Underwater wire cutter and underwater robot

Abstract

The utility model relates to an underwater wire cutter and an underwater robot. The underwater wire cutter comprises a cabin, a shearing device and a driving device, and the cabin is provided with a containing cavity and a through opening communicating with the containing cavity; the shearing device comprises a knife rest, a blade and a movable cutting plate, the knife rest is arranged on the cabin and located outside the containing cavity, and the blade is arranged on the knife rest; the movable cutting plate is located between the blade and the cabin body, a V-shaped groove is formed in the side, facing the blade, of the movable cutting plate, and the V-shaped groove corresponds to the blade; the driving device is arranged in the accommodating cavity; the output end of the driving device extends out of the containing cavity from the through opening and is connected with the movable cutting plate. The driving device drives the movable cutting plate to move so that the movable cutting plate can be close to or away from the blade. The underwater wire cutter is high in structural stability, the stability is high when a rope is cut, and it is ensured that cutting operation is conducted smoothly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater operation equipment, in particular to an underwater line cutter and an underwater robot. BACKGROUND

[0002] In the fishery breeding, emergency salvage and ship detection industries, there are many situations that require cutting underwater ropes, and the rope materials involve plastic (nylon, PE, HDPE, etc.) and metal (steel wire) and the like. In the related technology, a scissors structure is driven by a motor to open and close underwater for shearing operation. The shearing structure has two hinged shearing blades, and the two shearing blades shear the rope. However, when the rope has a certain strength, the two shearing blades are hinged and are prone to stagger and deviate when closing, so that the rope cannot be cut off, but the rope is stuck between the two shearing blades. CONTENT OF THE UTILITY MODEL

[0003] The present application provides an underwater line cutter and an underwater robot to improve the stability when cutting the rope.

[0004] In one aspect, the present application provides an underwater line cutter, comprising:

[0005] A cabin body has a containing cavity and a through opening communicating with the containing cavity;

[0006] A shearing device includes a tool holder, a blade and a movable cutting plate. The tool holder is arranged outside the containing cavity of the cabin body, and the blade is arranged on the tool holder. The movable cutting plate is located between the blade and the cabin body, and the side of the movable cutting plate facing the blade is provided with a V-shaped groove corresponding to the blade.

[0007] A driving device is arranged in the containing cavity. The output end of the driving device extends out of the containing cavity through the through opening and is connected with the movable cutting plate.

[0008] The driving device drives the movable cutting plate to move, so that the movable cutting plate moves close to or away from the blade.

[0009] Further, the side of the blade facing the V-shaped groove has a V-shaped cutter part. When the movable cutting plate moves to the cutter part and inserts into the V-shaped groove, a gap is formed between the cutter part and the groove wall of the V-shaped groove.

[0010] Further, the tool holder comprises:

[0011] A connecting part is connected with the cabin body and extends along a direction parallel to the moving direction of the output end of the driving device. The movable cutting plate is slidingly connected with the connecting part.

[0012] The mounting portion is connected to the connecting portion at an end away from the cabin body; and the blade is mounted on the mounting portion.

[0013] Further, the movable cutting plate comprises:

[0014] The pushing plate is connected to the output end of the driving device; the pushing plate is in sliding connection with the connecting portion;

[0015] The cutting plate body is arranged on the side of the pushing plate facing the blade; and the cutting plate body is provided with the V-shaped groove.

[0016] Further, the driving device comprises:

[0017] The driving member is arranged in the accommodating cavity;

[0018] The transmission assembly is movably arranged in the through hole, one end of the transmission assembly is connected to the output end of the driving member, and the other end of the transmission assembly is connected to the movable cutting plate; wherein, the transmission assembly is moved along the axial direction of the through hole under the driving of the driving device.

[0019] Further, the output end of the driving member is provided with a screw rod; and the movable cutting plate is provided with a limiting hole;

[0020] The transmission assembly comprises a screw sleeve and a transmission shaft; the screw sleeve is in threaded connection with the screw rod; the transmission shaft is movably arranged in the through hole; one end of the transmission shaft is connected to the screw sleeve, and the other end of the transmission shaft is arranged in and limited by the limiting hole.

[0021] Further, the cabin body comprises:

[0022] The first cabin body has a first cavity; the screw sleeve and the screw rod are arranged in the first cavity; and the transmission shaft is arranged in the first cavity;

[0023] The second cabin body has a second cavity; the second cabin body is arranged corresponding to the second cabin body, and is connected to the first cabin body through a fixing seat, so that the first cavity and the second cavity are communicated to form the accommodating cavity; the driving device is arranged in the second cavity and connected to the fixing seat;

[0024] The supporting seat is arranged at an end of the first cabin body away from the second cabin body; the supporting seat has the through hole; and the blade holder is connected to the side of the supporting seat away from the first cabin body.

[0025] Further, the part of the outer periphery of the fixing seat facing the cavity wall of the first cavity is provided with at least two first sealing grooves, and the first sealing grooves are arranged in an interval along the axial direction; and a first sealing ring is arranged in the first sealing groove;

[0026] And / or, a part of the outer periphery of the fixed seat facing the cavity wall of the second cavity is provided with at least two second sealing grooves, and a plurality of the second sealing grooves are arranged at intervals in the axial direction; and a second sealing ring is arranged in the second sealing groove;

[0027] And / or, a part of the outer periphery of the support seat facing the cavity wall of the first cavity is provided with at least two third sealing grooves, and a plurality of the third sealing grooves are arranged at intervals in the axial direction; and a third sealing ring is arranged in the third sealing groove;

[0028] And / or, the second cavity is further provided with an assembly frame, the assembly frame is used for assembling a control panel; and the assembly frame abuts against one side of the driving device away from the transmission assembly.

[0029] Further, a sealing protruding ring is protruded from one side of the support seat away from the first cavity, the sealing protruding ring surrounds the transmission shaft; and at least two fourth sealing rings are arranged between the sealing protruding ring and the transmission shaft; and a plurality of the fourth sealing rings are arranged coaxially;

[0030] Further, a sealing protruding ring is protruded from one side of the support seat away from the first cavity, the sealing protruding ring surrounds the transmission shaft; and at least two fourth sealing rings are arranged between the sealing protruding ring and the transmission shaft; and a plurality of the fourth sealing rings are arranged coaxially;

[0031] On the other hand, the application further provides an underwater robot, comprising:

[0032] A robot body;

[0033] The underwater line cutter as described above is detachably connected with the robot body.

[0034] Compared with the prior art, the above technical solution provided by the application has the following advantages:

[0035] In the technical solution provided by the application, the cabin provides a sealed space, and the purpose of automatically cutting a rope underwater can be achieved. When it is necessary to shear the rope, the rope is clamped between the movable cutting plate and the blade; the driving device provides power to drive the movable cutting plate to move linearly, so as to clamp the rope between the blade and the movable cutting plate; the movable cutting plate continues to move to press the rope; the blade generates a force on the rope to cut the rope; in the application, the V-shaped groove corresponding to the blade is arranged on the movable cutting plate; during the relative movement of the blade and the movable cutting plate, the rope is continuously cut until the blade is inserted into the V-shaped groove, and the rope is cut off. At the same time, since the blade is fixed to the blade holder, the blade holder provides a stable mounting basis for the blade; during the cutting of the rope, only relative movement occurs between the blade and the movable cutting plate, and no deviation or deflection occurs. The underwater line cutter of the application has high structural stability and high stability during cutting of the rope, and ensures smooth cutting operation. BRIEF DESCRIPTION OF DRAWINGS

[0036] The accompanying drawings, which are incorporated into and form a part of the specification, illustrate an embodiment consistent with the present application and, together with the description, serve to explain the principles of the application.

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, for those of ordinary skill in the art, based on the drawings, other drawings can be obtained without any creative effort.

[0038] One or more embodiments are exemplarily illustrated by the pictures in the drawings corresponding thereto, and these exemplary illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, unless otherwise specified. The drawings in the drawings do not constitute a proportional limitation.

[0039] Figure 1 A structural schematic diagram of an underwater tangent cutter provided in the embodiments of the present application is shown in FIG. 1.

[0040] Figure 2 A sectional view of the underwater tangent cutter is shown in FIG. 2. Figure 1

[0041] A partial exploded schematic diagram of the underwater tangent cutter is shown in FIG. 3. Figure 3 Figure 1 A structural schematic diagram of a cutting plate body in the underwater tangent cutter is shown in FIG. 4.

[0042] Figure 4 Figure 3 A structural schematic diagram of a transmission shaft in the underwater tangent cutter is shown in FIG. 5.

[0043] Figure 5 A structural schematic diagram of a transmission shaft in the underwater tangent cutter is shown in FIG. 5. Figure 3

[0044] An enlarged schematic diagram of A in the underwater tangent cutter is shown in FIG. 6. Figure 6 Figure 2 An enlarged schematic diagram of B in the underwater tangent cutter is shown in FIG. 7.

[0045] Figure 7 An enlarged schematic diagram of C in the underwater tangent cutter is shown in FIG. 8. Figure 2

[0046] An enlarged schematic diagram of C in the underwater tangent cutter is shown in FIG. 8. Figure 8 Figure 2 An enlarged schematic diagram of C in the underwater tangent cutter is shown in FIG. 8.

[0047] Explanation of reference numerals:

[0048] ​​​​The cabin body 1, the through hole 1b, the first cabin body 11, the first chamber 11a, the second cabin body 12, the second chamber 12a, the fixing seat 13, the first sealing groove 13a, the second sealing groove 13b, the convex 131, the fixing table 132, the support seat 14, the sealing convex ring 141, the third sealing groove 14a, the third sealing ring 153, the fourth sealing ring 154, the assembly frame 16, the pressing plate 17, the bottom cover 18, the shearing device 2, the cutter holder 21, the connecting part 211, the mounting part 212, the blade 22, the cutter part 221, the movable cutting plate 23, the V-shaped groove 23a, the push plate 231, the limiting hole 231a, the cutting plate body 232, the driving device 3, the driving piece 31, the transmission assembly 32, the screw sleeve 321, the transmission shaft 322, the sleeve part 3221, the limiting part 3222, the screw rod 33, the connector 4, the control panel 5. DETAILED DESCRIPTION

[0049] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in connection with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0050] The following disclosure provides many different embodiments, or examples, for implementing different structures of the present application. For the purpose of simplifying the present application, the components and settings of specific examples are described in the following. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeatedly refer to numbers and / or letters in different examples. Such repetition is for the purpose of simplification and clarity, and it does not indicate the relationship between the various embodiments and / or settings discussed.

[0051] For the convenience of description, spatial relative terms can be used in the specification to describe the relative position relationship or movement condition of one element or feature relative to another element or feature as shown in the drawings, such as "inner", "outer", "inboard", "outboard", "under", "below", "on", "above", "front", "back", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the drawings. For example, if the device in the drawings is turned over or the posture is changed or the movement state is changed, the directional indications will also change accordingly, for example: the element described as "under" or "below" another element or feature will be oriented as "above" or "above" another element or feature. Therefore, the example term "below" can include both up and down positions. The device can be additionally oriented (rotated by 90 degrees or in other directions) and the spatial relative relationship descriptors used in the specification are interpreted accordingly.

[0052] The application provides an underwater thread cutter which can be applied to an underwater robot. The underwater robot drives the underwater thread cutter to move to the position of a to-be-cut object (such as a rope), and the underwater robot can provide power for a driving device 3 of the underwater thread cutter and power for automatic shearing operation of the underwater thread cutter.

[0053] Figures 1 to 3 The underwater thread cutter provided by the application includes a cabin body 1, a shearing device 2 and a driving device 3. The cabin body 1 has a containing cavity and a through opening 1b in communication with the containing cavity. The driving device 3 provides driving force, and the cabin body 1 provides mounting space to seal the driving device 3 in the containing cavity. The shearing device 2 includes a cutter holder 21, a cutter blade 22 and a movable cutting plate 23. The cutter holder 21 is arranged outside the containing cavity of the cabin body 1, and the cutter blade 22 is arranged in the cutter holder 21. The movable cutting plate 23 is located between the cutter blade 22 and the cabin body 1. Figure 4 The side of the movable cutting plate 23 facing the cutter blade 22 is provided with a V-shaped groove 23a corresponding to the cutter blade 22. The driving device 3 is arranged in the containing cavity. The output end of the driving device 3 extends out of the containing cavity from the through opening 1b and is connected with the movable cutting plate 23. The driving device 3 drives the movable cutting plate 23 to move so as to make the movable cutting plate 23 approach or move away from the cutter blade 22.

[0054] It can be understood that the cabin body 1 provides a sealed space, which can achieve the purpose of automatically cutting the rope underwater. When it is necessary to cut the rope, the rope is clamped between the movable cutting plate 23 and the blade 22; the driving device 3 provides power to drive the movable cutting plate 23 to move linearly to clamp the rope between the blade 22 and the movable cutting plate 23, and the movable cutting plate 23 continues to move to press the rope, and the blade 22 generates a force on the rope to cut the rope; in the present application, the V-shaped groove 23a corresponding to the blade 22 is arranged on the movable cutting plate 23, and the blade 22 and the movable cutting plate 23 continuously cut the rope during relative movement until the blade 22 is inserted into the V-shaped groove 23a, and the rope is cut off. At the same time, since the blade 22 is fixed to the blade holder 21, the blade holder 21 provides a stable mounting basis for the blade 22, and the blade 22 and the movable cutting plate 23 only have relative movement during the cutting of the rope and will not deviate or deflect. The underwater rope cutter has high structural stability and high stability during cutting of the rope, and ensures smooth cutting operation.

[0055] As shown in Figure 3 In the technical scheme of the present embodiment, the side of the blade 22 facing the V-shaped groove 23a has a V-shaped cutter portion 221, which can improve the cutting effect and cutting efficiency. When the movable cutting plate 23 moves to the cutter portion 221 inserted into the V-shaped groove 23a, a gap is formed between the cutter portion 221 and the groove wall of the V-shaped groove 23a, which can avoid collision between the cutter portion 221 and the V-shaped groove 23a caused by production and use errors, and protect the cutter portion 221. Exemplarily, the distance between the cutter portion 221 and the groove wall of the V-shaped groove 23a is 0.25 mm.

[0056] As shown in Figure 3 In the technical scheme of the present embodiment, the blade holder 21 includes a connecting portion 211 and a mounting portion 212, the connecting portion 211 is connected with the cabin body 1 and extends in a direction parallel to the moving direction of the output end of the driving device 3; the movable cutting plate 23 is slidingly connected with the connecting portion 211; the mounting portion 212 is connected to one end of the connecting portion 211 away from the cabin body 1; and the blade 22 is mounted on the mounting portion 212.

[0057] It can be understood that the mounting portion 212 provides a mounting position for the blade 22, so that the blade 22 is oppositely arranged with the movable cutting plate 23. The connecting portion 211 provides mounting support for the mounting portion 212, and at the same time, the connecting portion 211 plays a guiding role for the movement of the movable cutting plate 23, which can improve the movement stability of the movable cutting plate 23.

[0058] Preferably, the movable cutting plate 23 is provided with a sliding groove, the sliding groove is a non-circular groove, the cross section of the connecting portion 211 is non-circular, and the sliding groove is adapted to the connecting portion 211. In this way, the connecting portion 211 can also limit the rotation of the movable cutting plate 23.

[0059] like Figure 1 As shown, in this embodiment, the movable cutting plate 23 includes a push plate 231 and a cutting plate body 232. The push plate 231 is connected to the output end of the drive device 3; the push plate 231 is slidably connected to the connecting part 211; the cutting plate body 232 is located on the side of the push plate 231 facing the blade 22; the cutting plate body 232 is provided with a V-groove 23a. Thus, by designing the push plate 231 and the cutting plate body 232 as a separable structure, it is easy to replace the cutting plate body 232 with different sizes of V-groove 23a as needed.

[0060] like Figure 2 As shown, in this embodiment, the driving device 3 includes a driving component 31 and a transmission assembly 32. The driving component 31 is disposed within the receiving cavity; the transmission assembly 32 is movably disposed through the through-hole 1b, with one end connected to the output end of the driving component 31 and the other end connected to the movable cutting plate 23; wherein, the transmission assembly 32 moves along the axial direction of the through-hole 1b under the drive of the driving device 3. In this embodiment, the driving component 31 is a motor, and the output end of the motor is connected to the transmission assembly 32.

[0061] Understandably, the receiving cavity provides a sealed installation space for the drive component 31, the drive component 31 provides driving force, and the drive component 31 drives the transmission component to move linearly along the axis of the through port 1b, so as to move the movable cutting plate 23.

[0062] like Figure 2 As shown, in the technical solution of this embodiment, the output end of the driving component 31 is provided with a screw 33; the movable cutting plate 23 is provided with a limiting hole 231a;

[0063] The transmission assembly 32 includes a threaded sleeve 321 and a transmission shaft 322. The threaded sleeve 321 is threadedly connected to the screw 33. The transmission shaft 322 is movably inserted into the through opening 1b. One end of the transmission shaft 322 is connected to the threaded sleeve 321, and the other end is inserted into the limiting hole 231a and is limited and engaged with the limiting hole 231a.

[0064] Understandably, the threaded engagement between the sleeve 321 and the screw 33 converts the rotation output by the drive unit 31 into movement of the sleeve 321 along the axis of the screw 33. Furthermore, because the drive shaft 322 is limited by the limiting hole 231a, the drive shaft 322 and the sleeve 321 will not rotate relative to each other, ensuring that the direction of the force received by the transmission assembly 32 is along the axis of the through opening 1b. Thus, stable power transmission is ensured, while the movement of the movable cutting plate 23 is more stable.

[0065] In the technical solution of this embodiment, the limiting hole 231a is a non-circular hole; thus, it can limit the transmission shaft 322.

[0066] Reference Figure 5 The transmission shaft 322 comprises a sleeve portion 3221 and a limiting portion 3222, the sleeve portion 3221 is sleeved on the screw rod 33 and connected with the screw sleeve 321; the sleeve portion 3221 movably penetrates the through hole 1b; the limiting portion 3222 is connected to one end of the sleeve portion 3221 away from the screw sleeve 321 and movably inserted into the limiting hole 231a, and the limiting portion 3222 is matched with the shape of the limiting hole 231a.

[0067] Reference Figure 2 And Figure 5 The side of the sleeve portion 3221 facing the screw sleeve 321 is provided with a first connecting portion 211, and the side of the screw sleeve 321 facing the sleeve portion 3221 is provided with a second connecting portion 211, the first connecting portion 211 and the second connecting portion 211 are correspondingly arranged and connected by bolts.

[0068] As shown in Figure 2 , in the technical scheme of the embodiment, the cabin body 1 comprises a first cabin body 11, a fixing seat, a second cabin body 12 and a support seat 14, the first cabin body 11 has a first cavity 11a; the screw sleeve 321 and the screw rod 33 are located in the first cavity 11a; the transmission shaft 322 is movably inserted into the first cavity 11a; the second cabin body 12 has a second cavity 12a; the second cabin body 12 is correspondingly arranged with the second cabin body 12 and connected with the first cabin body 11 through the fixing seat, so that the first cavity 11a and the second cavity 12a are communicated to form an accommodating cavity; the driving device 3 is arranged in the second cavity 12a and connected with the fixing seat; in this way, the cabin body 1 is divided into the first cabin body 11 and the second cabin body 12, and the first cabin body 11 and the second cabin body 12 are connected through the fixing seat, which can facilitate the installation operation of the driving member 31 and the transmission assembly 32. The support seat 14 is arranged at one end of the first cabin body 11 away from the second cabin body 12; the support seat 14 has a through hole 1b; the tool holder 21 is connected to the side of the support seat 14 away from the first cabin body 11. The support seat 14 can cover the first cabin body 11 and provide an installation base for the tool holder 21 and a avoiding space (the through hole 1b) for the transmission shaft 322.

[0069] The outer periphery of the fixing seat is provided with a protrusion 131, the protrusion 131 is clamped between the first cabin body 11 and the second cabin body 12, and the first cabin body 11 and the second cabin body 12 can be positioned.

[0070] Reference Figure 2 And Figure 8 The cavity wall of the first cavity 11a is provided with a fixing table 132, and the output end of the motor is fixed to the fixing table 132 through bolts, so that the motor is stably connected in the first cavity 11a.

[0071] Reference Figure 2In this embodiment, the second chamber 12a is provided with a bottom cover 18 at the end opposite to the first chamber 11a. The bottom cover 18 seals the second chamber 12a and is equipped with a connector 4. The connector 4 enables the underwater tangent to be electrically connected to the robot body of the underwater robot.

[0072] like Figure 8 As shown, in this embodiment, the portion of the outer periphery of the fixing seat facing the cavity wall of the first chamber 11a is provided with at least two first sealing grooves, and the plurality of first sealing grooves are spaced apart along the axial direction; a first sealing ring is provided in the first sealing groove. The portion of the outer periphery of the fixing seat facing the cavity wall of the second chamber 12a is provided with at least two second sealing grooves 13b, and 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.

[0073] like Figure 7 As shown, the outer periphery of the support base 14 facing the cavity wall of the first chamber 11a is provided with at least two third sealing grooves 14a, and the multiple third sealing grooves 14a are arranged at intervals along the axial direction; a third sealing ring 153 is provided in the third sealing groove 14a.

[0074] It is understandable that designing a first sealing ring, a second sealing ring, and a third sealing ring 153 can improve the sealing performance and achieve the purpose of waterproofing. In this application, designing multiple first sealing rings, multiple second sealing rings, and multiple third sealing rings 153 can further improve the sealing effect.

[0075] In this embodiment, there are two of each of the first sealing ring, the second sealing ring, and the third sealing ring 153.

[0076] The outer surface of the bottom cover 18 facing the cavity wall of the second chamber 12a is provided with at least two fifth sealing grooves, and the multiple fifth sealing grooves are arranged at intervals along the axial direction; a fifth sealing ring is provided in the fifth sealing groove.

[0077] like Figure 2 As shown, in this embodiment, the second chamber 12a is further provided with an assembly frame 16, which is used to assemble the control board 5; and the assembly frame 16 abuts against the side of the drive device 3 away from the transmission assembly 32. In this embodiment, the two ends of the assembly frame 16 abut against the drive member 31 and the bottom cover 18 respectively. The side of the assembly frame 16 facing the drive member 31 is provided with a positioning block, and the drive member 31 is provided with a corresponding positioning hole. The installation and positioning of the drive member 31 is achieved through the cooperation of the positioning hole and the positioning block.

[0078] like Figure 2 , Figure 3 and Figure 6As shown, in the technical scheme of the embodiment, the side of the support seat 14 away from the first chamber 11a is provided with a sealing protruding ring 141, the sealing protruding ring 141 is arranged around the transmission shaft 322; and at least two fourth sealing rings 154 are arranged between the sealing protruding ring 141 and the transmission shaft 322; the plurality of fourth sealing rings 154 are coaxially arranged;

[0079] Further comprising a pressing plate 17, the pressing plate 17 is located between the sealing protruding ring 141 and the movable cutting plate 23, and is connected with the sealing protruding ring 141; the pressing plate 17 is arranged around the transmission shaft 322, and covers the fourth sealing ring 154.

[0080] It can be understood that the sealing protruding ring 141 provides space for the installation of the fourth sealing ring 154, and the fourth sealing ring 154 plays a role in sealing the containing cavity, and the fourth sealing ring 154 cooperates with the first sealing ring, the second sealing ring, the third sealing ring 153 and the fifth sealing ring to achieve a high waterproof effect, so that the underwater cutting line device can be operated in deeper water. At the same time, the setting of the pressing plate 17 further improves the sealing and waterproof performance, and also limits the fourth sealing ring 154, improving the installation stability of the fourth sealing ring 154.

[0081] On the other hand, the application also provides an underwater robot, comprising a robot body and the underwater cutting line device as above, and the specific structure of the underwater cutting line device is referred to the above embodiments. Since the underwater robot adopts all the technical schemes of the above embodiments, it at least has all the beneficial effects brought by the technical schemes of the above embodiments, which will not be described one by one here. Wherein, the underwater cutting line device and the robot body are detachably connected.

[0082] It should be understood that the terms used herein are for the purpose of describing particular example implementations and are not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises", "comprising", "includes", "including" and the like are to be construed in an inclusive sense, as opposed to an exclusive or exhaustive sense, that is, in the sense of "including, but not limited to". The methods described herein can be implemented in a number of ways. It should be noted that the methods described herein can be implemented in a number of ways. It should be noted that the methods described herein can be implemented in a number of ways.

[0083] Although the terms first, second, third, etc. can be used herein to describe various 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 be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example implementations.

[0084] The foregoing is merely illustrative of the principles of the application and various modifications can be made by those skilled in the art without departing from the spirit and scope of the application. The above-described embodiments are intended to be illustrative, not restrictive, of the scope of the present application, which is set out in the following claims.

Claims

1. An underwater line cutter, characterized by, The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device.

2. The underwater line cutter of claim 1, wherein, The utility model relates to a cutting device and a cutting device.

3. The underwater line cutter of claim 1, wherein, The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device.

4. The underwater line cutter of claim 3, wherein, The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device.

5. The underwater line cutter of any one of claims 1 to 4, wherein, The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device.

6. The underwater line cutter of claim 5, wherein, The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. 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The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting device and a cutting device. The utility model relates to a cutting The transmission assembly (32) comprises a screw sleeve (321) and a transmission shaft (322), the screw sleeve (321) is threadedly connected with the screw rod (33); the transmission shaft (322) is movably arranged in the through hole (1b); one end of the transmission shaft (322) is connected with the screw sleeve (321), and the other end is movably arranged in the limiting hole (231a) and is limitedly matched with the limiting hole (231a).

7. The underwater line cutter of claim 6, wherein, The cabin body (1) comprises: A first cabin body (11) having a first cavity (11a); the screw sleeve (321) and the screw rod (33) are located in the first cavity (11a); the transmission shaft (322) is inserted into the first cavity (11a); A second cabin body (12) having a second cavity (12a); the second cabin body (12) is correspondingly arranged with the second cabin body (12) and is connected with the first cabin body (11) through a fixing seat, so that the first cavity (11a) and the second cavity (12a) are communicated to form the containing cavity; the driving device (3) is arranged in the second cavity (12a) and is connected with the fixing seat; A support seat (14) is arranged at one end of the first cabin body (11) away from the second cabin body (12); the support seat (14) has the through hole (1b); the tool holder (21) is connected to one side of the support seat (14) away from the first cabin body (11).

8. The underwater line cutter of claim 7, wherein, The outer peripheral surface of the fixing seat towards the cavity wall of the first cavity (11a) is provided with at least two first sealing grooves, and a plurality of first sealing grooves are arranged in an axial direction; And / or, the outer peripheral surface of the fixing seat towards the cavity wall of the second cavity (12a) is provided with at least two second sealing grooves (13b), and a plurality of second sealing grooves (13b) are arranged in an axial direction; the second sealing groove (13b) is provided with a second sealing ring; And / or, the outer peripheral surface of the support seat (14) towards the cavity wall of the first cavity (11a) is provided with at least two third sealing grooves (14a), and a plurality of third sealing grooves (14a) are arranged in an axial direction; the third sealing groove (14a) is provided with a third sealing ring (153); And / or, the second cavity (12a) is further provided with an assembly frame (16), the assembly frame (16) is used for assembling a control panel (5); and the assembly frame (16) abuts against one side of the driving device (3) away from the transmission assembly (32).

9. The underwater line cutter of claim 7, wherein, The side of the support seat (14) away from the first cavity (11a) is provided with a sealing protruding ring (141), the sealing protruding ring (141) surrounds the transmission shaft (322); and at least two fourth sealing rings (154) are arranged between the sealing protruding ring (141) and the transmission shaft (322); a plurality of fourth sealing rings (154) are coaxially arranged; Further comprising a pressing plate (17) located between the sealing convex ring (141) and the movable cutting plate (23) and connected with the sealing convex ring (141); the pressing plate (17) is arranged around the transmission shaft (322) and covers the fourth sealing ring (154).

10. An underwater robot, characterized in that, Comprising: a robot body; the underwater line cutter according to any one of claims 1 to 9, which is detachably connected with the robot body.

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