Underwater cutting mechanical arm and underwater robot

Abstract

The utility model relates to an underwater cutting mechanical arm and an underwater robot. The underwater cutting mechanical arm comprises a cabin, a shearing device, a driving device and a transmission device, and the cabin is provided with a containing cavity and a through channel communicating with the containing cavity; the shearing device comprises at least two shearing pieces, and the shearing pieces are rotationally arranged in the cabin body and located outside the containing cavity; the driving device is arranged in the accommodating cavity; the transmission device movably penetrates through the through channel, one end of the transmission device is connected with the driving device, and the other end of the transmission device is connected with the shearing piece. The driving device drives the transmission device to move so as to drive the multiple shearing pieces to be mutually unfolded or folded. Driving force is provided through the driving device, the shearing piece is driven to move through transmission of the transmission device, the to-be-sheared piece is clamped when the shearing piece is unfolded, the to-be-sheared piece is sheared when the shearing piece is folded, and therefore the purpose of automatic shearing can be achieved.

Description

Technical Field

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

[0002] In the fishery, emergency salvage, and hull inspection industries, there are many situations where it is necessary to cut underwater ropes and other entanglements. The ropes are made of materials such as plastic (nylon, PE, HDPE, etc.) and metal (steel wire). Currently, most of the industry still uses manual cutting by frogmen in the water, but this has the disadvantages of high risk, long process and operation time, and high cost. Utility Model Content

[0003] The present application provides an underwater cutting robotic arm and an underwater robot to achieve the purpose of underwater automatic mechanical shearing.

[0004] In one aspect, the present application provides an underwater cutting robot arm, comprising:

[0005] A cabin body having a receiving cavity and a through passage communicating with the receiving cavity;

[0006] a shearing device, the shearing device comprising at least two shearing members, the shearing members being rotatably mounted on the cabin and located outside the accommodating cavity;

[0007] A driving device is arranged in the accommodating cavity;

[0008] A transmission device is movably provided in the through passage, one end of the transmission device is connected to the driving device, and the other end is connected to the shearing member;

[0009] Wherein, the driving device drives the transmission device to move, so as to drive the multiple shearing members to expand or close with each other.

[0010] Furthermore, there are two shearing pieces, and the two shearing pieces are arranged opposite to each other.

[0011] Furthermore, the shearing piece includes:

[0012] a tool holder rotatably mounted on the cabin and connected to the transmission device;

[0013] The blade is detachably connected to the blade holder.

[0014] Furthermore, the transmission device includes:

[0015] a transmission assembly connected to the output end of the driving device and moving along the axis of the through channel under the drive of the driving device;

[0016] A connecting rod assembly is connected to the transmission assembly; each of the shearing pieces is rotatably connected to one end of the connecting rod assembly away from the transmission assembly.

[0017] Furthermore, a screw is provided at the output end of the driving device; the transmission assembly includes a screw sleeve and a transmission shaft, and the screw sleeve is threadedly connected to the screw; the transmission shaft is movably limited in the through channel, and one end of the transmission shaft is connected to the screw sleeve, and the other end is connected to the connecting rod assembly.

[0018] Furthermore, the cross section of the outlet of the through channel is non-circular;

[0019] The transmission shaft comprises:

[0020] A sleeve portion, sleeved on the screw and connected to the screw sleeve;

[0021] The limiting portion is connected to one end of the sleeve portion away from the screw sleeve and is movably limited and penetrates the through passage; the connecting rod assembly is connected to the limiting portion.

[0022] Furthermore, the connecting rod assembly includes:

[0023] a first connecting rod connected to the limiting portion;

[0024] At least two second connecting rods, one end of the second connecting rod is rotatably connected to the first connecting rod, and the other end of the second connecting rod is rotatably connected to the shearing member.

[0025] Furthermore, the cabin comprises:

[0026] A first cabin having a first chamber and the through passage;

[0027] The second cabin has a second chamber; the second cabin is arranged corresponding to the second cabin and connected to the first cabin via a fixing seat, so that the first chamber and the second chamber are connected to form the accommodating chamber; the driving device is arranged in the second chamber and connected to the fixing seat;

[0028] The mounting seat includes a cover and a support frame; the cover is provided with the through channel and is connected to one end of the first cabin away from the second cabin; the support frame is provided on the side of the cover away from the first cabin, and the shearing piece is rotatably connected to the support frame.

[0029] Furthermore, at least two first sealing grooves are provided on the portion of the outer circumference of the fixing seat facing the cavity wall of the first cavity, and the plurality of first sealing grooves are arranged at intervals along the axial direction; a first sealing ring is provided in the first sealing groove;

[0030] And / or, at least two second sealing grooves are provided on a portion of the outer circumference of the fixing seat facing the cavity wall of the second cavity, and the plurality of second sealing grooves are arranged at intervals along the axial direction; a second sealing ring is provided in the second sealing groove;

[0031] And / or, at least two third sealing grooves are provided on a portion of the outer periphery of the cover facing the cavity wall of the first cavity, and the plurality of third sealing grooves are arranged at intervals along the axial direction; a third sealing ring is provided in each third sealing groove;

[0032] And / or, a sealing convex ring is provided on a side of the cover facing the first chamber, and the sealing convex ring is arranged around the transmission device; and at least two fourth sealing rings are provided between the sealing convex ring and the transmission device; and the plurality of fourth sealing rings are coaxially arranged;

[0033] And / or, an assembly rack is further provided in the second chamber, the assembly rack is used to assemble the control panel; and the assembly rack abuts against a side of the driving device away from the transmission device;

[0034] On the other hand, the present application also provides an underwater robot, comprising:

[0035] Robot body;

[0036] As described above, the underwater cutting robotic arm is detachably connected to the robot body.

[0037] The above technical solution provided by this application has the following advantages compared with the existing technology:

[0038] In the technical solution of the present application, the driving force is provided by the driving device, and the transmission device is used to drive the shearing piece to move. When the shearing piece is unfolded, it clamps the piece to be sheared, and when the shearing piece is closed, it shears the piece to be sheared, thereby achieving the purpose of automatic shearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present invention, and together with the description, serve to explain the principles of the present invention.

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0041] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0042] Figure 1 A schematic structural diagram of an underwater cutting robot arm provided in an embodiment of the present application;

[0043] Figure 2 for Figure 1 Schematic diagram of the decomposition;

[0044] Figure 3 for Figure 1 sectional view of

[0045] Figure 4 for Figure 3 A magnified schematic diagram of point A in the middle;

[0046] Figure 5 for Figure 3 A magnified schematic diagram of point B in the middle;

[0047] Figure 6 for Figure 3 Enlarged schematic diagram of point C in the middle;

[0048] Figure 7 for Figure 2 Assembly diagram of the middle transmission device and the shearing device;

[0049] Figure 8 for Figure 2 Schematic diagram of the structure of the middle mounting seat;

[0050] Figure 9 for Figure 2 Schematic diagram of the structure of the transmission shaft.

[0051] Description of reference numerals:

[0052] Cabin 1, through channel 1b, first cabin 11, first chamber 11a, second cabin 12, second chamber 12a, fixing seat 13, first sealing groove 13a, second sealing groove 13b, protrusion 131, fixing platform 132, mounting seat 14, sealing cover 141, third sealing groove 141a, sealing convex ring 1411, protruding column 1412, supporting frame 142, third sealing ring 143, fourth sealing ring 144, bottom cover 15, fourth sealing groove 151,

[0053] Shearing device 2, shearing piece 21, knife holder 211, blade 212,

[0054] Driving device 3, screw 31,

[0055] Transmission device 4, transmission assembly 41, screw sleeve 411, transmission shaft 412, sleeve portion 4121, limiting portion 4122, mounting hole 4122a, connecting rod assembly 42, first connecting rod 421, second connecting rod 422,

[0056] Assembly frame 5, positioning block 51,

[0057] Connector 6, control board 7. DETAILED DESCRIPTION

[0058] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0059] The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. To simplify the disclosure of the present invention, the components and configurations of specific examples are described below. Of course, these are merely examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or configurations discussed.

[0060] For ease of description, spatially relative terms may be used herein to describe the relative position or movement of one element or feature relative to another element or feature as shown in the figures, such as "inside," "outside," "inside," "outside," "below," "beneath," "above," "above," "front," "back," and the like. Such spatially relative terms are intended to include different orientations of the device in use or operation other than the orientation depicted in the figures. For example, if the device in the figures undergoes a positional flip or a change in posture or a change in motion, then these directional indications will also change accordingly. For example, an element described as "below" or "below" another element or feature will subsequently be oriented as "above" or "above" another element or feature. Thus, the example term "below" can include both above and below orientations. The device may be oriented otherwise (rotated 90 degrees or in other orientations) and the spatially relative descriptors used herein will be interpreted accordingly.

[0061] The present application provides an underwater cutting robot arm that can be applied to an underwater robot. The underwater robot drives the underwater cutting robot arm to move to the position of the part to be cut (such as a rope). The underwater robot can provide power for the driving device 3 of the underwater cutting robot arm to power the automatic cutting operation of the underwater cutting robot arm.

[0062] Figures 1 to 3 An underwater cutting robot arm provided in an embodiment of the present application includes a cabin 1, a shearing device 2, a driving device 3 and a transmission device 4. The cabin 1 has a accommodating cavity and a through channel 1b connected to the accommodating cavity; the driving device 3 provides driving force, and the cabin 1 provides an installation space to seal the driving device 3 in the accommodating cavity; the transmission device 4 is movably arranged in the through channel 1b, and one end is connected to the driving device 3 and the other end is connected to the shearing device 2; the through channel 1b provides an avoidance space for the transmission device 4 to transmit power to the shearing device 2 outside the accommodating cavity.

[0063] The shearing device 2 includes at least two shearing members 21, which are rotatably mounted on the hull 1 and connected to the transmission device 4. A drive device 3 drives the transmission device 4 to move, causing the multiple shearing members 21 to expand or close. When the shearing members 21 are expanded, they clamp the workpiece to be sheared; when they are closed, they shear the workpiece. This achieves mechanical automatic shearing, replacing manual labor. Furthermore, the underwater shearing operation can be performed at greater depths underwater using an underwater cutting robot arm.

[0064] In this embodiment, the driving device 3 is a motor, and the output end of the motor is connected to the transmission device 4 .

[0065] like Figure 1 As shown, in the technical solution of this embodiment, there are two shearing pieces 21, and the two shearing pieces 21 are arranged opposite to each other. The two shearing pieces 21 cooperate with each other to achieve shearing, which has a simple structure and a faster and more effective shearing operation.

[0066] It should be noted that in some other embodiments, for workpieces to be sheared with special structures, suitable shearing devices 2 are also replaced as needed, such as a shearing device 2 with one shearing piece 21, a shearing device 2 with three shearing pieces 21, or a shearing device 2 with four shearing pieces 21.

[0067] like Figure 1 As shown, in the technical solution of this embodiment, the shearing element 21 includes a blade holder 211 and a blade 212. The blade holder 211 is rotatably mounted on the housing 1; the blade 212 is detachably connected to the blade holder 211. The blade 212 has a cutting edge and is used to cut the workpiece. The blade holder 211 provides a mounting position for the blade 212. The blade holder 211 is driven by the transmission device 4 to move, thereby causing the blade 212 to close or expand.

[0068] In this embodiment, the two blade holders 211 are connected to the same blade holder 211 axis (not numbered in the figure), and the blade holder 211 axis is connected to the cabin 1. When the two blades 212 are closed, the blade 212 is located on the side of the other blade 212. Figure 7 As shown in . During the rotation of the two blades 212, a position avoidance and fool-proof design is required, which is similar to the structure of scissors and will not be described in detail here.

[0069] like Figure 1 and Figure 2 As shown, in the technical solution of this embodiment, the transmission device 4 includes a transmission assembly 41 and a connecting rod assembly. The transmission assembly 41 is connected to the output end of the driving device 3 and moves along the axis of the through-channel 1b under the drive of the driving device 3. The connecting rod assembly is connected to the transmission assembly 41. Each shearing member 21 is rotationally connected to the end of the connecting rod assembly away from the transmission assembly 41. In this way, the transmission assembly 41 transmits the power of the driving device 3 to the connecting rod assembly, which then drives the shearing member 21 to rotate.

[0070] like Figure 2 、 Figure 3 and Figure 7 As shown, in the technical solution of this embodiment, a screw 31 is provided at the output end of the driving device 3; the transmission assembly 41 includes a screw sleeve 411 and a transmission shaft 412, and the screw sleeve 411 is threadedly connected to the screw 31; the transmission shaft 412 is movably limited in the through channel 1b, and one end of the transmission shaft 412 is connected to the screw sleeve 411, and the other end is connected to the connecting rod assembly.

[0071] It is understood that the threaded engagement of the sleeve 411 and the screw 31 converts the rotational motion of the drive device 3 into movement of the sleeve 411 along the axis of the screw 31. Furthermore, because the transmission shaft 412 is limited, the transmission shaft 412 and the sleeve 411 do not rotate, ensuring that the force received by the transmission assembly 41 is directed along the axis of the through-channel 1b. This ensures stable power transmission and a more stable opening and closing process for the shearing device 2.

[0072] like Figure 8 As shown, in the technical solution of this embodiment, the cross-section at the outlet of the through channel 1b is non-circular; in this way, it can limit the transmission shaft 412.

[0073] The transmission shaft 412 includes a sleeve portion and a limiting portion. The sleeve portion is sleeved on the screw 31 and connected to the screw sleeve 411; the limiting portion is connected to one end of the sleeve portion away from the screw sleeve 411 and is movably limited and penetrated in the through channel 1b; the connecting rod assembly is connected to the limiting portion.

[0074] refer to Figure 9A first connecting portion is provided on the side of the sleeve portion facing the screw sleeve 411, and a second connecting portion is provided on the side of the screw sleeve 411 facing the sleeve portion. The first connecting portion and the second connecting portion are correspondingly arranged and connected by bolts.

[0075] like Figure 7 As shown, in the technical solution of this embodiment, the connecting rod assembly includes a first connecting rod 421 and at least two second connecting rods 422. The first connecting rod 421 is connected to the stopper; one end of the second connecting rod 422 is rotatably connected to the first connecting rod 421, and the other end is rotatably connected to the shearing member 21. In this embodiment, the second connecting rods 422 are provided in a one-to-one correspondence with the tool holder 211. The design of the first connecting rod 421 and the second connecting rod 422 can achieve the purpose of synchronously driving multiple shearing members 21.

[0076] refer to Figure 9 The limiting portion has a square structure, and a mounting hole is provided on the side of the limiting portion away from the sleeve portion. The first connecting rod 421 is provided in the mounting hole and is connected to the limiting portion through a connecting rod shaft.

[0077] like Figures 1 to 3 As shown, in the technical solution of this embodiment, the cabin 1 includes a first cabin 11, a second cabin 12 and a mounting seat 14, the first cabin 11 has a first chamber 11a and a through channel 1b; the second cabin 12 has a second chamber; the second cabin 12 is arranged corresponding to the second cabin 12, and is connected to the first cabin 11 through a fixing seat, so that the first chamber 11a and the second chamber are connected to form a accommodating chamber; the driving device 3 is arranged in the second chamber and is connected to the fixing seat; in this way, the cabin 1 is divided into the first cabin 11 and the second cabin 12, and the first cabin 11 and the second cabin 12 are connected through the fixing seat, which can facilitate the installation operation of the driving device 3 and the transmission device 4.

[0078] The mounting base 14 includes a cover 141 and a support frame 142. The cover 141 has a through-channel 1b and is connected to the end of the first housing 11 away from the second housing 12. The support frame 142 is located on the side of the cover 141 facing away from the first housing 11. The shearing member 21 is rotatably connected to the support frame 142. The cover 141 of the mounting base 14 blocks one end of the mounting cavity. The support frame 142 provides mounting support for the shearing member 21. In this embodiment, the blade holder 211 is axially connected to the support frame 142.

[0079] refer to Figure 3 and Figure 5 A fixing platform 132 is protruded from the wall of the first chamber 11a, and the output end of the motor is fixed to the fixing platform 132 by bolts to achieve stable connection of the motor in the first chamber 11a.

[0080] refer to Figure 3In this embodiment, a bottom cover 15 is provided at one end of the second chamber away from the first chamber 11a, and the bottom cover 15 blocks the second chamber. The bottom cover 15 is installed with a connector 6, and the electrical connection between the underwater cutting robot arm and the robot body of the underwater robot is realized through the connector 6.

[0081] refer to Figure 8 In this embodiment, a convex column 1412 is provided on the side of the cover 141 facing the support frame 142, and a convex column 1412 is provided on the through channel 1b.

[0082] like Figure 5 As shown, in the technical solution of this embodiment, at least two first sealing grooves 13a are provided on the portion of the outer periphery of the fixing seat facing the cavity wall of the first cavity 11a, and the multiple first sealing grooves 13a are arranged at intervals along the axial direction; a first sealing ring is provided in the first sealing groove 13a.

[0083] At least two second sealing grooves 13b are provided on the outer circumference of the fixing seat facing the cavity wall of the second cavity. The plurality of second sealing grooves 13b are spaced apart along the axial direction. A second sealing ring is provided in the second sealing groove 13b.

[0084] like Figure 4 As shown, at least two third sealing grooves are provided on the outer circumference of the cover 141 facing the cavity wall of the first cavity 11a, and the plurality of third sealing grooves are spaced apart along the axial direction; a third sealing ring 143 is provided in the third sealing groove.

[0085] It is understandable that by designing the first sealing ring, the second sealing ring and the third sealing ring 143, the sealing performance can be improved to achieve the purpose of waterproof effect. In this application, the design of multiple first sealing rings, multiple second sealing rings and multiple third sealing rings 143 can further improve the sealing effect.

[0086] In this embodiment, the number of the first sealing ring, the second sealing ring, and the third sealing ring 143 are all two.

[0087] At least two fifth sealing grooves are provided on the outer surface of the bottom cover 15 facing the cavity wall of the second cavity. The plurality of fifth sealing grooves are arranged at intervals along the axial direction. A fifth sealing ring is provided in each of the fifth sealing grooves.

[0088] like Figure 3 and Figure 4 As shown, in the technical solution of this embodiment, a sealing convex ring is provided on the side of the cover 141 facing the first chamber 11a, and the sealing convex ring is arranged around the transmission device 4; and at least two fourth sealing rings 144 are provided between the sealing convex ring and the transmission device 4; and multiple fourth sealing rings 144 are coaxially arranged.

[0089] It can be understood that the sealing convex ring provides space for the installation of the fourth sealing ring 144, and the fourth sealing ring 144 plays the role of sealing the installation cavity, and cooperates with the first sealing ring, the second sealing ring, the third sealing ring 143 and the fifth sealing ring to achieve a high waterproof effect, so that the underwater cutting robot arm can go down to deeper waters for operation.

[0090] like Figure 5 As shown, in the technical solution of this embodiment, an assembly rack 5 is further provided within the second chamber. The assembly rack 5 is used to assemble the control board 7 and abuts the side of the drive device 3 facing away from the transmission device 4. In this embodiment, the two ends of the assembly rack 5 abut the drive device 3 and the bottom cover 15, respectively. The side of the assembly rack 5 facing the drive device 3 is provided with a positioning block 51. The drive device 3 has a corresponding positioning hole. The positioning hole and the positioning block 51 cooperate to achieve the installation and positioning of the drive device 3.

[0091] On the other hand, the present application also provides an underwater robot, comprising a robot body and the underwater cutting robot arm described above. The specific structure of the underwater cutting robot arm is similar to that of the above embodiments. Since the present underwater robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here. The underwater cutting robot arm is detachably connected to the robot body.

[0092] It should be understood that the terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "comprise", "include", "contain" and "have" are inclusive and therefore specify the presence of stated features, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the specific order described or illustrated, unless the order of execution is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0093] Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates otherwise, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the second element, component, region, layer or section without departing from the teaching of the example embodiments.

[0094] The foregoing description is intended only to provide specific embodiments of the present invention, intended to enable those skilled in the art to understand and implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but rather to be construed in the broadest manner consistent with the principles and novel features claimed herein.

Claims

1. An underwater cutting robot arm, characterized in that: include: A cabin body having a receiving cavity and a through passage communicating with the receiving cavity; a shearing device, the shearing device comprising at least two shearing members, the shearing members being rotatably mounted on the cabin and located outside the accommodating cavity; A driving device is arranged in the accommodating cavity; A transmission device is movably provided in the through passage, one end of the transmission device is connected to the driving device, and the other end is connected to the shearing member; Wherein, the driving device drives the transmission device to move, so as to drive the multiple shearing members to expand or close with each other.

2. The underwater cutting robot arm according to claim 1, characterized in that: There are two shearing pieces, and the two shearing pieces are arranged opposite to each other.

3. The underwater cutting robot arm according to claim 1, characterized in that: The shearing piece comprises: a tool holder rotatably mounted on the cabin and connected to the transmission device; The blade is detachably connected to the blade holder.

4. The underwater cutting robot arm according to claim 1, characterized in that: The transmission device comprises: a transmission assembly connected to the output end of the driving device and moving along the axis of the through channel under the drive of the driving device; A connecting rod assembly is connected to the transmission assembly; each of the shearing pieces is rotatably connected to one end of the connecting rod assembly away from the transmission assembly.

5. The underwater cutting robot arm according to claim 4, characterized in that: The output end of the driving device is provided with a screw; the transmission assembly includes a screw sleeve and a transmission shaft, and the screw sleeve is threadedly connected to the screw; the transmission shaft is movably limited in the through channel, and one end of the transmission shaft is connected to the screw sleeve, and the other end is connected to the connecting rod assembly.

6. The underwater cutting robot arm according to claim 5, characterized in that: The cross section of the outlet of the through channel is non-circular; The transmission shaft comprises: A sleeve portion, sleeved on the screw and connected to the screw sleeve; The limiting portion is connected to one end of the sleeve portion away from the screw sleeve and is movably limited and penetrates the through passage; the connecting rod assembly is connected to the limiting portion.

7. The underwater cutting robot arm according to claim 6, characterized in that: The connecting rod assembly comprises: a first connecting rod connected to the limiting portion; At least two second connecting rods, one end of the second connecting rod is rotatably connected to the first connecting rod, and the other end of the second connecting rod is rotatably connected to the shearing member.

8. The underwater cutting robot arm according to any one of claims 1 to 7, characterized in that: The cabin comprises: a first cabin having a first chamber and the through passage; The second cabin has a second chamber; the second cabin is arranged corresponding to the second cabin and connected to the first cabin via a fixing seat, so that the first chamber and the second chamber are connected to form the accommodating chamber; the driving device is arranged in the second chamber and connected to the fixing seat; The mounting seat includes a cover and a support frame; the cover is provided with the through channel and is connected to one end of the first cabin away from the second cabin; the support frame is provided on the side of the cover away from the first cabin, and the shearing piece is rotatably connected to the support frame.

9. The underwater cutting robot arm according to claim 8, characterized in that: At least two first sealing grooves are provided on the outer circumference of the fixing seat facing the cavity wall of the first cavity, and the plurality of first sealing grooves are arranged at intervals along the axial direction; a first sealing ring is provided in the first sealing groove; And / or, at least two second sealing grooves are provided on a portion of the outer circumference of the fixing seat facing the cavity wall of the second cavity, and the plurality of second sealing grooves are arranged at intervals along the axial direction; a second sealing ring is provided in the second sealing groove; And / or, at least two third sealing grooves are provided on a portion of the outer periphery of the cover facing the cavity wall of the first cavity, and the plurality of third sealing grooves are arranged at intervals along the axial direction; a third sealing ring is provided in each third sealing groove; And / or, a sealing convex ring is provided on a side of the cover facing the first chamber, and the sealing convex ring is arranged around the transmission device; and at least two fourth sealing rings are provided between the sealing convex ring and the transmission device; and the plurality of fourth sealing rings are coaxially arranged; And / or, an assembly rack is further provided in the second chamber, and the assembly rack is used to assemble the control panel; and the assembly rack abuts against a side of the driving device away from the transmission device.

10. An underwater robot, characterized in that: include: Robot body; The underwater cutting robot arm according to any one of claims 1 to 9, wherein the underwater cutting robot arm is detachably connected to the robot body.

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