Underwater gripping mechanism for underwater solid waste treatment, working method

Abstract

The application relates to the field of underwater mechanical arms, in particular to an underwater clamping mechanism for underwater solid waste treatment, which comprises a first shell and a second shell, the first shell and the second shell are internally provided with containing cavities, the containing cavities are internally provided with sun wheels, the sun wheels are connected with main shafts; planetary gears are sleeved on the sun wheels, and the planetary gears are provided with planet carriers; a first electric control brake part is arranged between the first shell and the second shell; a second electric control brake part is arranged between the first shell and the planet carrier; a connecting part is arranged on the second shell, the connecting part is provided with a clamping claw; a rotating part is arranged at one end of the planet carrier far from the sun wheel; two transmission parts are arranged on the connecting part and are symmetrically arranged on the two sides of the rotating part, the rotating directions of the two transmission parts are opposite, and the transmission parts drive the clamping claw to open and close. The underwater clamping mechanism has a relatively simple structure, the number of required motors is reduced, the self weight of the mechanism is greatly reduced, and light weight is achieved.

Description

Technical Field

[0001] This invention relates to the field of underwater robotic arms, specifically to an underwater clamping mechanism and its working method for underwater solid waste treatment. Background Technology

[0002] Underwater solid waste includes underwater garbage, construction waste, dredging residue, etc. Due to the complexity and severe constraints of the underwater environment, underwater solid waste treatment faces significant challenges, and accumulated marine solid waste poses a serious threat to the ecological environment. For underwater solid waste treatment, the arm of a carrier-armed unmanned underwater vehicle (UUV) provides equipment support for the destruction, handling, and treatment of underwater solid waste. However, it also places new demands on its end-effector clamping mechanism, such as requiring a lighter structure to reduce the impact of arm movement on the vessel's center of gravity; a hollow structure to reduce the impact of undersea currents on the arm's attitude; and a smaller volume to minimize the arm's impact on the vessel's streamlined shape, save energy, and increase the UUV's endurance. Therefore, this invention describes a clamping device that can solve the above problems. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the problem of ensuring traditional pressure resistance and load requirements while making the robotic arm lightweight and energy-saving in the prior art, thereby providing an underwater clamping mechanism for underwater solid waste treatment.

[0004] To address the aforementioned technical problems, this invention provides an underwater clamping mechanism for underwater solid waste treatment, comprising: a first housing and a second housing, each housing having a receiving cavity containing a sun gear connected to a main shaft; planetary gears mounted on the sun gear, with planet carriers mounted on the planetary gears; a first electrically controlled brake located between the first and second housings; a second electrically controlled brake located between the first housing and the planet carrier; a connecting member located on the second housing, the connecting member having clamping claws; a rotating member located at the end of the planet carrier furthest from the sun gear; and two transmission members located on the connecting member and symmetrically positioned on both sides of the rotating member, the two transmission members rotating in opposite directions, the transmission members driving the clamping claws to open and close.

[0005] Furthermore, the rotating component is a worm gear, and the transmission component is a worm wheel.

[0006] Furthermore, the connector includes: a frame body disposed on the second housing, the frame body having two clamping ends; a connecting shaft disposed on the clamping ends of the frame body, the transmission component and the clamping claws both being sleeved on the connecting shaft.

[0007] Furthermore, the frame also includes a receiving portion disposed between the two clamping ends, the receiving portion being used to receive the worm gear.

[0008] Furthermore, the sun gear is fitted with two bearings, which are connected to the first housing.

[0009] Furthermore, a sealing ring is fitted onto the sun gear, and the sealing ring is located between the two bearings.

[0010] Furthermore, the sealing ring is a Glyd ring.

[0011] Furthermore, the spindle portion is inserted into the sun gear.

[0012] Furthermore, the first and second electronically controlled brake components are electronically controlled brake discs.

[0013] The present invention also provides a method for operating an underwater clamping mechanism for underwater solid waste treatment, comprising:

[0014] Gripping claw rotation mode: The planetary carrier is fixed to the first housing via a second electronically controlled brake; the motor drives the sun gear to rotate via the main shaft, which in turn drives the planet gears to rotate on the planetary carrier. The planet gears are connected to the second housing, and the planet gears drive the second housing to rotate around the axis of the main shaft, ultimately controlling the gripping claw to rotate around the axis of the main shaft.

[0015] Clamping claw opening and closing mode: The second housing is fixed to the first housing through the first electronically controlled brake component; the motor drives the sun gear to rotate, drives the planetary carrier to rotate around the main shaft axis, drives the rotating component to rotate around the main shaft axis, and drives the transmission component to rotate; the clamping claw is connected to the transmission component, so the opening and closing of the clamping claw is controlled while the transmission component rotates.

[0016] The clamping jaws rotate simultaneously in the opening and closing mode: neither the planetary carrier nor the second housing is fixed; the motor drives the sun gear to rotate through the main shaft, which in turn drives the planetary gears to rotate on the planetary carrier and rotate the planetary carrier around the main shaft axis. The planetary gears are connected to the second housing, and the planetary gears drive the second housing to rotate around the main shaft axis. The rotation of the planetary gears will drive the rotating parts to rotate around the main shaft axis, which in turn drives the transmission parts to rotate, and finally controls the opening and closing of the clamping jaws while the entire clamping jaws rotate around the main shaft axis.

[0017] In the locked mode, the planetary carrier and the second housing are fixed to the first housing by the second electronically controlled brake. Due to the locking of the planetary carrier and the second housing, the rotation and opening / closing freedom of the gripper are restricted, and it is impossible to complete the rotation and opening / closing actions, thus entering the locked mode.

[0018] The technical solution of this invention has the following advantages:

[0019] 1. The underwater clamping mechanism for underwater solid waste treatment provided by the present invention includes: a first housing and a second housing, wherein the first housing and the second housing are provided with a receiving cavity, and a sun gear is provided in the receiving cavity, the sun gear being connected to a main shaft; a planetary gear, sleeved on the sun gear, and a planetary carrier is provided on the planetary gear; a first electrically controlled brake component, disposed between the first housing and the second housing; a second electrically controlled brake component, disposed between the first housing and the planetary carrier; a connecting component, disposed on the second housing, the connecting component being provided with clamping claws; a rotating component, disposed at the end of the planetary carrier away from the sun gear; and two transmission components, disposed on the connecting component and symmetrically disposed on both sides of the rotating component, the two transmission components rotating in opposite directions, the transmission components driving the clamping claws to open and close.

[0020] The first and second housings, together forming a receiving cavity, are suitable for housing the sun gear, planet gears, and planet carrier. A first electrically controlled brake is disposed between the first and second housings, used to fix or unlock them, allowing them to be relatively fixed or rotatable. A second electrically controlled brake is provided between the first housing and the planet carrier, enabling them to be fixed or unlocked and rotate relative to each other. Simultaneously, a rotating component is provided on the second housing, connected to the planet carrier, which drives two gripping jaws to open or close.

[0021] This underwater clamping mechanism for underwater solid waste treatment has a relatively simple structure, and the clamping claws can be replaced according to specific needs to adapt to different working requirements. By adding planetary gears and planetary carrier transmission, it not only reduces the precision requirements but also reduces the number of motors needed, greatly reducing the mechanism's weight and energy consumption, saving costs, achieving lightweight design, and to some extent reducing the difficulty of control.

[0022] The gripper adopts a shovel-shaped gripper. Experiments have proven that this type of gripper has the advantages of simple structure, light weight, easy installation, large gripping capacity, and high gripping fault tolerance.

[0023] 2. The underwater clamping mechanism for underwater solid waste treatment provided by the present invention includes a connecting member comprising: a frame body disposed on the second housing, the frame body having two clamping ends; a connecting shaft disposed on the clamping ends of the frame body, and the transmission component and clamping claws both sleeved on the connecting shaft. The frame body enables the connection between the connecting member and the worm gear and worm, while the clamping ends on the frame body provide an installation position for the connecting shaft, facilitating the installation of the worm gear and clamping claws on the connecting shaft.

[0024] 3. The underwater clamping mechanism for underwater solid waste treatment provided by the present invention further includes a receiving portion disposed between the two clamping ends, the receiving portion being used to accommodate the worm gear. The receiving portion facilitates the mounting of the worm gear onto the gripper connector, and provides space for accommodating the worm gear.

[0025] The summary section is provided to present the chosen concepts in a simplified form, which will be further described in the detailed description below. The summary section is not intended to identify essential or necessary features of this disclosure, nor is it intended to limit the scope of this disclosure. Attached Figure Description

[0026] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the underwater clamping mechanism for underwater solid waste treatment provided by the present invention.

[0028] Figure 2 This is a front view of the underwater clamping mechanism for underwater solid waste treatment provided by the present invention.

[0029] Figure 3 A schematic diagram of the planetary carrier of the underwater clamping mechanism for underwater solid waste treatment provided by the present invention;

[0030] Figure 4 This is a schematic diagram of the end gripper of the underwater clamping mechanism for underwater solid waste treatment provided by the present invention.

[0031] Figure 5 This is a schematic diagram of the connecting component of the underwater clamping mechanism for underwater solid waste treatment provided by the present invention.

[0032] Explanation of reference numerals in the attached figures:

[0033] 1. First housing; 2. Second housing; 3. Receiving cavity; 4. Sun gear; 5. Planet gear; 6. Planet carrier; 7. First electronically controlled brake; 8. Second electronically controlled brake; 9. Connecting component; 10. Clamping claw; 11. Rotating component; 12. Transmission component; 13. Frame; 14. Clamping end; 15. Connecting shaft; 16. Receiving part; 17. Bearing; 18. Sealing ring; 19. Main shaft. Detailed Implementation

[0034] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this disclosure. Therefore, the drawings and description are to be considered exemplary in nature and not restrictive.

[0035] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly specified.

[0036] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joint" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or connections that allow for communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0037] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0038] The following disclosure provides numerous different embodiments or examples for implementing various structures of this disclosure. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this disclosure. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this disclosure, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0039] The preferred embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0040] Please see Figures 1 to 5 As shown, the present invention provides an underwater clamping mechanism for underwater solid waste treatment, comprising: a first housing 1 and a second housing 2, wherein the first housing 1 and the second housing 2 are provided with a receiving cavity 3, and a sun gear 4 is provided in the receiving cavity 3, the sun gear 4 being connected to a main shaft 19; a planetary gear 5, sleeved on the sun gear 4, and a planet carrier 6 is provided on the planetary gear 5; a first electrically controlled brake 7, disposed between the first housing 1 and the second housing 2; a second electrically controlled brake 8, disposed between the first housing 1 and the planet carrier 6; a connecting member 9, disposed on the second housing 2, the connecting member 9 being provided with clamping claws 10; a rotating member 11, disposed at the end of the planet carrier 6 away from the sun gear 4; and two transmission members 12, disposed on the connecting member 9 and symmetrically disposed on both sides of the rotating member 11, the two transmission members 12 rotating in opposite directions, the transmission members 12 driving the clamping claws 10 to open and close.

[0041] The first housing 1 and the second housing 2 together form a receiving cavity 3, which is suitable for housing the sun gear 4, planet gears 5, and planet carrier 6. A first electrically controlled brake 7 is disposed between the first housing 1 and the second housing 2, used to fix or unlock the first housing 1 and the second housing 2, allowing them to be relatively fixed or rotatable. A second electrically controlled brake 8 is provided between the first housing 1 and the planet carrier 6, enabling the first housing 1 and the planet carrier 6 to be fixed or unlocked, allowing them to rotate relative to each other. Simultaneously, a rotating member 11 is provided on the second housing 2, connected to the planet carrier 6, which drives two gripping jaws 10 to open or close.

[0042] This underwater clamping mechanism for underwater solid waste treatment has a relatively simple structure, and the clamping claws 10 can be replaced according to specific needs to adapt to different working requirements. By adding planetary gears 5 and planetary carriers 6 for transmission, the precision requirements are lower, and the number of motors required is reduced, which greatly reduces the weight and energy consumption of the mechanism, saves costs, achieves lightweight design, and reduces the difficulty of control to a certain extent.

[0043] Among them, the gripper 10 adopts a shovel-shaped gripper. Experiments have proven that this type of gripper 10 has the advantages of simple structure, light weight, convenient installation, large gripping capacity, and high gripping fault tolerance.

[0044] In practical use, this underwater clamping mechanism for underwater solid waste treatment has four working modes, which are described in detail below.

[0045] The gripper 10 rotation mode: The planetary carrier 6 is fixed to the first housing 1 by the second electronically controlled brake 8; the motor drives the sun gear 4 to rotate through the main shaft 19, part of which is inserted into the sun gear 4, thereby driving the planet gear 5 to rotate on the planetary carrier 6. The planet gear 5 is connected to the second housing 2, and the planet gear 5 drives the second housing 2 to rotate around the axis of the main shaft 19, ultimately controlling the gripper 10 to rotate around the axis of the main shaft 19.

[0046] Clamping claw 10 opening and closing mode: The second housing 2 is fixed to the first housing 1 via the first electrically controlled brake 7; the motor drives the sun gear 4 to rotate, drives the planetary carrier 6 to rotate around the axis of the main shaft 19, drives the rotating component 11 to rotate around the axis of the main shaft 19, and drives the transmission component 12 to rotate. The clamping claw 10 is connected to the transmission component 12, so the opening and closing of the clamping claw 10 is controlled while the transmission component 12 is rotating.

[0047] The clamping jaw 10 rotates simultaneously in the opening and closing mode: neither the planetary carrier 6 nor the second housing 2 is fixed; the motor drives the sun gear 4 to rotate through the main shaft 19, which drives the planetary gear 5 to rotate on the planetary carrier 6 and simultaneously drives the planetary carrier 6 to rotate around the axis of the main shaft 19. The planetary gear 5 is connected to the second housing 2, and the planetary gear 5 drives the second housing 2 to rotate around the axis of the main shaft 19. The rotation of the planetary gear 5 will drive the rotating component 11 to rotate around the axis of the main shaft 19, which in turn drives the transmission component 12 to rotate. Finally, the clamping jaw 10 is controlled to rotate around the axis of the main shaft 19 while the clamping jaw 10 is opened and closed.

[0048] In the locked mode, the planetary carrier 6 and the second housing 2 are fixed to the first housing 1 by the second electronically controlled brake 8. Due to the locking of the planetary carrier 6 and the second housing 2, the rotation and opening / closing freedom of the gripper 10 are restricted, and it cannot complete the rotation and opening / closing actions, thus entering the locked mode.

[0049] In this embodiment, the rotating component 11 is a worm gear, the transmission component 12 is a worm wheel; the first electronically controlled brake component 7 and the second electronically controlled brake component 8 are electronically controlled brake discs.

[0050] In some optional embodiments, the connector 9 includes a frame 13 and a connecting shaft 15; wherein the frame 13 is disposed on the second housing 2 and has two clamping ends 14; the connecting shaft 15 is disposed on the clamping ends 14 of the frame 13, and the worm gear and the clamping claw 10 are both sleeved on the connecting shaft 15.

[0051] The frame 13 enables the connection between the connector 9 and the worm gear and worm. At the same time, the clamping end 14 on the frame 13 provides an installation position for the connecting shaft 15, making it easy to install the worm gear and clamping claw 10 on the connecting shaft 15.

[0052] In some alternative embodiments, the frame 13 further includes a receiving portion 16 disposed between the two clamping ends 14, the receiving portion 16 being used to receive the worm gear.

[0053] The accommodating portion 16 facilitates the mounting of the worm gear on the gripper connector 9, and provides accommodating space for the worm gear.

[0054] In some optional embodiments, two bearings 17 are fitted onto the sun gear 4, and the bearings 17 are connected to the first housing 1. The arrangement of the two bearings 17 reduces the rotational resistance between the first housing 1 and the sun gear 4, while also providing support for the first housing 1.

[0055] In some optional embodiments, a sealing ring 18 is fitted onto the sun gear 4, and the sealing ring 18 is located between the two bearings 17. The sealing ring 18 increases the sealing performance of the first housing 1, ensuring the sealing performance of the receiving cavity 3 formed by the first housing 1 and the second housing 2, and preventing water from entering the first housing 1 and the second housing 2.

[0056] In this embodiment, the sealing ring 18 is a Glyd ring.

[0057] The present invention also provides a method for operating an underwater clamping mechanism for underwater solid waste treatment, comprising:

[0058] The rotation mode of the gripper 10: the planetary carrier 6 is fixed to the first housing 1 by the second electronically controlled brake 8; the motor drives the sun gear 4 to rotate through the main shaft 19, which drives the planet gear 5 to rotate on the planetary carrier 6. The planet gear 5 is connected to the second housing 2. The planet gear 5 drives the second housing 2 to rotate around the axis of the main shaft 19, and finally controls the gripper 10 to rotate around the axis of the main shaft 19.

[0059] Clamping claw 10 opening and closing mode: The second housing 2 is fixed to the first housing 1 via the first electrically controlled brake 7; the motor drives the sun gear 4 to rotate, drives the planetary carrier 6 to rotate around the axis of the main shaft 19, drives the rotating component 11 to rotate around the axis of the main shaft 19, and drives the transmission component 12 to rotate. The clamping claw 10 is connected to the transmission component 12, so the opening and closing of the clamping claw 10 is controlled while the transmission component 12 is rotating.

[0060] The clamping jaw 10 rotates simultaneously in the opening and closing mode: neither the planetary carrier 6 nor the second housing 2 is fixed; the motor drives the sun gear 4 to rotate through the main shaft 19, which drives the planetary gear 5 to rotate on the planetary carrier 6 and simultaneously drives the planetary carrier 6 to rotate around the axis of the main shaft 19. The planetary gear 5 is connected to the second housing 2, and the planetary gear 5 drives the second housing 2 to rotate around the axis of the main shaft 19. The rotation of the planetary gear 5 will drive the rotating component 11 to rotate around the axis of the main shaft 19, which in turn drives the transmission component 12 to rotate. Finally, the clamping jaw 10 is controlled to rotate around the axis of the main shaft 19 while the clamping jaw 10 is opened and closed.

[0061] In the locked mode, the planetary carrier 6 and the second housing 2 are fixed to the first housing 1 by the second electronically controlled brake 8. Due to the locking of the planetary carrier 6 and the second housing 2, the rotation and opening / closing freedom of the gripper 10 are restricted, and it cannot complete the rotation and opening / closing actions, thus entering the locked mode.

[0062] The following combination Figures 1 to 5 This article provides a detailed description of the solid waste handling process of an underwater clamping mechanism used for underwater solid waste treatment:

[0063] Initially, the unmanned underwater vehicle travels to the location of the solid waste. At this time, the second electronically controlled brake component 8 is fixed to the first subject 1 and is in locked mode.

[0064] During operation, the movement mode of the underwater solid waste handling clamping mechanism is determined according to the shape and posture of the underwater solid waste. The clamping jaws are activated in a simultaneous rotation and opening / closing mode, de-energizing the first and second electrically controlled brake components 7 and 8, thus releasing the fixation of the second housing 2 and planetary carrier 6 to the first housing 1. Subsequently, the motor drives the sun gear 4 to rotate via the main shaft 19, causing the planetary gears 5 to rotate on the planetary carrier 6 and simultaneously driving the planetary carrier 6 to rotate around the axis of the main shaft 19. The planetary gears 5 are connected to the second housing 2, driving the second housing 2 to rotate around the axis of the main shaft 19. The rotation of the planetary gears 5 drives the rotating component 11 to rotate around the axis of the main shaft 19, which in turn drives the transmission component 12 to rotate, ultimately controlling the clamping jaws 10 to rotate around the axis of the main shaft 19 while simultaneously controlling the clamping jaws 10 to open.

[0065] Afterwards, the underwater robotic arm of the unmanned underwater vehicle adjusts its posture to a grasping position. Then, the gripper opening and closing mode is activated, controlling the first electronically controlled brake 7 to be energized, and the second housing 2 is fixed to the first housing 1; the motor drives the sun gear 4 to rotate in the opposite direction through the main shaft 19, driving the planet gear 5 to rotate on the planet carrier 6, and simultaneously driving the planet carrier 6 to rotate around the axis of the main shaft 19. The planet gear 5 is connected to the second housing 2, and the planet gear 5 drives the second housing 2 to rotate around the axis of the main shaft 19. The rotation of the planet gear 5 will drive the rotating component 11 to rotate around the axis of the main shaft 19, and then drive the transmission component 12 to rotate, ultimately controlling the gripper 10 to rotate around the axis of the main shaft 19 and simultaneously controlling the gripper 10 to close.

[0066] Then, the gripper locking mode is activated, the second electronically controlled brake 8 is energized, the planetary carrier 6 is fixed to the first housing 1, the gripper 10 remains closed, and then the underwater solid waste is transported by the operation of the unmanned underwater vehicle.

[0067] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. An underwater clamping mechanism for underwater solid waste treatment, characterized in that, include: A first housing (1) and a second housing (2) are provided, and a receiving cavity (3) is provided in the first housing (1) and the second housing (2). A sun gear (4) is provided in the receiving cavity (3), and the sun gear (4) is connected to the main shaft (19). Planetary gear (5) is fitted onto the sun gear (4), and a planet carrier (6) is provided on the planetary gear (5). The first electronically controlled brake component (7) is disposed between the first housing (1) and the second housing (2); The second electronically controlled brake component (8) is disposed between the first housing (1) and the planetary carrier (6); A connector (9) is provided on the second housing (2), and the connector (9) is provided with clamping claws (10). A rotating component (11) is located at the end of the planet carrier (6) away from the sun gear (4); There are two transmission components (12), which are disposed on the connecting member (9) and symmetrically disposed on both sides of the rotating member (11). The two transmission components (12) rotate in opposite directions, and the transmission components (12) drive the clamping claw (10) to open and close. The rotating component (11) is a worm gear, and the transmission component (12) is a worm wheel; The connector (9) includes: The frame (13) is mounted on the second housing (2) and has two clamping ends (14). A connecting shaft (15) is provided on the clamping end (14) of the frame (13), and the transmission component (12) and the clamping claw (10) are both sleeved on the connecting shaft (15); The first electronically controlled brake component (7) and the second electronically controlled brake component (8) are electronically controlled brake discs.

2. The underwater clamping mechanism for underwater solid waste treatment according to claim 1, characterized in that, The frame (13) also includes a receiving part (16) disposed between the two clamping ends (14) for accommodating the worm gear.

3. The underwater clamping mechanism for underwater solid waste treatment according to claim 2, characterized in that, Two bearings (17) are fitted on the sun gear (4), and the bearings (17) are connected to the first housing (1).

4. The underwater clamping mechanism for underwater solid waste treatment according to claim 3, characterized in that, A sealing ring (18) is fitted on the sun gear (4), and the sealing ring (18) is located between the two bearings (17).

5. The underwater clamping mechanism for underwater solid waste treatment according to claim 4, characterized in that, The sealing ring (18) is a Gladley ring.

6. The underwater clamping mechanism for underwater solid waste treatment according to claim 5, characterized in that, The main shaft (19) is partially inserted into the sun gear (4).

7. A method of operating the underwater clamping mechanism for underwater solid waste treatment according to any one of claims 1-6, characterized in that, include: The rotation mode of the gripper (10): The planetary carrier (6) is fixed to the first housing (1) through the second electronically controlled brake (8); the motor drives the sun gear (4) to rotate through the main shaft (19), which drives the planet gear (5) to rotate on the planetary carrier (6). The planet gear (5) is connected to the second housing (2). The planet gear (5) drives the second housing (2) to rotate around the axis of the main shaft (19), and finally controls the gripper (10) to rotate around the axis of the main shaft (19). Clamping claw (10) opening and closing mode: The second housing (2) is fixed to the first housing (1) through the first electronically controlled brake (7); the motor drives the sun gear (4) to rotate, drives the planet carrier (6) to rotate around the axis of the main shaft (19), drives the rotating component (11) to rotate around the axis of the main shaft (19), and drives the transmission component (12) to rotate; the clamping claw (10) is connected to the transmission component (12), so while the transmission component (12) rotates, the clamping claw (10) is opened and closed. The clamping claw (10) rotates simultaneously in the opening and closing mode: neither the planetary carrier (6) nor the second housing (2) is fixed; the motor drives the sun gear (4) to rotate through the main shaft (19), which drives the planetary gear (5) to rotate on the planetary carrier (6) and drives the planetary carrier (6) to rotate around the axis of the main shaft (19). The planetary gear (5) is connected to the second housing (2). The planetary gear (5) drives the second housing (2) to rotate around the axis of the main shaft (19). The rotation of the planetary gear (5) will drive the rotating part (11) to rotate around the axis of the main shaft (19), which in turn drives the transmission part (12) to rotate. Finally, the clamping claw (10) is controlled to rotate around the axis of the main shaft (19) while the clamping claw (10) is opened and closed. In the locked mode, the planetary carrier (6) and the second housing (2) are fixed to the first housing (1) by the second electronic brake (8). Due to the locking of the planetary carrier (6) and the second housing (2), the rotation and opening and closing freedom of the gripper (10) are restricted, and it is impossible to complete the rotation and opening and closing actions, thus entering the locked mode.

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