Modular mechanical arm for adaptive cleaning and damage detection of underwater pile foundation

A modular mechanical arm for adaptive cleaning and damage detection of an underwater pile foundation structure, characterized by comprising a transmission arm rod, wherein a modular interface is disposed at one end of the transmission arm rod, a mechanical arm connecting part is disposed at the other end of the transmission arm rod, the mechanical arm connecting part is separately provided with two arm frames, each of the arm frames comprises an inner arm frame and an outer arm frame, the inner arm frame and the outer arm frame are coupled by a joint, and a soft moving and cleaning part is disposed on an inner side of each of the arm frames;

• the modular interface is coupled with an underwater UAV interface to transmit current and a control signal, a waterproof steering gear is built in the transmission arm rod to receive the control signal, a gear transmission system built in the mechanical arm connecting part is driven to realize the opening and closing of the two arm frames, and the soft moving and cleaning part is fastened to three sliding blocks capable of moving relatively,
• wherein the mechanical arm connecting part is embedded with a searchlight and a first waterproof camera for compensating a visual field for manipulating the arm frames,
• wherein the soft moving and cleaning part comprises a soft portion, a frosted layer is disposed on a surface of the soft portion, a scraper-like blade is disposed on the frosted layer, and a surface of the scraper-like blade is plated with a metal layer.