An underwater robot with integrated gripping and shearing functions

Abstract

The utility model discloses an integrated anti-winding underwater robot of grabbing and shearing function, including ROV casing, and install in the casing's propeller, mechanical arm rotating base, snake joint mechanical arm, end switching device, be equipped with clamping device and shearing device on end switching device. Propeller main shaft front end has positive and negative grass cutter, constitutes double blade shearing mechanism, can cut off and involve the water grass, prevent paddle winding, snake joint mechanical arm cooperation rotating base realizes the multi -freedom degree and adjusts the appearance, and end switching device can quickly switch clamping and shearing function, guarantees the operation precision. The robot integrates multifunction, and the reliable anti-winding is suitable for complex underwater operation scene.

Description

Technical Field

[0001] This utility model relates to underwater robots, specifically to an anti-entanglement underwater robot that integrates grasping and shearing functions. Background Technology

[0002] Underwater "grabbing + shearing" multi-functional end effectors have gained widespread attention in scenarios such as debris removal from underwater structures (e.g., bridge piers, drainage outlets). Existing technologies generally adopt a "single-function module + manual / hydraulic quick-change" approach.

[0003] 1. Pure robotic arm route: using an electric lead screw or rack and pinion to drive a two- or three-finger gripper to grip regular objects;

[0004] 2. Pure cutting tool route: Uses a miniature hydraulic cylinder to drive the blade to cut cables or fishing nets.

[0005] The existing end-effector tool's "single function + manual / hydraulic quick change" mode has problems such as long function switching time, excessive weight of the quick change mechanism, and lack of anti-tangling design. Utility Model Content

[0006] This utility model provides an anti-entanglement underwater robot with integrated gripping and shearing functions, including an ROV shell. The anti-entanglement underwater robot includes a thruster, a robotic arm rotating base, a serpentine joint robotic arm, an end effector switching device, a gripping device, and a shearing device.

[0007] The thrusters are installed on the top and bottom sides of the ROV hull to provide underwater thrust to the ROV hull. The thrusters are equipped with a rotating grass-cutting mechanism, which includes a forward grass-cutting blade and a reverse grass-cutting blade fixed to the head of the thruster main shaft. The forward grass-cutting blade and the reverse grass-cutting blade constitute a double-blade shearing mechanism.

[0008] The robotic arm's rotating base is installed at the bottom of the ROV housing;

[0009] The top of the serpentine joint robotic arm is mounted on a rotating base, and the bottom of the serpentine joint robotic arm is equipped with an end effector.

[0010] The end-of-line switching device is equipped with a switching disk, on which a gripping device and a shearing device are installed. The gripping device and the shearing device are respectively equipped with articulated jaws and a cutting blade.

[0011] Furthermore, the propeller includes a propeller housing, a propeller bracket, a forward-cutting blade, a reverse-cutting blade, a propeller motor, a propeller main shaft, and propeller blades;

[0012] The thruster motor is fixedly installed inside the front end of the thruster housing via a thruster bracket. One end of the thruster main shaft located inside the thruster housing is fixedly connected to the output shaft of the thruster motor, and the other end is connected to the bearing at the rear end inside the thruster housing. The outer diameter of the bearing is smaller than the inner diameter of the thruster housing, and the outer diameter of the bearing and the inner diameter of the thruster housing are connected by several connecting rods.

[0013] The main shaft of the propeller is equipped with a forward cutting blade, a reverse cutting blade, and a propeller blade. The cutting blade is located at the front end of the main shaft and its axial projected area is smaller than that of the propeller blade.

[0014] Furthermore, the end-of-line switching device includes a fixed base, a switching disk, and a transmission mechanism. The switching disk is rotatably mounted on the fixed base and driven to rotate by the transmission mechanism. The switching disk has a first plane and a second plane for mounting a clamping device and a shearing device, respectively.

[0015] The fixed base is fixedly connected to the bottom of the serpentine joint robotic arm. A switching device bracket is installed inside the fixed base, and a transmission mechanism is installed on the switching device bracket. The transmission mechanism includes a drive motor, a track base, a rack and pinion track, a rack, a gear, a transmission shaft, and bearings.

[0016] The track base is fixed on the switching device bracket. A rack and pinion track is slidably installed on the track base. A rack and pinion track is fixed on the rack and pinion track. The drive motor is connected to the rack and pinion track to drive the rack and pinion track to slide along the track base. The rack and pinion mesh with the gear. The shaft of the gear is fixedly connected to the transmission shaft. The transmission shaft passes through the switching device bracket and is fixedly connected to the switching disc.

[0017] Furthermore, the clamping device includes a linear motor, a clamping device fixing frame, a clamping drive shaft, and telescopic grippers;

[0018] The clamping device mounting bracket is fixedly installed on the first plane of the switching disk;

[0019] A linear motor and a telescopic gripper are respectively installed at both ends of the clamping device frame. The clamping drive shaft is slidably installed on the clamping device frame. One end of the clamping drive shaft is connected to the linear output shaft of the linear motor, and the other end of the clamping drive shaft is connected to the articulated telescopic gripper. The telescopic gripper is composed of multiple articulated grippers arranged circumferentially. Each articulated gripper is composed of a connecting plate and a mechanical gripper. The two ends of the connecting plate are rotatably connected to the clamping device frame and the mechanical gripper, respectively. The other end of the clamping drive shaft is provided with a transmission component. The transmission component is connected to the middle of the connecting plate through a connecting rod, and both ends of the connecting rod are rotatably connected to the transmission component and the middle of the connecting plate.

[0020] Furthermore, the clamping device fixing frame includes a first base and a second base distributed in parallel. The first base and the second base are fixedly connected by several connecting rods. The second base is provided with multiple gripper fixing blocks in the circumferential direction. Each joint gripper is rotatably connected to the gripper fixing block.

[0021] A hollow guide sleeve for clamping the drive shaft is fixed between the first chassis and the second chassis.

[0022] Furthermore, the shearing device is fixedly installed on the second plane of the switching disk, and the shearing device includes a shearing drive motor, a shearing device fixing frame, a shearing transmission mechanism, and a cutting blade;

[0023] The shearing device mounting bracket is equipped with a horizontal connecting base, a vertical partition, and a cutting blade mounting bracket. The horizontal connecting base and the cutting blade mounting bracket are respectively fixed on both sides of the vertical partition. The cutting blade mounting bracket is equipped with a cutting blade shaft, on which a cutting blade is rotatably mounted. The cutting blade consists of two boomerang-shaped blades.

[0024] The shearing transmission mechanism includes a perforated flange, a shearing transmission shaft, and a U-shaped push block. The perforated flange is embedded and rotatably mounted in a horizontal connecting base. The output shaft of the shearing drive motor is connected to the perforated flange. One end of the shearing transmission shaft is eccentrically connected to the perforated flange, and the other end passes through a vertical partition and is rotatably connected to the rear end of the U-shaped push block. The U-shaped push block is slidably engaged with the cutting blade fixing frame. A cutting blade is installed in the opening of the U-shaped push block, and the rear ends of two boomerang-shaped blades are rotatably connected to the two ends of the U-shaped push block, respectively.

[0025] Furthermore, the cutter holder includes a fixedly connected U-shaped fixing block and a cutter mounting plate. The U-shaped fixing block passes through the opening of the U-shaped push block and both ends of the U-shaped fixing block are fixedly connected to the vertical partition. The cutter mounting plate is located inside the opening of the U-shaped push block and is fixedly connected to the U-shaped fixing block.

[0026] The U-shaped fixing block has guide holes on both sides of the U-shaped push block, and wing plates are fixed on both sides of the U-shaped push block. Guide posts that slide through the guide holes are fixed on the wing plates.

[0027] Furthermore, the serpentine joint robotic arm consists of multiple movable joints connected end to end, with adjacent joints linked by a joint rotation mechanism.

[0028] The joint rotation mechanism includes a U-shaped fixed frame, with flanges fixedly installed on both sides of the internal opening of the U-shaped fixed frame. A joint rotation motor is installed inside the U-shaped fixed frame, and the output shafts at both ends of the joint rotation motor are fixedly connected to the flanges. The rotation of the output shafts at both ends is controlled by the joint rotation motor, thereby realizing the joint rotation of the snake-shaped joint robotic arm.

[0029] Furthermore, the robotic arm rotating base includes an upper base, a robotic arm rotating motor, and a robotic arm fixing plate. The upper base is fixedly connected to the bottom of the ROV housing. The robotic arm rotating motor is fixedly installed on the upper surface of the upper base. The output axis of the robotic arm rotating motor passes downward through the upper base and is fixedly connected to the robotic arm fixing plate. The robotic arm fixing plate is fixedly connected to the top of the serpentine joint robotic arm.

[0030] Furthermore, the ROV housing has an underwater camera module with a supplementary light on the front.

[0031] This invention addresses the shortcomings of traditional underwater tools, such as "limited functionality, slow switching, susceptibility to tangling, and poor flexibility," achieving efficient, reliable, and intelligent integrated underwater "grabbing and shearing" operations. It is particularly suitable for complex scenarios such as underwater debris removal, fishing net dismantling, and facility maintenance. Specific technical advantages are as follows:

[0032] 1) The end switching disc (flip-type design) integrates the gripping device and the shearing device at the same end, and achieves 180° rapid switching through gear-rack transmission, eliminating the manual / hydraulic quick-change link, greatly shortening the function switching time, and improving the continuity and efficiency of underwater operations.

[0033] 2) The front end of the propeller's main shaft is equipped with alternating forward and reverse cutting blades, which, together with the rotating blades, form a dynamic double-edged shearing mechanism. This can actively cut through flexible entangled materials such as aquatic plants and fishing nets, preventing the propeller from getting stuck at the source and significantly improving its survival and maneuverability in complex waters (such as areas with dense aquatic plants).

[0034] 3) The multi-jointed serpentine arm has flexible degrees of freedom and can accurately approach unstructured areas such as gaps in bridge piers and dead corners of drainage outlets, making it flexible to operate.

[0035] 4) The linear motor drives and controls the synchronous opening and closing of multiple joint grippers in the circumferential direction, which can adaptively grasp irregular objects and has high grasping stability.

[0036] 5) The reciprocating linear motion of the rotary motor, eccentric flange, drive shaft, and U-shaped push block drives the double boomerang blades to open and close around a fixed axis for shearing. The structure is compact and the lever arm is long, which can effectively cut cables, fishing nets, and soft aquatic plants. It has strong shearing force and rapid resetting.

[0037] 6) All actuators (pushers, switching devices, grippers, shears) adopt a compact electric drive solution, avoiding the weight and leakage risks of hydraulic systems. The overall weight is low and the power consumption is low, making it suitable for installation on small and medium-sized ROV platforms and expanding application scenarios (such as inland waterway, port, and drainage pipeline cleaning). Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a perspective view of an anti-entanglement underwater robot integrating gripping and shearing functions according to this utility model;

[0040] Figure 2 A schematic diagram of the thruster;

[0041] Figure 3 This is a diagram showing the internal structure of the rotating base of the robotic arm.

[0042] Figure 4 This is a schematic diagram of the joint rotation mechanism of a serpentine robotic arm.

[0043] Figure 5 This is a schematic diagram of the end-of-line switching device;

[0044] Figure 6 This is a schematic diagram of the internal structure of the end-point switching device;

[0045] Figure 7 This is a schematic diagram of the clamping device;

[0046] Figure 8 This is a diagram of the internal structure of the shearing device;

[0047] Figure 9 This is a diagram of the internal structure of the shearing device;

[0048] Figure 10 This is a schematic diagram of a cutting blade. Detailed Implementation

[0049] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid confusion with the present invention.

[0050] To fully understand this utility model, detailed steps and structures will be presented in the following description to illustrate the technical solution of this utility model. Preferred embodiments of this utility model are described in detail below; however, in addition to these detailed descriptions, this utility model may have other embodiments.

[0051] like Figure 1As shown, this utility model provides an anti-entanglement underwater robot with integrated gripping and shearing functions, including an ROV shell 100, and the anti-entanglement underwater robot includes a thruster 200, a robotic arm rotating base 300, a serpentine joint robotic arm 400, an end effector switching device 500, a gripping device 600, and a shearing device 700.

[0052] ROV housing 100

[0053] The ROV hull 100 is made of lightweight yet rigid materials, such as high-strength aluminum alloy or carbon fiber composites, ensuring structural strength for underwater operations while reducing overall weight and improving energy efficiency. Furthermore, the ROV hull 100's design fully considers hydrodynamic principles; its streamlined appearance helps reduce drag during underwater navigation, enhancing the robot's maneuverability and endurance.

[0054] Thruster 200

[0055] The thrusters 200 are installed on the top and bottom sides of the ROV hull 100 to provide underwater forward thrust for the ROV hull 100. The ROV hull 100 is also equipped with buoyancy propellers 220 on both side walls to provide buoyancy for the ROV hull 100 to rise and fall.

[0056] like Figure 2 As shown, in an optional embodiment of the present invention, the thruster 200 includes a thruster housing 201, a thruster bracket 202, a thruster motor 205, a thruster main shaft 206, and thruster blades 207.

[0057] The thruster housing 201 is fixedly connected to the ROV housing 100. The thruster motor 205 is fixedly installed inside the front end of the thruster housing 201 via the thruster bracket 202. One end of the thruster main shaft 206 located inside the thruster housing 201 is fixedly connected to the output shaft of the thruster motor 205, and the other end is connected to the bearing at the rear end inside the thruster housing 201. The outer diameter of the bearing is smaller than the inner diameter of the thruster housing 201, and the outer diameter of the bearing and the inner diameter of the thruster housing 201 are connected by several connecting rods.

[0058] A grass-cutting blade and a propeller blade 207 are mounted on the propeller main shaft 206. The grass-cutting blade is located at the front end of the propeller main shaft 206 and its axial projected area is smaller than that of the propeller blade 207, reducing the impact on the propeller blade 207. As shown in Figure 2, alternating forward grass-cutting blades 203 and reverse grass-cutting blades 204 are circumferentially mounted on the propeller main shaft 206. The cutting edges of the forward grass-cutting blades 203 and reverse grass-cutting blades 204 are on the front and back sides, respectively, forming a double-blade shearing mechanism to cut the entangled aquatic plants, thereby achieving the rotational grass-cutting function to prevent the aquatic plants from tangling.

[0059] The propeller blade 207 is helical and located on the propeller main shaft 206 behind the grass cutter. The helical blade is existing technology, and its structure can be understood by those skilled in the art even if its structure is not shown in the attached drawings.

[0060] 300 Rotating Base for Robotic Arm

[0061] like Figure 3 As shown, the robotic arm rotating base 300 is installed at the bottom of the ROV housing 100. In an optional embodiment of this utility model, the robotic arm rotating base 300 includes an upper base 302, a lower base 304, a robotic arm rotating motor 301, and a robotic arm fixing plate 306.

[0062] The upper base 302 and the lower base 304 are fixedly connected by multiple connecting rods 303. The upper base 302 is fixedly connected to the bottom of the ROV housing 100. The robotic arm rotary motor 301 is fixedly mounted on the upper surface of the upper base 302. The output shaft of the robotic arm rotary motor 301 is connected to a first flange 309, and a drive disk 308 is fixedly connected to the bottom of the first flange 309. The top of the inverted U-shaped robotic arm mounting plate 306 is fixedly connected to a second flange 307 via an adapter plate 305. The drive disk 308 and the second flange 307 are fixedly connected.

[0063] Since the robotic arm fixing plate 306 is fixedly connected to the top of the serpentine joint robotic arm 400, the robotic arm rotary motor 301 drives the serpentine joint robotic arm 400 to rotate through the drive disk 308 and the robotic arm fixing plate 306.

[0064] 400 serpentine joint robotic arm

[0065] The top of the serpentine joint robotic arm 400 is mounted on the robotic arm rotating base 300, and the bottom of the serpentine joint robotic arm 400 is equipped with an end-effector switching device 500.

[0066] In an optional embodiment of this utility model, the serpentine joint robotic arm 400 consists of multiple movable joints connected end-to-end, with adjacent joints connected by a joint rotation mechanism. The joint rotation mechanism is as follows: Figure 4 As shown, it includes a U-shaped mounting bracket 401. Flanges 402 and 405 are fixedly installed on both sides of the internal opening of the U-shaped mounting bracket 401, respectively. A joint rotation motor 404 is installed inside the U-shaped mounting bracket 401, and the output shafts at both ends of the joint rotation motor 404 are fixedly connected to the flanges 402 and 405. The rotation of the output shafts at both ends is controlled by the joint rotation motor 404, which drives the U-shaped mounting bracket 401 to rotate through the flanges, thereby realizing the joint rotation of the serpentine joint robotic arm 400.

[0067] The specific structure of the snake-jointed robotic arm 400 belongs to the conventional technical means of bionic robots. Therefore, the technical features not mentioned in the manual are all conventional technical means of those skilled in the art and will not be described in detail here.

[0068] End-of-line switching device 500

[0069] like Figure 5-6 As shown, the end-switching device 500 includes a fixed base 501, a switching disk 509, and a transmission mechanism. The switching disk 509 is rotatably mounted on the fixed base 501 and driven to rotate by the transmission mechanism. The switching disk 509 has a first plane 5091 and a second plane 5092 for mounting the gripping device 600 and the shearing device 700, respectively. By rotating the switching disk 509, the gripping device 600 and the shearing device 700 are switched to perform gripping or cutting operations on the target object.

[0070] The fixed base 501 is fixedly connected to the bottom of the serpentine joint robotic arm 400. The fixed base 501 is equipped with a switching device bracket 503. A transmission mechanism is installed on the switching device bracket 503. The transmission mechanism includes a drive motor, a track base 506, a rack and pinion track 507, a rack 508, a gear 502, a transmission shaft 505, and a bearing 504.

[0071] The track base 506 is fixed on the switching device bracket 503. A rack track 507 is slidably mounted on the track base 506, and a rack 508 is fixed on the rack track 507. A linear drive motor (not shown) is connected to the rack track 507 to drive the rack track 507 to slide along the track base 506. The rack 508 meshes with a gear 502. The shaft of the gear 502 is fixedly connected to one end of a drive shaft 505. The other end of the drive shaft 505 passes through the switching device bracket 503 and is fixedly connected to the switching disk 509. A bearing 504 is provided between the switching device bracket 503 and the drive shaft 505.

[0072] When it is necessary to switch between the gripping device 600 and the shearing device 700 for operation, the drive motor drives the rack and pinion track 507 to slide along the track base 506, thereby driving the gear 502 and the transmission shaft 505 to rotate. The switching disk 509 is fixedly connected to the transmission shaft 505, thus realizing the rotation of the switching disk 509 to complete the position switching and position adjustment between the gripping device 600 and the shearing device 700.

[0073] Clamping device 600

[0074] like Figure 7 As shown, the gripping device 600 includes a linear motor (not shown in the figure), a gripping device mounting frame, a gripping drive shaft, and telescopic grippers; the gripping device mounting frame is fixedly installed on the first plane 5091 of the switching disk 509.

[0075] A linear motor and a telescopic gripper are respectively mounted at both ends of the gripping device frame. The gripping drive shaft is slidably mounted on the gripping device frame. One end of the gripping drive shaft is connected to the linear output shaft of the linear motor, and the other end is connected to the articulated telescopic gripper. The telescopic gripper consists of multiple articulated grippers arranged circumferentially. Each articulated gripper consists of a connecting plate 605 and a mechanical gripper 606. The inner side of the end of the mechanical gripper 606 is serrated to improve the gripping friction. Both ends of the connecting plate 605 are rotatably connected to the gripping device frame and the mechanical gripper 606, respectively. The other end of the gripping drive shaft is equipped with a transmission component 608. The transmission component 608 is connected to the middle of the connecting plate 605 through a connecting rod 607, and both ends of the connecting rod 607 are rotatably connected to the transmission component 608 and the middle of the connecting plate 605. The connecting rod 607 is rotatably connected to the transmission component 608 through bolts 604.

[0076] In an optional embodiment of this utility model, the clamping device fixing frame includes a first base 610 and a second base 609 distributed in parallel. The first base 610 and the second base 609 are fixedly connected by a plurality of connecting rods 602. The second base 609 is provided with a plurality of gripper fixing blocks 603 in the circumferential direction. Each joint gripper is rotatably connected to the gripper fixing block 603. A hollow guide sleeve 611 for the clamping drive shaft to pass through is fixed between the first base 610 and the second base 609.

[0077] The working principle of the clamping device 600 is as follows: The power of the clamping device 600 is provided by a linear motor. After startup, the linear output shaft of the linear motor drives the clamping drive shaft to slide axially along the hollow guide sleeve 611. The transmission component 608 at the end of the clamping drive shaft moves synchronously, pulling the middle of the connecting plate 605 through the connecting rod 607. Since the two ends of the connecting plate 605 are respectively rotatably connected to the gripper fixing block 603 and the mechanical claw 606 of the clamping device fixing frame, the connecting plate 605 will rotate around the gripper fixing block 603. This rotational action drives the multiple circumferentially arranged mechanical claws 606 to synchronously close inward, realizing the clamping of the target object; when the linear motor drives the clamping drive shaft to slide in the opposite direction, the transmission component 608 pushes the connecting plate 605 to reset through the connecting rod 607, and the mechanical claws 606 open outward, completing the release action. Throughout the process, the first base 610, the second base 609 and the connecting rod 602 of the clamping device fixing frame remain fixed, providing stable support for each moving part.

[0078] Shearing device 700

[0079] like Figure 8-10 As shown, the shearing device 700 is fixedly installed on the second plane 5092 of the switching disk 509. The shearing device 700 includes a shearing drive motor, a shearing device fixing frame 710, a shearing transmission mechanism 720, and a cutting blade 730.

[0080] The shearing device mounting bracket 710 is provided with a horizontal connecting base 711, a vertical partition 712 and a cutting blade mounting bracket 713. The horizontal connecting base 711 and the cutting blade mounting bracket 713 are respectively fixed on both sides of the vertical partition 712. The cutting blade mounting bracket 713 is provided with a cutting blade shaft 714, and a cutting blade 730 is rotatably mounted on the cutting blade shaft 714. The cutting blade 730 is composed of two boomerang-shaped blades 731.

[0081] The shearing transmission mechanism 720 includes a perforated flange 721, a shearing transmission shaft 722, and a U-shaped pusher block 723. The perforated flange 721 is embedded in and rotatably mounted in a horizontal connecting base 711. The output shaft of the shearing drive motor is connected to the perforated flange 721. One end of the shearing transmission shaft 722 is eccentrically rotatably connected to the perforated flange 721 via a connecting ring 7221, and the other end passes through a vertical partition 712 and is rotatably connected to the rear end of the U-shaped pusher block 723. The U-shaped pusher block 723 is slidably engaged with the cutting blade holder 713. A cutting blade 730 is installed in the opening of the U-shaped pusher block 723. The rear ends of two boomerang-shaped blades 731 are notched and are rotatably connected to the two ends of the U-shaped pusher block 723 via pins 715.

[0082] In an optional embodiment of the present invention, the cutting blade holder 713 includes a U-shaped fixing block 7131 and a cutting blade mounting plate 7132 that are fixedly connected. The U-shaped fixing block 7131 passes laterally through the opening of the U-shaped push block 723 and both ends of the U-shaped fixing block 7131 are fixedly connected to the vertical partition plate 712. The cutting blade mounting plate 7132 is located inside the opening of the U-shaped push block 723 and is fixedly connected to the U-shaped fixing block 7131.

[0083] The U-shaped fixing block 7131 is provided with guide holes on both sides of the U-shaped push block 723. Wing plates 724 are fixed on both sides of the U-shaped push block 723, and guide posts 725 that slide through the guide holes are fixed on the wing plates 724.

[0084] The working principle of the shearing device 700 is as follows: After the shearing drive motor starts, it drives the perforated flange 721 embedded in the horizontal connecting base 711 to rotate. Since the shearing drive shaft 722 is eccentrically connected to the perforated flange 721 through the connecting ring 7221, the rotation of the perforated flange 721 is converted into the back-and-forth reciprocating pushing motion of the shearing drive shaft 722, which in turn pushes the U-shaped push block 723 to slide along the U-shaped fixing block 7131 of the cutting blade fixing frame 713. At this time, the guide posts 725 on the two side wing plates 724 of the U-shaped push block 723 slide synchronously along the guide holes of the U-shaped fixing block 7131 to ensure the sliding direction of the U-shaped push block 723.

[0085] The reciprocating sliding of the U-shaped pusher 723 drives the two boomerang-shaped blades 731 within its opening to rotate in an opening and closing manner around the cutting shaft 714 of the cutting blade holder 713: when the U-shaped pusher 723 pushes forward, the two boomerang-shaped blades 731 move closer together, achieving shearing of the target object; when the U-shaped pusher 723 reverses and resets, the boomerang-shaped blades 731 open, completing the shearing action and resetting. The vertical partition 712 and the cutting blade mounting plate 7132 of the shearing device holder 710 provide fixed support for the entire transmission and shearing mechanism, ensuring operational accuracy.

[0086] Underwater camera module 800

[0087] The underwater camera module 800 is located on the front of the ROV housing and includes an underwater high-definition industrial binocular camera and a fill light. The underwater high-definition industrial binocular camera is used to capture details of the underwater environment, and the fill light ensures that clear images can be obtained even in low-light environments.

[0088] It should be noted that the motor drive and transmission mechanism of this application need to have a certain degree of waterproof capability.

[0089] The preferred embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above. Devices and structures not described in detail herein should be understood as being implemented in a conventional manner within the art. Any person skilled in the art can make many possible variations and modifications to the technical solutions of this utility model using the disclosed methods and techniques, or modify them into equivalent embodiments with equivalent changes, without departing from the scope of the technical solution of this utility model. This does not affect the essential content of this utility model. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this utility model, without departing from the content of the technical solution of this utility model, still fall within the protection scope of the technical solution of this utility model.

Claims

1. An anti-entanglement underwater robot integrating gripping and shearing functions, comprising an ROV shell, characterized in that, The anti-entanglement underwater robot includes a thruster, a robotic arm rotating base, a serpentine joint robotic arm, an end effector switching device, a gripping device, and a shearing device. The thrusters are installed on the top and bottom sides of the ROV hull to provide underwater thrust to the ROV hull. The thrusters are equipped with a rotating grass-cutting mechanism, which includes a forward grass-cutting blade and a reverse grass-cutting blade fixed to the head of the thruster main shaft. The forward grass-cutting blade and the reverse grass-cutting blade constitute a double-blade shearing mechanism. The robotic arm's rotating base is installed at the bottom of the ROV housing; The top of the serpentine joint robotic arm is mounted on a rotating base, and the bottom of the serpentine joint robotic arm is equipped with an end effector. The end-of-line switching device is equipped with a switching disk, on which a gripping device and a shearing device are installed. The gripping device and the shearing device are respectively equipped with articulated jaws and a cutting blade.

2. The anti-entanglement underwater robot as described in claim 1, characterized in that, The propeller includes a propeller housing, a propeller bracket, a forward cutting blade, a reverse cutting blade, a propeller motor, a propeller main shaft, and propeller blades; The thruster motor is fixedly installed inside the front end of the thruster housing via a thruster bracket. One end of the thruster main shaft located inside the thruster housing is fixedly connected to the output shaft of the thruster motor, and the other end is connected to the bearing at the rear end inside the thruster housing. The outer diameter of the bearing is smaller than the inner diameter of the thruster housing, and the outer diameter of the bearing and the inner diameter of the thruster housing are connected by several connecting rods. The main shaft of the propeller is equipped with a forward cutting blade, a reverse cutting blade, and a propeller blade. The cutting blade is located at the front end of the main shaft and its axial projected area is smaller than that of the propeller blade.

3. The anti-entanglement underwater robot according to claim 1, characterized in that, The end-of-line switching device includes a fixed base, a switching disk, and a transmission mechanism. The switching disk is rotatably mounted on the fixed base and driven to rotate by the transmission mechanism. The switching disk has a first plane and a second plane for mounting a clamping device and a shearing device, respectively. The fixed base is fixedly connected to the bottom of the serpentine joint robotic arm. A switching device bracket is installed inside the fixed base, and a transmission mechanism is installed on the switching device bracket. The transmission mechanism includes a drive motor, a track base, a rack and pinion track, a rack, a gear, a transmission shaft, and bearings. The track base is fixed on the switching device bracket. A rack and pinion track is slidably installed on the track base. A rack and pinion track is fixed on the rack and pinion track. The drive motor is connected to the rack and pinion track to drive the rack and pinion track to slide along the track base. The rack and pinion mesh with the gear. The shaft of the gear is fixedly connected to the transmission shaft. The transmission shaft passes through the switching device bracket and is fixedly connected to the switching disc.

4. The anti-entanglement underwater robot according to claim 1, characterized in that, The clamping device includes a linear motor, a clamping device fixing frame, a clamping drive shaft, and telescopic grippers; The clamping device mounting bracket is fixedly installed on the first plane of the switching disk; A linear motor and a telescopic gripper are respectively installed at both ends of the clamping device frame. The clamping drive shaft is slidably installed on the clamping device frame. One end of the clamping drive shaft is connected to the linear output shaft of the linear motor, and the other end of the clamping drive shaft is connected to the articulated telescopic gripper. The telescopic gripper is composed of multiple articulated grippers arranged circumferentially. Each articulated gripper is composed of a connecting plate and a mechanical gripper. The two ends of the connecting plate are rotatably connected to the clamping device frame and the mechanical gripper, respectively. The other end of the clamping drive shaft is provided with a transmission component. The transmission component is connected to the middle of the connecting plate through a connecting rod, and both ends of the connecting rod are rotatably connected to the transmission component and the middle of the connecting plate.

5. The anti-entanglement underwater robot according to claim 4, characterized in that, The clamping device frame includes a first base and a second base distributed in parallel. The first base and the second base are fixedly connected by several connecting rods. The second base is provided with multiple gripper fixing blocks in the circumferential direction. Each joint gripper is rotatably connected to the gripper fixing block. A hollow guide sleeve for clamping the drive shaft is fixed between the first chassis and the second chassis.

6. The anti-entanglement underwater robot according to claim 4, characterized in that, The shearing device is fixedly installed on the second plane of the switching disk. The shearing device includes a shearing drive motor, a shearing device fixing frame, a shearing transmission mechanism, and a cutting blade. The shearing device mounting bracket is equipped with a horizontal connecting base, a vertical partition, and a cutting blade mounting bracket. The horizontal connecting base and the cutting blade mounting bracket are respectively fixed on both sides of the vertical partition. The cutting blade mounting bracket is equipped with a cutting blade shaft, on which a cutting blade is rotatably mounted. The cutting blade consists of two boomerang-shaped blades. The shearing transmission mechanism includes a perforated flange, a shearing transmission shaft, and a U-shaped push block. The perforated flange is embedded and rotatably mounted in a horizontal connecting base. The output shaft of the shearing drive motor is connected to the perforated flange. One end of the shearing transmission shaft is eccentrically connected to the perforated flange, and the other end passes through a vertical partition and is rotatably connected to the rear end of the U-shaped push block. The U-shaped push block is slidably engaged with the cutting blade fixing frame. A cutting blade is installed in the opening of the U-shaped push block, and the rear ends of two boomerang-shaped blades are rotatably connected to the two ends of the U-shaped push block, respectively.

7. The anti-entanglement underwater robot according to claim 6, characterized in that, The cutter holder includes a fixedly connected U-shaped fixing block and a cutter mounting plate. The U-shaped fixing block passes through the opening of the U-shaped push block and both ends of the U-shaped fixing block are fixedly connected to the vertical partition. The cutter mounting plate is located inside the opening of the U-shaped push block and is fixedly connected to the U-shaped fixing block. The U-shaped fixing block has guide holes on both sides of the U-shaped push block, and wing plates are fixed on both sides of the U-shaped push block. Guide posts that slide through the guide holes are fixed on the wing plates.

8. The anti-entanglement underwater robot according to claim 1, characterized in that, The serpentine robotic arm consists of multiple movable joints connected end to end, with adjacent joints linked by a joint rotation mechanism. The joint rotation mechanism includes a U-shaped fixed frame, with flanges fixedly installed on both sides of the internal opening of the U-shaped fixed frame. A joint rotation motor is installed inside the U-shaped fixed frame, and the output shafts at both ends of the joint rotation motor are fixedly connected to the flanges.

9. The anti-entanglement underwater robot according to claim 8, characterized in that, The robotic arm rotating base includes an upper base, a robotic arm rotating motor, and a robotic arm fixing plate. The upper base is fixedly connected to the bottom of the ROV housing. The robotic arm rotating motor is fixedly installed on the upper surface of the upper base. The output shaft of the robotic arm rotating motor passes downward through the upper base and is fixedly connected to the robotic arm fixing plate. The robotic arm fixing plate is fixedly connected to the top of the serpentine joint robotic arm.

10. The anti-entanglement underwater robot according to claim 1, characterized in that, The ROV housing has an underwater camera module with a supplementary light on the front.

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