second driving mechanism, and a wire saw cutting mechanism. The first frame is used to provide an installation position for the clamping mechanism, the second driving mechanism, and the wire saw cutting mechanism. The second driving mechanism is used to provide power for the clamping mechanism and the wire saw cutting mechanism. The clamping mechanism is used to clamp and hold the pipeline, and the wire saw cutting mechanism is used to cut the pipeline.

[0011] Further, the first frame includes a horizontal frame and vertical frames connected to both sides of the horizontal frame. The number of the clamping mechanisms is multiple groups, and the multiple groups of clamping mechanisms are arranged in parallel. The clamping mechanisms are connected to the bottoms of the horizontal frame and the vertical frames.

[0012] Further, each group of the clamping mechanisms includes an auxiliary clamp and two symmetrically arranged clamps. The two symmetrically arranged clamps are hingedly connected to both sides of the bottom end of the vertical frame, and the clamps can rotate around the hinge axis under the drive of the first driving mechanism. The auxiliary clamp is vertically connected to the bottom end of the horizontal frame, and the auxiliary clamp can reciprocate in the vertical direction under the drive of the first driving mechanism.

[0013] Further, the first driving mechanism includes a cutter head driving part, and the output end of the cutter head driving part is connected to the cutter head cutting mechanism.

[0014] The cutter head cutting mechanism includes a cutter head, a transfer seat, and a connecting seat. The cutter head driving part includes a cutter head vertical movement driving unit and a cutter head rotation driving unit. The output end of the cutter head vertical movement driving unit is connected to the connecting seat, and the output end of the cutter head rotation driving unit is connected to the cutter head through the transfer seat.

[0015] Preferably, the cutter head cutting mechanism further includes at least one first guiding column. The top end of the first guiding column is connected to the first frame. A group of first guiding seats are installed at both ends of the connecting seat, and the cutter head cutting mechanism is slidably connected to the first guiding column through the first guiding seats.

[0016] Further, the second driving mechanism includes a wire saw driving part, and the output end of the wire saw driving part is connected to the wire saw cutting mechanism.

[0017] The wire saw cutting mechanism includes a wire saw, a fixing frame, a driving wheel, and a driven wheel. The driving wheel and the driven wheel are connected to one side of the fixing frame. The wire saw is meshed with the driving wheel and the driven wheel. The wire saw driving part includes a wire saw vertical movement driving unit and a wire saw rotation driving unit. The output end of the wire saw vertical movement driving unit is connected to the fixing frame, and the output end of the wire saw rotation driving unit is connected to the driving wheel.

[0018] Preferably, the wire saw cutting mechanism further includes a pipeline pressing part. A trapezoidal vacancy part is formed at the bottom of the fixed frame. The pipeline pressing part is connected to the waist of the trapezoidal structure, and the inner side of the pipeline pressing part can be in contact with the pipeline.

[0019] Preferably, the wire saw cutting mechanism further includes a tensioning wheel. The tensioning wheel is located between the driving wheel and the driven wheel and is meshed with the wire saw. The second driving mechanism further includes a tensioning wheel driving part, and the output end of the tensioning wheel driving part is connected to the tensioning wheel;

[0020] A tension sensor is assembled on the tensioning wheel, and the tension sensor can detect the tightness of the wire saw.

[0021] Preferably, the wire saw cutting mechanism further includes a sliding plate and a vertical sliding part. The driving wheel and the driven wheel are installed on one side of the sliding plate facing away from the fixed frame. The vertical sliding part is located between the sliding plate and the fixed frame, and can realize the adjustment of the relative height between the wire saw and the fixed frame.

[0022] Preferably, the wire saw cutting mechanism further includes at least one vertically arranged second guiding column. The top end of the second guiding column is connected to the first frame. A set of second guiding seats are installed at one end of the fixed frame facing the second guiding column. The wire saw cutting mechanism is slidably connected to the second guiding column through the second guiding seats.

[0023] The grasping and cutting robot provided by the embodiment of the present application has at least the following beneficial effects:

[0024] (1) The grasping and cutting robot in the present application can realize the grasping and cutting of cables and pipelines through the cable cutting operation head and the pipeline cutting operation head respectively, greatly reducing the maintenance cost and time of submarine cables and pipelines;

[0025] (2) The clamping mechanism in the present application can fix the cable and the pipeline at three points through the clamp and the auxiliary clamp. While realizing the stable clamping of the cable and the pipeline, it can also clamp cables and pipelines with different outer diameters, having the advantages of strong versatility and stable clamping;

[0026] (3) A linkage arm is arranged between the clamping mechanisms in the present application, which can realize the cooperative clamping of the clamps, ensuring the stability and linkage of the clamping;

[0027] (4) The cable in the present application is cut by the cutter head cutting mechanism, which can prevent the cable from winding around the cutter head cutting mechanism after being cut, ensuring the efficiency and safety of the cutting;

[0028] (5) The pipeline in this application is cut by a wire saw cutting mechanism, which can ensure complete cutting of the metal material on the outer surface of the pipeline, and has the advantages of high cutting accuracy and high efficiency;

[0029] (6) The sandblasting thruster in this application can blow off the sediment on the surfaces of the cable and the pipeline, increasing the contact area and friction between the clamping mechanism and the cable and the pipeline, and ensuring the stability of the clamping mechanism for grasping the cable and the pipeline. Brief Description of the Drawings

[0030] Figure 1 It is the overall structure diagram of the grasping and cutting robot in this application when facing the cable;

[0031] Figure 2 It is the side view of the grasping and cutting robot in this application when facing the cable;

[0032] Figure 3 It is the overall structure diagram of the grasping and cutting robot in this application when grasping the cable;

[0033] Figure 4 It is the overall structure diagram of the grasping and cutting robot in this application when facing the pipeline;

[0034] Figure 5 It is the side view of the grasping and cutting robot in this application when facing the pipeline;

[0035] Figure 6 It is the overall structure diagram of the grasping and cutting robot in this application when grasping the pipeline;

[0036] Figure 7 It is the overall structure diagram of the cable cutting operation head in this application;

[0037] Figure 8 It is the sectional view of the cable cutting operation head in this application;

[0038] Figure 9 It is the overall structure diagram of the cutter head cutting mechanism in this application;

[0039] Figure 10 It is the overall structure diagram of the pipeline cutting operation head in this application;

[0040] Figure 11 It is the sectional view of the pipeline cutting operation head in this application;

[0041] Figure 12 It is the overall structure diagram of the wire saw cutting mechanism in this application;

[0042] Figure 13 It is the overall structure diagram of the wire saw cutting mechanism from another angle in this application;

[0043] Figure 14This is a top view of the power platform in this application with the protective net removed.

[0044] Reference numerals: X, cable; Y, pipeline; 1, power platform; 11, second frame; 121, attitude thruster; 122, sand blowing thruster; 13, protective net; 2, cable cutting operation head; 21, first frame; 211, horizontal frame; 212, vertical frame; 22, clamping mechanism; 221, auxiliary clamp; 222, clamp; 231, clamp driving part; 232, auxiliary clamp driving part; 233, cutter head driving part; 2331, cutter head vertical movement driving unit; 2332, cutter head rotation driving unit; 24, cutter head cutting mechanism; 241, cutter head; 242, adapter seat; 243, connecting seat; 244, first guide post; 25, linkage arm; 3, pipeline cutting operation head; 333, wire saw driving part; 3331, wire saw vertical movement driving unit; 3332, wire saw rotation driving unit; 334, tensioning wheel driving part; 335, sliding driving part; 34, wire saw cutting mechanism; 341, wire saw; 342, fixing frame; 343, driving wheel; 344, driven wheel; 345, tensioning wheel; 346, pipeline pressing part; 347, sliding plate; 348, vertical sliding part; 3481, slider; 3482, slide rail; 349, second guide post. Detailed implementation manners

[0045] Hereinafter, the present application will be further described based on preferred implementation manners with reference to the drawings.

[0046] The terms used in this specification are for the purpose of describing the embodiments of the present application, but are not intended to limit the present application. Unless otherwise clearly specified and defined, if the terms "arranged", "connected", "coupled" are used, they should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, and it may be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present application can be specifically understood.

[0047] In addition, in the description of the embodiments of the present application, for the convenience of understanding, various components in the drawings are enlarged or reduced, but this approach is not intended to limit the protection scope of the present application.

[0048] The present application provides a grasping and cutting robot for grasping and cutting submarine cables and pipelines. Figures 1-6 The overall structural diagrams of the grasping and cutting robot in the present application cooperating with cables and pipelines are respectively shown, as Figures 1-6As shown in the figure, the grasping and cutting robot in the present application includes a power platform 1 and a cutting mechanism. The output end of the power platform 1 is detachably connected to the cutting mechanism, and the cutting mechanism clamps and cuts the cable / pipeline under the drive of the driving mechanism.

[0049] Specifically, the cutting mechanism includes a cable cutting operation head 2 and a pipeline cutting operation head 3. The output end of the power platform 1 is detachably connected to the cable cutting operation head 2 and the pipeline cutting operation head 3, that is, the cable cutting operation head 2 and the pipeline cutting operation head 3 are replaceable tooling of the power platform 1. When the detection device detects a cable fault, the bottom end of the power platform 1 is assembled and connected to the cable cutting operation head 2, and the cable cutting operation head 2 realizes the grasping and cutting of the cable. When the detection device detects a pipeline fault, the bottom end of the power platform 1 is assembled and connected to the pipeline cutting operation head 3, and the pipeline cutting operation head 3 realizes the grasping and cutting of the pipeline.

[0050] The specific structure of the cable cutting operation head 2 will be described in detail below, as Figures 1-3 shown, the cable cutting operation head 2 includes a first frame 21, a clamping mechanism 22, a first driving mechanism, and a cutter head cutting mechanism 24. The first frame 21 provides an installation position for the clamping mechanism 22, the first driving mechanism, and the cutter head cutting mechanism 24, and the first driving mechanism can provide power for the clamping mechanism 22 and the cutter head cutting mechanism 24. After the clamping mechanism 22 clamps and holds the cable X, the cutter head cutting mechanism 24 can cut off the cable X. It should be particularly noted that since the outer circumference of the cable X is wrapped by filamentous materials, using the cutter head cutting mechanism 24 for cutting can prevent the filamentous materials from being cut off and winding around the cutting mechanism, ensuring the cutting efficiency and safety.

[0051] Specifically, as Figure 7 shown, the first frame 21 includes a horizontal frame 211 and vertical frames 212 connected to both horizontal sides of the horizontal frame 211. The number of clamping mechanisms 22 is multiple groups, and the multiple groups of clamping mechanisms 22 are arranged in parallel, and can simultaneously clamp both ends of the cable X along the length direction at the pre-cutting position, realizing the fixation of the pre-cutting position of the cable X and ensuring that the cable X does not move during the cutting process.

[0052] In some specific embodiments of the present application, the number of the clamping mechanisms 22 is two groups. Each group of clamping mechanisms 22 includes an auxiliary clamp 221 and two symmetrically arranged clamps 222. The two symmetrically arranged clamps 222 are hingedly connected to both sides of the bottom end of the vertical frame 212. The two clamps 222 can rotate around the hinge axis under the driving action of the first driving mechanism to realize clamping the cable X from the left and right circumferential sides of the cable X. The auxiliary clamp 221 is vertically connected to the bottom end of the horizontal frame 211 and can reciprocate vertically under the driving of the first driving mechanism to realize pressing the cable X from the top of the cable X. The clamping mechanism 22 can fix the cable X at three points through the auxiliary clamp 221 and the two clamps 222, which can not only realize the stable clamping of the cable X, but also realize the clamping of cables X with different outer diameters, improve the versatility of the clamping mechanism 22, reduce the assembly of clamping toolings with different sizes, and has the effects of strong versatility and stable clamping.

[0053] Further, the side of the auxiliary clamp 221 and the clamp 222 facing the cable X is an arc structure, which can increase the fitting area with the cable X.

[0054] In some preferred embodiments of the present application, anti-slip spikes are provided at the contact position between the tail end of the clamp 222 and the cable X, which can increase the friction between the clamp 222 and the cable X and further ensure the stability of clamping.

[0055] In some preferred embodiments of the present application, a linkage arm 25 is provided between the two groups of clamping mechanisms 22. One end of the linkage arm 25 along its axial direction is connected to one of the clamps 222 of one group of clamping mechanisms 22, and the other end is connected to the clamp 222 of the other group of clamping mechanisms 22 corresponding to this clamp 222, so that the clamps 222 of the two groups of clamping mechanisms 22 can clamp cooperatively, ensuring the stability and linkage of clamping.

[0056] In some specific embodiments of the present application, the number of the linkage arms 25 is two, and the two linkage arms 25 are arranged in parallel.

[0057] Further, the first driving mechanism includes a clamp driving part 231, an auxiliary clamp driving part 232 and a cutter head driving part 233. The output end of the clamp driving part 231 is connected to the clamp 222, the output end of the auxiliary clamp driving part 232 is connected to the auxiliary clamp 221, and the output end of the cutter head driving part 233 is connected to the cutter head cutting mechanism 24.

[0058] Specifically, the clamp driving unit 231 corresponds one-to-one to the clamp 222 and is connected to the vertical frame 212. Its output end is hingedly connected to the top of the clamp 222. In addition, since the clamp 222 is also hingedly connected to the vertical frame 212, the output end of the clamp driving unit 231 drives the clamp 222 to rotate around the hinge axis (the hinge axis where the clamp 222 is hingedly connected to the vertical frame 212), thereby realizing the angle adjustment of the clamp 222.

[0059] Specifically, the output end of the auxiliary clamp driving unit 232 is connected to the auxiliary clamp 221, so that the output end of the auxiliary clamp driving unit 232 can drive the auxiliary clamp 221 to move in the vertical direction, thereby achieving the compression or loosening of the auxiliary clamp 221 and the cable X.

[0060] In some preferred embodiments of the present application, the clamp 222 and the auxiliary clamp 221 are carved from aluminum alloy materials, and have the advantages of being resistant to seawater corrosion, having a strong structure, saving materials, and having a light structure.

[0061] In some preferred embodiments of the present application, the first frame 21 is assembled and welded from aluminum alloy materials, and has the advantages of being resistant to seawater corrosion, having a firm structure, and being durable.

[0062] Specifically, the output end of the cutter disc driving unit 233 is connected to the cutter disc cutting mechanism 24, so that the output end of the cutter disc driving unit 233 can drive the cutter disc cutting mechanism 24 to move and rotate in the vertical direction to achieve the cutting action of the cable X in the vertical direction.

[0063] Furthermore, if Figure 2 and Figure 8 As shown, the cutter disc driving unit 233 includes a cutter disc vertical movement driving unit 2331 and a cutter disc rotation driving unit 2332. The cutter disc vertical movement driving unit 2331 is used to drive the cutter disc cutting mechanism 24 to reciprocate in the vertical direction, and the cutter disc rotation driving unit 2332 is used to drive the cutter disc cutting mechanism 24 to rotate circumferentially.

[0064] Further, Figure 9 The overall structure of the cutter disc cutting mechanism 24 is shown in FIG. Figure 9 As shown, the cutter disc cutting mechanism 24 includes a cutter disc 241, an adapter seat 242 and a connecting seat 243. The output end of the cutter disc vertical movement drive unit 2331 is connected to the connecting seat 243. The output end of the cutter disc rotation drive unit 2332 is connected to the cutter disc 241 through the adapter seat 242. The bottom end of the connecting seat 243 is connected to the adapter seat 242.

[0065] In some preferred embodiments of the present application, the cutter head cutting mechanism 24 further includes at least one first guiding column 244. The top end of the first guiding column 244 is connected to the horizontal frame 211. A set of first guiding seats are installed at both ends of the connecting seat 243. The cutter head cutting mechanism 24 is slidably connected to the first guiding column 244 through the first guiding seats, so that the cutter head cutting mechanism 24 can reciprocate along the axial direction of the first guiding column 244, ensuring the cutting direction and cutting effect of the cable X.

[0066] In some specific embodiments of the present application, the number of the first guiding columns 244 is two, and the two first guiding columns 244 are arranged in parallel to ensure the stability of guiding.

[0067] The specific structure of the pipeline cutting operation head 3 will be described in detail below, as Figures 4-6 and Figure 10 shown, the pipeline cutting operation head 3 includes a first frame 21, a clamping mechanism 22, a second driving mechanism and a wire saw cutting mechanism 34. The first frame 21 provides installation positions for the clamping mechanism 22, the second driving mechanism and the wire saw cutting mechanism 34. The second driving mechanism can provide power for the clamping mechanism 22 and the wire saw cutting mechanism 34. After the clamping mechanism 22 clamps and holds the pipeline Y, the wire saw cutting mechanism 34 can cut off the pipeline Y. It should be particularly noted that since the outer surface of the pipeline Y is made of a metal material, the cutting effect of using the cutter head 241 is not good. Therefore, using the wire saw cutting mechanism 34 to cut the pipeline Y has the advantages of high cutting precision and high efficiency. Through the above description, it can be seen that the main difference between the pipeline cutting operation head 3 and the cable cutting operation head 2 lies in the different cutting mechanisms.

[0068] In addition, the positions and structures of the first frame 21 and the clamping mechanism 22 have been described above and will not be further elaborated here.

[0069] It should be particularly noted that the second driving mechanism includes a clamp driving part 231, an auxiliary clamp driving part 232 and a wire saw driving part 333. The output end of the wire saw driving part 333 is connected to the output end of the wire saw cutting mechanism 34. The positions and functions of the clamp driving part 231 and the auxiliary clamp driving part 232 have been described above and will not be further elaborated here.

[0070] Specifically, the output end of the wire saw driving part 333 is connected to the wire saw cutting mechanism 34, so that the output end of the wire saw driving part 333 can drive the wire saw cutting mechanism 34 to move and rotate in the vertical direction to realize the cutting action of the pipeline Y in the vertical direction.

[0071] Furthermore, as Figure 5As shown, the wire saw driving part 333 includes a wire saw vertical movement driving unit 3331 and a wire saw rotation driving unit 3332. The wire saw vertical movement driving unit 3331 is used to drive the wire saw cutting mechanism 34 to reciprocate in the vertical direction, and the wire saw rotation driving unit 3332 is used to drive the wire saw cutting mechanism 34 to rotate circumferentially.

[0072] Furthermore, Figure 12 and Figure 13 shows the overall structure diagram of the wire saw cutting mechanism 34. As Figure 12 and Figure 13 shown, the wire saw cutting mechanism 34 includes a wire saw 341, a fixing frame 342, a driving wheel 343 and a driven wheel 344. The driving wheel 343 and the driven wheel 344 are connected to one side of the fixing frame 342. The wire saw 341 is meshed and connected with the driving wheel 343 and the driven wheel 344. The output end of the wire saw vertical movement driving unit 3331 is connected to the fixing frame 342, and the output end of the wire saw rotation driving unit 3332 is connected to the driving wheel 343. Driven by the wire saw vertical movement driving unit 3331, the wire saw 341, the fixing frame 342, the driving wheel 343 and the driven wheel 344 can move synchronously in the vertical direction to realize the adjustment of the relative height between the wire saw 341 and the pipeline Y. Driven by the wire saw rotation driving unit 3332, the wire saw 341 can rotate under the meshing action of the driving wheel 343 and the driven wheel 344 to realize the cutting action of the wire saw 341 on the pipeline Y.

[0073] In some specific embodiments of the present application, as Figure 12 shown, the number of driven wheels 344 is 3, and the driving wheel 343 and the driven wheels 344 are distributed at the four corners of the fixing frame 342 to ensure the cutting speed and stability.

[0074] In some preferred embodiments of the present application, the wire saw cutting mechanism 34 further includes a pipeline pressing part 346. A trapezoidal structure vacancy is opened at the bottom of the fixing frame 342, and the pipeline pressing part 346 is connected to the waist of the trapezoidal structure. The inner side of the pipeline pressing part 346 can be abutted against the pipeline Y, so that the pipeline pressing part 346 can further press the pipeline Y from the left and right ends at the top of the pipeline Y to further ensure the cutting stability when the wire saw 341 cuts the pipeline Y.

[0075] In some preferred embodiments of the present application, the wire saw cutting mechanism 34 further includes a tensioning wheel 345. The tensioning wheel 345 is located between the driving wheel 343 and the driven wheel 344 and is meshed with the wire saw 341. The second driving mechanism further includes a tensioning wheel driving part 334. The output end of the tensioning wheel driving part 334 is connected to the tensioning wheel 345. A tension sensor is assembled on the tensioning wheel 345. The tension sensor can detect the tightness of the wire saw 341. When the tension sensor detects that the wire saw 341 is too loose, the tensioning wheel can be pushed by the tensioning wheel driving part 334 to press the wire saw 341, so as to ensure the cutting effect of the wire saw 341.

[0076] In some preferred embodiments of the present application, the wire saw cutting mechanism 34 further includes a sliding plate 347 and a vertical sliding part 348. The driving wheel 343, the driven wheel 344 and the wire saw 341 are installed on the side of the sliding plate 347 facing away from the fixing frame 342. The vertical sliding part 348 is located between the sliding plate 347 and the fixing frame 342 to realize the adjustment of the relative height between the wire saw 341 and the fixing frame 342. When the pipeline pressing part 346 presses the pipeline Y, the wire saw 341 can further cut the pipeline Y downward in the vertical direction. Compared with directly assembling the wire saw 341 on the fixing frame 342, the cutting efficiency and cutting integrity of the pipeline Y can be further ensured.

[0077] In some specific embodiments of the present application, the vertical sliding part 348 includes a slider 3481 and a slide rail 3482. The second driving mechanism further includes a sliding driving part 335. The output end of the sliding driving part 335 is connected to the sliding plate 347. The slider 3481 is connected to the side of the sliding plate 347 facing the fixing frame 342. The slide rail 3482 is connected to the side of the fixing frame 342 facing the sliding plate 347. The slide rail 3482 is vertically arranged and corresponds to the position of the slider 3481. Driven by the sliding driving part 335, the slider 3481 can slide on the slide rail 3482 in the vertical direction, thereby realizing the adjustment of the height of the sliding plate 347 relative to the fixing frame 342.

[0078] In some specific embodiments of the present application, the number of the slide rails 3482 is two, and the two slide rails 3482 are arranged in parallel. It can be imagined that a plurality of slide rails 3482 and sliders 3481 can also be set according to actual needs. No matter how the positions and numbers of the slide rails 3482 and sliders 3481 are set, as long as the adjustment of the relative height between the sliding plate 347 and the fixing frame 342 can be realized.

[0079] In some preferred embodiments of the present application, such as Figure 11As shown, to ensure that the wire saw cutting mechanism 34 further includes at least one vertically arranged second guide post 349. The top end of the second guide post 349 is connected to the horizontal frame 211. A set of second guide seats is installed at one end of the fixed frame 342 facing the second guide post 349. The wire saw cutting mechanism 34 is slidably connected to the second guide post 349 through the second guide seats, enabling the wire saw cutting mechanism 34 to reciprocate along the axial direction of the second guide post 349, ensuring the cutting direction and cutting effect of the pipeline Y.

[0080] In some specific embodiments of the present application, the number of the second guide posts 349 is two, and the two second guide posts 349 are arranged in parallel to ensure the stability of guiding.

[0081] The specific structure of the power platform 1 will be described in detail below. The power platform 1 includes a second frame 11, an electrical cabin, a high-voltage substation cabin, a high-pressure cabin, thrusters, a hydraulic oil bladder, a hydraulic motor, a compensator, a hydraulic valve, a pan-tilt, and a camera lighting system. Power components such as the electrical cabin, the high-voltage substation cabin, the high-pressure cabin, the thrusters, the hydraulic oil bladder, the hydraulic motor, and the compensator are all installed above the bottom plate of the second frame 11, providing power for the movement of the power platform 1; the camera lighting system is installed on the inner sides, top, and bottom of the power platform 1, and the surrounding environment can be observed through the camera lighting system to prevent the underwater robot from colliding.

[0082] In some preferred embodiments of the present application, the power platform 1 further includes a sonar, which is carried on the inner side of the second frame 11 and can monitor the surrounding environment when the water quality is poor.

[0083] In some specific embodiments of the present application, the sonar can achieve 360° rotation and 120° pitch detection.

[0084] In some preferred embodiments of the present application, the power platform 1 further includes a protective net 13, which is installed between the second frames 11. The protective net 13 can block other foreign objects such as underwater organisms from entering the power platform 1, ensuring the stability of the operation of the power platform 1.

[0085] In some preferred embodiments of the present application, as Figure 14 shown, the thrusters include four attitude thrusters 121, which are installed at the four corners of the second frame 11 and can realize the real-time adjustment of the robot's attitude.

[0086] In some preferred embodiments of the present application, the thrusters further include sand-blowing thrusters 122, which are installed at both ends of the second frame 11. The direction of the sand-blowing thrusters 122 is downward, which can blow off the sediment on the surfaces of the cable X and the pipeline Y, increasing the contact area and friction between the clamping mechanism 22 and the cable X and the pipeline Y, ensuring the stability of the clamping mechanism 22 for grasping the cable X and the pipeline Y.

[0087] In some specific embodiments of the present application, the number of the sand blowing thrusters 122 is two.

[0088] The operation process of the grasping and cutting robot in the present application for cutting the cable X is as follows:

[0089] The grasping and cutting robot is remotely controlled by the power platform 1 through a wire armored cable. First, the operator hoists and lowers the grasping and cutting robot to the underwater working area through the hoisting platform, observes the video information transmitted back by the sonar and the camera lighting system through the display, determines the position and distance between the grasping and cutting robot and the cable X to be cut, blows the sediment above the cable X through the sand blowing thrusters 122 at the bottom side of the second frame 11 to expose the front and rear positions of the pre-cutting position of the cable X, adjusts the position of the robot through the attitude thrusters 121 of the power platform 1 to make it relatively parallel to the cable X at the pre-cutting position, lowers the robot after aligning with the cable X, drives the clamp 222 to clamp the cable X by the clamp driving part 231, and then drives the auxiliary clamp 221 to squeeze the cable X to be cut from above by the auxiliary clamp driving part 232. When the operator hoists the robot up a certain distance through the hoisting platform, the cutter head driving part 233 drives the cutter head 241 to rotate downward rapidly until the cable X is cut, and then the cut cable X is salvaged onto the working ship through the hoisting platform for repair.

[0090] The operation process of the grasping and cutting robot in the present application for cutting the pipeline Y is as follows:

[0091] The grasping and cutting robot is remotely controlled by the power platform 1 through a wire armored cable. First, the operator hoists and lowers the grasping and cutting robot to the underwater working area through the hoisting platform, observes the video information transmitted back by the sonar and the camera lighting system through the display, determines the position and distance between the grasping and cutting robot and the pipeline Y to be cut, blows the sediment above the pipeline Y through the sand blowing thrusters 122 at the bottom side of the second frame 11 to expose the front and rear positions of the pre-cutting position of the pipeline Y, adjusts the position of the robot through the attitude thrusters 121 of the power platform 1 to make it relatively parallel to the pipeline Y at the pre-cutting position, lowers the robot after aligning with the pipeline Y, drives the clamp 222 to clamp the pipeline Y by the clamp driving part 231, and then drives the auxiliary clamp 221 to squeeze the pipeline Y to be cut from above by the auxiliary clamp driving part 232. When the operator hoists the robot up a certain distance through the hoisting platform, the wire saw driving part 333 drives the wire saw 341 to rotate downward rapidly until the pipeline Y is cut, and then the cut pipeline Y is salvaged onto the working ship through the hoisting platform for repair.

[0092] The specific embodiments of the present application have been introduced in detail above. For those skilled in the art of this technology, without departing from the principle of the present application, several improvements and modifications can still be made to the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A grasping and cutting robot, comprising a power platform (1), characterized in that: It further comprises a cutting mechanism, the output end of the power platform (1) is detachably connected to the cutting mechanism, and the cutting mechanism clamps and cuts cables / pipes under the drive of a driving mechanism.

2. The grasping and cutting robot according to claim 1, characterized in that: The cutting mechanism comprises a cable cutting operation head (2) and a pipe cutting operation head (3), and the output end of the power platform (1) is detachably connected to the cable cutting operation head (2) and the pipe cutting operation head (3); The cable cutting operation head (2) comprises a first frame (21), a clamping mechanism (22), a first driving mechanism and a cutter head cutting mechanism (24). The first frame (21) is used to provide installation positions for the clamping mechanism (22), the first driving mechanism and the cutter head cutting mechanism (24). The first driving mechanism is used to provide power for the clamping mechanism (22) and the cutter head cutting mechanism (24). The clamping mechanism (22) is used to clamp and hold the cable, and the cutter head cutting mechanism (24) is used to cut the cable; The pipe cutting operation head (3) comprises a first frame (21), a clamping mechanism (22), a second driving mechanism and a wire saw cutting mechanism (34). The first frame (21) is used to provide installation positions for the clamping mechanism (22), the second driving mechanism and the wire saw cutting mechanism (34). The second driving mechanism is used to provide power for the clamping mechanism (22) and the wire saw cutting mechanism (34). The clamping mechanism (22) is used to clamp and hold the pipe, and the wire saw cutting mechanism (34) is used to cut the pipe.

3. The grasping and cutting robot according to claim 2, characterized in that: The first frame (21) comprises a horizontal frame (211) and vertical frames (212) connected to both sides of the horizontal frame (211). The number of the clamping mechanisms (22) is multiple groups, and the multiple groups of clamping mechanisms (22) are arranged in parallel. The clamping mechanisms (22) are connected to the bottoms of the horizontal frame (211) and the vertical frames (212); Each group of the clamping mechanisms (22) comprises an auxiliary clamp (221) and two symmetrically arranged clamps (222). The two symmetrically arranged clamps (222) are hinged to both sides of the bottom end of the vertical frame (212), and the clamps (222) can rotate around the hinge axis under the drive of the first driving mechanism; the auxiliary clamp (221) is vertically connected to the bottom end of the horizontal frame (211), and the auxiliary clamp (221) can reciprocate in the vertical direction under the drive of the first driving mechanism.

4. The grasping and cutting robot according to claim 2, characterized in that: The first driving mechanism comprises a cutter head driving part (233), and the output end of the cutter head driving part (233) is connected to the cutter head cutting mechanism (24); The cutter head cutting mechanism (24) includes a cutter head (241), an adapter base (242), and a connecting base (243). The cutter head driving part (233) includes a cutter head vertical movement driving unit (2331) and a cutter head rotation driving unit (2332). The output end of the cutter head vertical movement driving unit (2331) is connected to the connecting base (243), and the output end of the cutter head rotation driving unit (2332) is connected to the cutter head (241) through the adapter base (242).

5. The grasping and cutting robot according to claim 4, characterized in that: The cutter head cutting mechanism (24) further includes at least one first guiding column (244). The top end of the first guiding column (244) is connected to the first frame (21). A set of first guiding seats are installed at both ends of the connecting base (243). The cutter head cutting mechanism (24) is slidably connected to the first guiding column (244) through the first guiding seats.

6. The grasping and cutting robot according to claim 2, characterized in that: The second driving mechanism includes a wire saw driving part (333). The output end of the wire saw driving part (333) is connected to the wire saw cutting mechanism (34); The wire saw cutting mechanism (34) includes a wire saw (341), a fixing frame (342), a driving wheel (343), and a driven wheel (344). The driving wheel (343) and the driven wheel (344) are connected to one side of the fixing frame (342). The wire saw (341) is meshed and connected with the driving wheel (343) and the driven wheel (344). The wire saw driving part (333) includes a wire saw vertical movement driving unit (3331) and a wire saw rotation driving unit (3332). The output end of the wire saw vertical movement driving unit (3331) is connected to the fixing frame (342), and the output end of the wire saw rotation driving unit (3332) is connected to the driving wheel (343).

7. The grasping and cutting robot according to claim 6, characterized in that: The wire saw cutting mechanism (34) further includes a pipeline pressing part (346). A trapezoidal structure vacancy part is formed at the bottom of the fixing frame (342). The pipeline pressing part (346) is connected to the waist of the trapezoidal structure, and the inner side of the pipeline pressing part (346) can be in contact with the pipeline.

8. The grasping and cutting robot according to claim 6, characterized in that: The wire saw cutting mechanism (34) further includes a tensioning wheel (345). The tensioning wheel (345) is located between the driving wheel (343) and the driven wheel (344) and is meshed and connected with the wire saw (341). The second driving mechanism further includes a tensioning wheel driving part (334). The output end of the tensioning wheel driving part (334) is connected to the tensioning wheel (345); A tension sensor is assembled on the tensioning wheel (345), and the tension sensor can detect the tightness of the wire saw (341).

9. The grasping and cutting robot according to claim 6, characterized in that: The wire saw cutting mechanism (34) further includes a sliding plate (347) and a vertical sliding portion (348). The driving wheel (343) and the driven wheel (344) are installed on one side of the sliding plate (347) facing away from the fixed frame (342). The vertical sliding portion (348) is located between the sliding plate (347) and the fixed frame (342), and can adjust the relative height between the wire saw (341) and the fixed frame (342).

10. A grasping and cutting robot according to claim 6, wherein: The wire saw cutting mechanism (34) further includes at least one vertically arranged second guiding column (349). The top end of the second guiding column (349) is connected to the first frame (21). A set of second guiding seats are installed at one end of the fixed frame (342) facing the second guiding column (349). The wire saw cutting mechanism (34) is slidably connected to the second guiding column (349) through the second guiding seats.

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