CN222662219U - An underwater rock cutting robot - Google Patents

Abstract

The present application relates to the technical field of underwater operation robots, and specifically to an underwater rock cutting robot. The robot includes a frame, a first driving mechanism and a cutting platform mechanism, and the cutting platform mechanism is installed at the bottom of the frame; the cutting platform mechanism includes a cutting part, a second driving part, a third driving part and a first connecting part, and the first connecting part is installed at the bottom of the frame, the cutting part is rotatably connected to the first connecting part, the output end of the second driving part is connected to the cutting part, and the cutting part can rotate circumferentially under the drive of the second driving part; the output end of the third driving part is connected to the cutting part through the first connecting part, and the cutting part can move horizontally and/or vertically and/or swing horizontally under the drive of the third driving part. The present application completes the position and angle adjustment of the cutting part by setting a cutting platform mechanism, so that the robot can not only cut horizontally, but also cut at an angle to ensure the cutting effect.

Description

Underwater rock cutting robot

Technical Field

The application relates to the technical field of underwater operation robots, in particular to an underwater rock cutting robot.

Background

Abundant biological resources and mineral resources are reserved in the vast ocean. Meanwhile, the marine mineral resources are also important reserves of world mineral resources, and the marine mineral resources with commercial exploitation value are mainly verified to be multi-metal nodules, cobalt-rich crusts, multi-metal sulfides and the like. The exploration and development of marine mineral resources is particularly important in the face of increasingly depleted land mineral resources.

At present, an underwater cable laying robot can operate on the seabed, and the underwater cable laying robot mostly adopts modes of high-pressure water injection, mechanical ditching chains, dragging plow and the like, and the robot adopting the mode can only operate on the sediment seabed, but cannot operate on the hard rock seabed.

Accordingly, there is a need for an underwater rock cutting robot that can operate on hard rock.

Disclosure of utility model

The object of the present application is to provide an underwater rock cutting robot which can operate on hard rock.

The embodiment of the application can be realized by the following technical scheme:

an underwater rock cutting robot interacts with a control platform through a cable, and comprises a frame and a first driving mechanism, wherein the first driving mechanism is used for driving the robot to move underwater;

the cutting platform mechanism is arranged at the bottom of the frame;

The cutting platform mechanism comprises a cutting part, a second driving part, a third driving part and a first connecting part, wherein the first connecting part is arranged at the bottom of the frame, the cutting part is rotationally connected with the first connecting part, the output end of the second driving part is connected with the cutting part, the cutting part can circumferentially rotate under the driving of the second driving part, the output end of the third driving part is connected with the cutting part through the first connecting part, and the cutting part can horizontally move and/or vertically move and/or horizontally swing under the driving of the third driving part.

Optionally, the third driving part includes first drive arrangement, linear guide and sliding seat, the sliding seat install in on the frame, and the bottom pass through first connecting portion with cutting portion is connected, first drive arrangement's output with the sliding seat is connected, the sliding seat with linear guide sliding connection.

Optionally, the third driving part comprises a second driving device, and the output end of the second driving device is hinged with the first connecting part.

Optionally, the third driving part comprises a third driving device, an output end of the third driving device is connected with the first connecting part, and the output end of the third driving device can rotate circumferentially around the axis of the third driving device.

Preferably, the robot further comprises at least two tail cone guiding mechanisms, the tail cone guiding mechanisms are mounted on the side edges of the frame and are arranged oppositely, the tail cone guiding mechanisms and the cutting position are located on the same straight line, and the bottom ends of the tail cone guiding mechanisms can reciprocate along the vertical direction relative to the ground.

Further, the caudal vertebra guiding mechanism comprises a fourth driving part, a fifth driving part, a caudal vertebra guiding tube and a second connecting part, wherein the caudal vertebra guiding tube is connected with the frame, the caudal vertebra is movably connected in the caudal vertebra guiding tube along the axial direction of the caudal vertebra guiding tube, the output end of the fourth driving part is connected with one axial end of the caudal vertebra, the fourth driving part can drive the caudal vertebra to axially displace in the caudal vertebra guiding tube, the fifth driving part is connected with the periphery of the caudal vertebra guiding tube through the second connecting part, the output end of the fifth driving part is connected with the tail end of the caudal vertebra guiding tube, and the fifth driving part can drive the tail end of the caudal vertebra guiding tube to swing clockwise and/or anticlockwise.

Preferably, the robot further comprises at least four escape self-rescue mechanisms, wherein the escape self-rescue mechanisms are arranged on the outer side of the frame, and the bottom ends of the escape self-rescue mechanisms can reciprocate along the vertical direction relative to the ground.

Further, the escape self-rescue mechanism comprises an inner side supporting leg, an outer side supporting leg, a ball head shaft, a ball head base, a sixth driving part and an anti-abrasion pad, wherein the outer side supporting leg is connected with the frame, the inner side supporting leg is movably connected in the outer side supporting leg along the axial direction of the inner side supporting leg, the output end of the sixth driving part is connected with the inner side supporting leg, the sixth driving part can drive the inner side supporting leg to axially displace in the outer side supporting leg, the anti-abrasion pad is arranged in an inner cavity of the outer side supporting leg, and one end of the inner side supporting leg along the axial direction of the inner side supporting leg is connected with the ball head base through the ball head shaft.

Preferably, the cutting portion comprises a cutterhead.

Preferably, the robot further comprises a cable bending protection mechanism, and the cable bending protection mechanism is sleeved on the periphery of the cable and connected with the frame.

The underwater rock cutting robot provided by the embodiment of the application has at least the following beneficial effects:

(1) According to the application, the cutting platform mechanism is arranged, and the cutting part of the cutting platform mechanism can horizontally move and/or vertically move and/or horizontally swing under the drive of the third driving part, so that the position and the angle of the cutting part are adjusted, and the robot can cut horizontally and can cut obliquely, so that the cutting effect is ensured;

(2) According to the application, by arranging the tail cone guiding mechanism, when the first driving device of the cutting platform mechanism reaches the travel limit and the robot needs to be moved, the tail cone guiding mechanism is required to be used for positioning, so that the new lower knife edge can be overlapped with the original knife edge after the movement;

(3) According to the application, the escape self-rescue mechanism is arranged, when the cutting part is squeezed or jammed, the second driving device cannot retract the cutting part 21, and the robot can be integrally lifted up through the escape self-rescue mechanism, so that the cutting part is separated from the rock layer.

Drawings

FIG. 1 is an overall block diagram of an underwater rock cutting robot of the present application;

FIG. 2 is a view showing an overall construction of an underwater rock cutting robot according to another angle of the present application;

FIG. 3 is a block diagram of the cutting deck mechanism of the present application coupled to a portion of a frame;

FIG. 4 is a schematic view of the cutting deck mechanism of the present application in another angular position coupled to a portion of the frame;

FIG. 5 is an overall block diagram of the caudal vertebral guide mechanism of the present application;

FIG. 6 is a cross-sectional view of the caudal vertebral guide mechanism of the present application;

FIG. 7 is a cross-sectional view of the caudal-vertebral extension caudal-vertebral guide tube of the present application;

FIG. 8 is a block diagram of the escape self-rescue mechanism of the present application;

fig. 9 is an overall structure diagram of another angle of the escape self-rescue mechanism in the present application.

Reference numerals 1, frame, 2, cutting platform mechanism, 21, cutting part, 22, second drive part, 23, third drive part, 231, first drive device, 232, linear guide rail, 233, sliding seat, 234, second drive device, 235, third drive device, 24, first connecting part, 241, connecting rod, 242, connecting seat, 243, mounting rack, 3, caudal vertebra guiding mechanism, 31, fourth drive part, 32, fifth drive part, 33, caudal vertebra, 34, caudal vertebra guiding tube, 35, second connecting part, 351, first otic placode, 352, big otic placode, 353, small otic placode, 354, base, 4, escape self-rescue mechanism, 41, inner leg, 42, outer leg, 43, ball head shaft, 44, ball head base, 45, sixth drive part, 46, wear pad, 5, cable bend protection mechanism.

Detailed Description

The present application will be further described below based on preferred embodiments with reference to the accompanying drawings.

The terminology used in the description presented herein is for the purpose of describing embodiments of the application and is not intended to be limiting of the application. Unless specifically stated or limited otherwise, the terms "disposed," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, directly connected, indirectly connected via an intermediary, or in communication between two elements. The specific meaning of the above terms in the present application will be specifically understood by those skilled in the art.

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

The application provides an underwater rock cutting robot, wherein fig. 1 and 2 respectively show the overall structure diagrams of the robot in different angles, as shown in fig. 1 and 2, the robot interacts with a control platform through cables so as to realize signal transmission, the robot comprises a frame 1, a first driving mechanism and a cutting platform mechanism 2, the frame 1 is used for installing and fixing other equipment, the first driving mechanism is used for driving the robot to move underwater, the cutting platform mechanism 2 is used for realizing rock cutting, and the cooperative cooperation of the frame 1, the first driving mechanism and the cutting platform mechanism 2 is used for realizing the rock cutting operation of the robot underwater.

Further, as shown in fig. 1 and 2, a cutting deck mechanism 2 is mounted to the bottom of the frame 1 to accomplish a cutting operation of rock at the bottom of the robot.

The specific structure of the cutting deck mechanism 2 will be described in detail below, and fig. 3 and 4 show the overall structure of the cutting deck mechanism 2 connected to the partial frame 1, respectively, and as shown in fig. 3 and 4, the cutting deck mechanism 2 includes a cutting portion 21, a second driving portion 22, a third driving portion 23, and a first connecting portion 24, wherein the cutting portion 21 is configured to contact with rock and implement cutting of the rock by rotating, the second driving portion 22 is configured to drive the cutting portion 21 to rotate, the third driving portion 23 is configured to implement adjustment of the position, angle, etc. of the cutting portion 21, the first connecting portion 24 is configured to implement fixation of the cutting portion 21 and cooperation with the third driving portion 23, and the third driving portion 23 is configured to implement adjustment of the cutting portion 21 by acting on the first connecting portion 24.

Specifically, the first connecting portion 24 is mounted at the bottom of the frame 1, the cutting portion 21 is rotationally connected with the first connecting portion 24, the output end of the second driving portion 22 is connected with the cutting portion 21, the cutting portion 21 can circumferentially rotate under the driving of the second driving portion 22, the output end of the third driving portion 23 is connected with the cutting portion 21 through the first connecting portion 24, and the cutting portion 21 can horizontally move and/or vertically move and/or horizontally swing under the driving of the third driving portion 23.

Further, the third driving portion 23 includes a first driving device 231, a linear guide 232, and a sliding seat 233, the sliding seat 233 is mounted on the frame 1, the bottom is connected with the cutting portion 21 through a first connecting portion 24, an output end of the first driving device 231 is connected with the sliding seat 233, the sliding seat 233 is slidably connected with the linear guide 232, and the first driving device 231 can drive the sliding seat 233 to horizontally displace on the linear guide 232, so as to drive the cutting portion 21 to move along a horizontal direction, and further realize adjustment of a horizontal cutting position.

In some embodiments of the present application, the linear guide 232 is mounted on the upper end surface of the frame 1, the linear guide 232 is slidably connected to the sliding seat 233 through a slider, and the slider is mounted on the lower end surface of the sliding seat 233.

Further, the third driving part 23 includes a second driving device 234, an output end of the second driving device 234 is hinged to the first connecting part 24, and the second driving device 234 can adjust a height of the first connecting part 24 in a vertical direction, so as to retract and release the cutting part 21.

Further, the third driving portion 23 includes a third driving device 235, an output end of the third driving device 235 is connected to the first connecting portion 24, and an output end of the third driving device 235 can circumferentially rotate around an axis thereof, so as to drive the cutting portion 21 to horizontally swing, and further realize angle adjustment of the cutting portion 21, so that the cutting portion 21 can cut an inclined knife edge.

In some specific embodiments of the present application, the first connecting portion 24 includes a connecting rod 241, a connecting seat 242 and a mounting frame 243, the cutting portion 21 is rotatably connected to one side of the mounting frame 243, the top of the mounting frame 243 is movably connected to the connecting seat 242 through a third driving device 235, and the top end of the connecting seat 242 is hinged to the sliding seat 233 through at least two connecting rods 241. When the first driving device 231 works, the sliding seat 233, the connecting rod 241, the connecting seat 242, the mounting frame 243, the cutting part 21, the second driving device 234 and the third driving device 235 can synchronously and horizontally move, when the second driving device 234 works, the connecting rod 241 can rotate around the hinge shaft so as to drive the connecting seat 242, the mounting frame 243, the cutting part 21 and the third driving device 235 to rotate, and further retraction and extension of the cutting part 21 are realized, and when the third driving device 235 works, one end of the third driving device 235 is connected with the connecting seat 242, the other end of the third driving device 235 is connected with the mounting frame 243, and the output end of the third driving device 235 can rotate so as to drive the mounting frame 243 to move left and right by a small extent, so that the cutting part 21 is driven to horizontally swing, and an inclined knife edge is obtained.

In some embodiments of the present application, the sliding seat 233 and the connecting seat 242 are welded by carbon steel sheet metal materials, so that the structure is firm and the installation accuracy is ensured.

In some specific embodiments of the present application, the connecting rod 241 is made of an H-shaped carbon steel material.

In some preferred embodiments of the application, the second drive 22 is a dual hydraulic drive that is geared such that the cutting portion 21 obtains a higher rotational speed and torque.

In some embodiments of the present application, the first driving device 231, the second driving device 234, and the third driving device 235 are all hydraulic cylinders, so that accuracy of movement can be ensured. It is conceivable that the above driving device may also be a cylinder, a motor, a screw, or the like, whichever device is used, as long as the corresponding device can be driven to move in a desired direction.

In some preferred embodiments of the present application, the first driving device 231, the second driving device 234 and the third driving device 235 are respectively provided with a displacement sensor, so that the position and the angle of the cutting part 21 can be fed back in real time, and the hydraulic circuit is respectively provided with a pressure sensor, so that the pressure value can be monitored in real time.

In some embodiments of the present application, the cutting portion 21 includes a cutterhead, which is a full-face cutting mechanism that provides good rock breaking and loading.

In some specific embodiments of the application, the cutterhead consists of eight groups of saw discs which are staggered in a V shape by 9mm, each group of saw discs is spaced by 0.5mm, the tail end of the cutterhead is made of diamond, and rock stratum cutting is easier.

In some preferred embodiments of the application, as shown in fig. 1 and 2, the robot further comprises at least two caudal vertebral guiding mechanisms 3. When the first driving device 231 of the cutting platform mechanism 2 reaches the travel limit and the robot needs to be moved, the tail cone guiding mechanism 3 needs to be used for positioning in order to ensure that the new lower knife edge can be overlapped with the original knife edge after the movement.

Further, the tail cone guiding mechanism 3 is installed on the side edge of the frame 1 and is arranged oppositely, the tail cone guiding mechanism 3 and the cutting part 21 are positioned on the same straight line, positioning accuracy can be guaranteed, and the bottom end of the tail cone guiding mechanism can reciprocate along the vertical direction relative to the ground.

The specific structure of the caudal vertebra guiding mechanism 3 will be described in detail below, as shown in fig. 5-7, the caudal vertebra guiding mechanism 3 includes a fourth driving portion 31, a caudal vertebra 33 and a caudal vertebra guiding tube 34, the caudal vertebra guiding tube 34 is connected with the frame 1, the caudal vertebra 33 is movably connected in the caudal vertebra guiding tube 34 along the axial direction thereof, the caudal vertebra 33 is connected with the output end of the fourth driving portion 31 by passing through the caudal vertebra guiding tube 34, and the fourth driving portion 31 can drive the caudal vertebra 33 to axially move in the caudal vertebra guiding tube 34, thereby adjusting the length of the caudal vertebra 33 extending out of the caudal vertebra guiding tube 34.

In some preferred embodiments of the present application, the caudal vertebral guide mechanism 3 further includes a fifth driving part 32 and a second connecting part 35, the fifth driving part 32 is connected to the outer circumference of the caudal vertebral guide tube 34 through the second connecting part 35, the output end of the fifth driving part 32 is connected to the tail end of the caudal vertebral guide tube 34, and the fifth driving part 32 can drive the tail end of the caudal vertebral guide tube 34 to swing clockwise and/or counterclockwise, so as to control the caudal vertebral guide tube 33 to swing a certain angle to be positioned with the position of the oblique incision.

In some embodiments of the present application, the second connection portion 35 includes a first ear plate 351, a double large ear plate 352, a double small ear plate 353, and a base 354, the first ear plate 351 is connected to the head end of the caudal vertebral guide tube 34, the double large ear plate 352 and the double small ear plate 353 are mounted to the tail end of the caudal vertebral guide tube 34 through the base 354, and the double large ear plate 352 and the double small ear plate 353 are located on both sides of the caudal vertebral guide tube 34, respectively. Because the caudal vertebra guide tube 34 is fixed at the double-large-ear plate 352, the caudal vertebra 33 and the caudal vertebra guide tube 34 can swing left and right under the driving action of the fifth driving part 32, so that the caudal vertebra 33 is inclined by an angle, and the caudal vertebra 33 extends out of the caudal vertebra guide tube 34 to an inclined knife edge position for positioning under the driving of the fourth driving part 31.

Further, a slot is formed on one side of the base 354 for the coccyx 33 to swing a certain angle.

In some embodiments of the present application, the caudal vertebral guide tube 34 is welded from a seamless tube of carbon steel and a binaural plate welded to one side of the upper end of the seamless tube.

In some embodiments of the present application, the tail cone 33 is quenched and tempered from 45 gauge steel, which provides higher strength and hardness while ensuring a degree of toughness.

In some specific embodiments of the present application, the first ear plate 351, the double large ear plate 352, and the double small ear plate 353 are made of carbon steel materials.

In some embodiments of the present application, a sensor is provided on the caudal vertebra 33 to determine the direction of advancement of the caudal vertebra 33, thereby ensuring that the next cutting position coincides with the original cutting position.

In some preferred embodiments of the present application, as shown in fig. 1 and 2, the robot further includes at least four escape self-rescue mechanisms 4, when the cutting portion 21 is squeezed or jammed, the second driving device 234 cannot retract the cutting portion 21, and the robot can be lifted up entirely by the escape self-rescue mechanisms 4, so that the cutting portion 21 is separated from the rock layer.

Further, the escape self-rescue mechanism 4 is arranged on the outer side of the frame 1, and the bottom end of the escape self-rescue mechanism can reciprocate along the vertical direction relative to the ground.

In some embodiments of the application, the number of the escape self-rescue mechanisms 4 is 4 and are mounted on the 4 corners of the frame 1.

The specific structure of the escape self-rescue mechanism 4 will be described in detail below, as shown in fig. 8 and 9, the escape self-rescue mechanism 4 includes an inner leg 41, an outer leg 42, a ball axle 43, a ball base 44, and a sixth driving portion 45, the outer leg 42 is connected with the frame 1, the inner leg 41 is movably connected in the outer leg 42 along the axial direction thereof, one end of the inner leg 41 is connected with the output end of the sixth driving portion 45, the other end is connected with the ball base 44 through the ball axle 43, the sixth driving portion 45 can drive the inner leg 41 to axially displace in the outer leg 42, and simultaneously drive the ball axle 43 and the ball base 44 to synchronously displace, so that the ball base 44 can lift or drop the robot through contact with the ground.

Further, the ball of the ball shaft 43 is connected to the semicircular surface of the ball seat 44, and when the ball contacts the rock layer surface, the inner leg 41 is squeezed and cannot be extended even if the ground is uneven.

In some preferred embodiments of the present application, the escape self-rescue mechanism 4 further includes a wear pad 46, wherein the wear pad 46 is mounted to the inner cavity of the outer leg 42 to provide guidance and wear protection for the inner leg 41.

In some specific embodiments of the present application, the fourth driving portion 31, the fifth driving portion 32, and the sixth driving portion 45 are all hydraulic cylinders, so that accuracy of movement can be ensured. It is conceivable that the above driving device may also be a cylinder, a motor, a screw, or the like, whichever device is used, as long as the corresponding device can be driven to move in a desired direction.

In some embodiments of the present application, the inner leg 41 and the outer leg 42 are welded from sheet metal parts of carbon steel.

In some embodiments of the present application, the wear pad 46 is made of POM material, which has the advantage of self-lubrication and self-repair.

In some embodiments of the present application, the ball stud 43 is quenched and tempered from steel to provide greater strength and hardness while ensuring a certain toughness.

In some embodiments of the present application, the ball seat 44 is made of steel 45, which is quenched and tempered after welding.

In some embodiments of the present application, the frame 1 is welded by H-shaped carbon steel, and is durable and structurally sound.

In some embodiments of the present application, the first drive mechanism includes a track, a propeller, a hydraulic motor, and a float material, the track being driven by the hydraulic motor, and the track shoe being made of a high strength steel material, allowing the track to achieve a higher traction.

In some preferred embodiments of the present application, the track body is made of a high strength aluminum alloy material, which has the advantage of high strength and light weight.

In some preferred embodiments of the present application, the frame 1 is divided into three layers, the structure is firm and lightweight, the lower layer is used for installing left and right tracks, the uppermost layer is used for installing floating body materials and propellers, and the cutting platform mechanism 2 is installed on the second layer of the frame 1 and the cutting part 21 is positioned at the middle position of the robot, so that the cutting platform mechanism 2 can realize bevel cutting and cutting at different heights.

In some specific embodiments of the present application, the robot includes six sets of thrusters, two sets of thrusters are mounted on the uppermost layer of the frame 1 such that the direction of thrust is located on each of the left and right sides, and the remaining four sets are mounted on the upper end of the frame 1 with the direction of thrust of the thrusters directed to the upper side, thereby controlling the positional adjustment of the robot.

In some preferred embodiments of the present application, the robot further includes a cable bending protection mechanism 5, and the cable bending protection mechanism 5 is sleeved on the outer circumference of the cable and connected with the frame 1, so that the lifting of the robot can be realized, and the cable can be prevented from being excessively bent.

In some specific embodiments of the application, the cable bend protection mechanism 5 is mounted at the very center of the upper layer of the frame 1.

In some preferred embodiments of the present application, the robot further comprises a sonar, the sonar is mounted in front of the lower layer of the frame 1 through a sonar cradle head, and the robot can scan out position information of the object through the sonar to provide a direction for the cutting operation of the robot.

In some preferred embodiments of the present application, the robot further includes two sets of cameras, which are respectively mounted at the front and rear ends of the cutting platform mechanism 2, so that the operation of the cutting part 21 can be observed in real time.

In summary, the robot in the application has the working process that the robot is remotely controlled by a control platform through a cable, firstly, an operator hangs the robot to an underwater working area through a hoisting platform, observes the sonar and video information returned by a camera through a display, determines the position of the robot to be operated, starts a propeller to finely adjust the position of the robot, lowers the robot to the lowest surface after aligning to the position of a rock layer to be cut, and then lowers a cutting platform mechanism 2 to cut the rock layer. When the cutting forming limit of the cutting platform mechanism 2 is reached, the cutting platform mechanism 2 is retracted and the cutting operation is stopped, in order to enable the next cutting edge to coincide with the original cutting edge, the crawler belt drives the robot to advance for a small distance, the tail cone guiding mechanism 3 is used for lowering the cutting edge to move the robot to advance, the tail cone guiding mechanism 3 is controlled to retract after reaching the tail end of the cutting edge, then the cutting platform mechanism 2 is lowered again to cut, and if an oblique edge to be cut is required, the angle of the cutting part 21 can be adjusted by driving the cutting part 235. When the cutting part 21 is squeezed or jammed, the second driving device 234 cannot retract the cutting part 21, and the robot can be lifted up integrally by the escape self-rescue mechanism 4, so that the cutting part 21 is separated from the rock layer. After the cutting operation is completed, the robot is lifted to the shore through the cable.

While the foregoing is directed to embodiments of the present application, other and further embodiments of the application may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.

Claims (10)

1. The utility model provides an under water rock cutting robot, is interacted with control platform through the cable, includes frame, first actuating mechanism is used for the drive the robot removes its characterized in that under water:

the cutting platform mechanism is arranged at the bottom of the frame;

The cutting platform mechanism comprises a cutting part, a second driving part, a third driving part and a first connecting part, wherein the first connecting part is arranged at the bottom of the frame, the cutting part is rotationally connected with the first connecting part, the output end of the second driving part is connected with the cutting part, the cutting part can circumferentially rotate under the driving of the second driving part, the output end of the third driving part is connected with the cutting part through the first connecting part, and the cutting part can horizontally move and/or vertically move and/or horizontally swing under the driving of the third driving part.

2. An underwater rock cutting robot as claimed in claim 1, wherein:

The third driving part comprises a first driving device, a linear guide rail and a sliding seat, wherein the sliding seat is arranged on the frame, the bottom of the sliding seat is connected with the cutting part through the first connecting part, the output end of the first driving device is connected with the sliding seat, and the sliding seat is in sliding connection with the linear guide rail.

3. An underwater rock cutting robot as claimed in claim 1, wherein:

The third driving part comprises a second driving device, and the output end of the second driving device is hinged with the first connecting part.

4. An underwater rock cutting robot as claimed in claim 1, wherein:

The third driving part comprises a third driving device, the output end of the third driving device is connected with the first connecting part, and the output end of the third driving device can circumferentially rotate around the axis of the third driving device.

5. An underwater rock cutting robot as claimed in claim 1, wherein:

The robot further comprises at least two tail cone guiding mechanisms, the tail cone guiding mechanisms are arranged on the side edges of the frame and are arranged oppositely, the tail cone guiding mechanisms and the cutting position are located on the same straight line, and the bottom ends of the tail cone guiding mechanisms can reciprocate along the vertical direction relative to the ground.

6. An underwater rock cutting robot as claimed in claim 5, wherein:

The tail cone guiding mechanism comprises a fourth driving part, a fifth driving part, a tail cone guiding tube and a second connecting part, wherein the tail cone guiding tube is connected with the frame, the tail cone is movably connected in the tail cone guiding tube along the axial direction of the tail cone guiding tube, the output end of the fourth driving part is connected with one axial end of the tail cone, the fourth driving part can drive the tail cone to axially displace in the tail cone guiding tube, the fifth driving part is connected with the periphery of the tail cone guiding tube through the second connecting part, the output end of the fifth driving part is connected with the tail end of the tail cone guiding tube, and the fifth driving part can drive the tail end of the tail cone guiding tube to swing clockwise and/or anticlockwise.

7. An underwater rock cutting robot as claimed in claim 1, wherein:

The robot also comprises at least four escape self-rescue mechanisms, wherein the escape self-rescue mechanisms are arranged on the outer side of the frame, and the bottom ends of the escape self-rescue mechanisms can reciprocate along the vertical direction relative to the ground.

8. An underwater rock cutting robot as claimed in claim 7, wherein:

The escape self-rescue mechanism comprises an inner side supporting leg, an outer side supporting leg, a ball head shaft, a ball head base, a sixth driving part and an anti-abrasion pad, wherein the outer side supporting leg is connected with the frame, the inner side supporting leg is movably connected in the outer side supporting leg along the axial direction of the inner side supporting leg, the output end of the sixth driving part is connected with the inner side supporting leg, the sixth driving part can drive the inner side supporting leg to axially displace in the outer side supporting leg, the anti-abrasion pad is installed in an inner cavity of the outer side supporting leg, and one end of the inner side supporting leg along the axial direction of the inner side supporting leg is connected with the ball head base through the ball head shaft.

9. An underwater rock cutting robot as claimed in claim 1, wherein:

The cutting portion includes a cutterhead.

10. An underwater rock cutting robot as claimed in claim 1, wherein:

the robot further comprises a cable bending protection mechanism, and the cable bending protection mechanism is sleeved on the periphery of the cable and connected with the frame.