An underwater gripping mechanism imitating a mantis

Abstract

The application provides an underwater grabbing mechanism imitating a mantis, comprising: a mechanical arm, a driving part being arranged on the first end of the mechanical arm; a clamping jaw assembly, the clamping jaw assembly comprising a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw being arranged on the first end of the mechanical arm and being connected with the driving part, the driving part being used for driving the first clamping jaw and the second clamping jaw to open and close; the first clamping jaw and the second clamping jaw each comprising a clamping body and a bottom support arranged at the bottom of the clamping body; the application has the beneficial effect that the flexible section with S-shaped structure is arranged on the bottom support of the first clamping jaw and the second clamping jaw, so that the flexible section can adapt to the peripheral curvature of different regular articles during use, the flexible deformation occurring on the contact surface with the article is used for ensuring that most of the flexible sections can form effective contact with the wall surface of the marine product, and through the arrangement, the marine products with different shapes and textures can be effectively grabbed.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to a mantis-bionic underwater grabbing mechanism. BACKGROUND

[0002] The mariculture industry still faces many challenges, especially in the cultivation process of high-value marine products such as sea cucumbers and abalones. From seeding to fishing, most of the operations still rely on manual operation, which is labor-intensive, high-risk, and low-efficiency.

[0003] Using underwater grabbing manipulators for fishing of marine products can significantly reduce labor intensity and improve work efficiency, which is conducive to improving the overall quality and market value of products. However, the current underwater grabbing manipulators have some technical shortcomings, such as insufficient operation precision, poor performance stability, and lack of flexible grabbing devices that can adapt to the softness and shape of different marine products. SUMMARY

[0004] The present application aims to at least solve one of the problems in the prior art or related art.

[0005] In order to solve the above problems, the application provides a mantis-bionic underwater grabbing mechanism, comprising:

[0006] A manipulator, a driving part is arranged on the first end of the manipulator;

[0007] A gripper assembly, the gripper assembly comprises a first gripper and a second gripper, the first gripper and the second gripper are arranged on the first end of the manipulator and connected with the driving part, and the driving part is used to drive the first gripper and the second gripper to open and close;

[0008] The first gripper and the second gripper each comprise a clamping body and a bottom support arranged at the bottom of the clamping body.

[0009] The bottom support comprises a connecting section and a flexible section, the first end of the connecting section is connected with the clamping body, and a plurality of flexible sections are arranged on the second end of the connecting section at intervals, and the flexible section is in an S-shaped structure.

[0010] Optionally, the bottom support further comprises a contact section, and the contact section is arranged on the side of the flexible section away from the connecting section.

[0011] Optionally, the clamping body is outwardly convex on the outer wall to form a flow guide part.

[0012] Optionally, a limiting rod is arranged at the bottom of the clamping body at intervals, and the limiting rod is located on both sides of the bottom support.

[0013] Optionally, the manipulator comprises:

[0014] Primary link

[0015] Middle link, a first end of the middle link being connected with the primary link;

[0016] Tail link, a second end of the tail link being connected with the middle link;

[0017] Steering engine, the primary link, the middle link and the tail link being provided with the steering engine.

[0018] Optionally, the driving part comprises:

[0019] Fixed plate, the fixed plate being arranged on an end of the tail link away from the middle link;

[0020] First driving member, the first driving member being arranged on the fixed plate;

[0021] First transmission member, the first transmission member being arranged on an output end of the first driving member, the first transmission member being connected with the first clamping jaw;

[0022] Second transmission member, the second transmission member being rotatably arranged on the fixed plate, the second transmission member being capable of being rotated by the first transmission member, the second transmission member being connected with the second clamping jaw.

[0023] Optionally, the first transmission member and the second transmission member are gears, the first transmission member being meshingly connected with the second transmission member.

[0024] Optionally, further comprising a base, the base being connected with the mechanical arm, the base being used for driving the mechanical arm to horizontally rotate, the base comprising:

[0025] Bottom plate, the bottom plate being connected with the bearing body;

[0026] Transmission assembly, the transmission assembly being arranged on the bottom plate;

[0027] Second driving member, the second driving member being arranged on the bottom plate, the second driving member driving the mechanical arm to horizontally rotate through the transmission assembly.

[0028] Optionally, the transmission assembly comprises:

[0029] Limiting disc, the limiting disc being arranged on the base;

[0030] Third transmission member, the third transmission member being arranged on the bottom plate and being connected with the second driving member:

[0031] Rotating disc, the rotating disc being arranged in the limiting disc, the rotating disc being meshingly connected with the third transmission member;

[0032] A connecting plate is disposed on the rotating disk and is connected to the robotic arm.

[0033] Optionally, a plurality of rotors are provided between the limiting disk and the rotating disk.

[0034] Beneficial effects

[0035] The underwater grasping mechanism inspired by a mantis provided in the embodiments of the present invention has S-shaped flexible segments on the base of the first and second grippers, which can adapt to the curvature of different regular objects during use. Through the flexible deformation that occurs on the contact surface with the object, it is ensured that most of the flexible segments can make effective contact with the wall of the seafood. With this setting, it can effectively grasp seafood of different shapes and textures. Attached Figure Description

[0036] Figure 1 This is a front view structural diagram of the present invention;

[0037] Figure 2 This is a first-view structural diagram of the gripper assembly of the present invention;

[0038] Figure 3 This is a second-view structural diagram of the gripper assembly of the present invention;

[0039] Figure 4 This is a structural diagram of the base of the present invention;

[0040] Figure 5 This is a structural diagram of the base of the present invention;

[0041] Figure 6 This is a structural diagram showing the connection between the base, robotic arm, and drive unit of the present invention.

[0042] The reference numerals in the attached figures are as follows:

[0043] 1. Robotic arm; 11. Initial connecting rod; 12. Middle connecting rod; 13. Tail connecting rod; 14. Servo motor; 2. Drive unit; 21. Fixing plate; 22. First drive component; 23. First transmission component; 24. Second transmission component; 3. Gripper assembly; 31. First gripper; 32. Second gripper; 311. Gripping body; 3111. Guide section; 312. Base; 3121. Connecting section; 3122. Flexible section; 3123. Contact section; 313. Limiting rod; 4. Base; 41. Base plate; 42. Transmission assembly; 421. Limiting plate; 422. Third transmission component; 423. Rotating plate; 424. Connecting plate; 43. Second drive component. Detailed Implementation

[0044] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0045] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly specified and limited.

[0046] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0047] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings, it should be understood that the preferred embodiments described herein are only for the purpose of description and explanation of the present application, and are not intended to limit the present application.

[0048] For reference Figures 1-6 As shown, according to the embodiments of the present application, a mantis bionic underwater grabbing mechanism is provided, comprising:

[0049] A mechanical arm 1, a driving part 2 is arranged on the first end of the mechanical arm 1;

[0050] A clamping jaw assembly 3, the clamping jaw assembly 3 comprises a first clamping jaw 31 and a second clamping jaw 32, the first clamping jaw 31 and the second clamping jaw 32 are arranged on the first end of the mechanical arm 1 and connected with the driving part 2, the driving part 2 is used to drive the first clamping jaw 31 and the second clamping jaw 32 to open and close;

[0051] The first clamping jaw 31 and the second clamping jaw 32 each comprise a clamping body 311 and a bottom support 312 arranged at the bottom of the clamping body 311;

[0052] The bottom support 312 comprises a connecting section 3121 and flexible sections 3122, the first end of the connecting section 3121 is connected with the clamping body 311, and the flexible sections 3122 are arranged on the second end of the connecting section 3121 in a spaced manner, and the flexible sections 3122 are in an S-shaped structure.

[0053] Specifically, the first end of the mechanical arm 1 is provided with a driving part 2, the driving part 2 is used for controlling the opening and closing driving of the clamping jaw assembly 3, the clamping jaw assembly 3 is a component for realizing grabbing, and is composed of a first clamping jaw 31 and a second clamping jaw 32, both of which are arranged at the first end of the mechanical arm 1 and are closely connected with the driving part 2, through the power output by the driving part 2, the first clamping jaw 31 and the second clamping jaw 32 can quickly and accurately realize the opening and closing action, and realize the grabbing of the marine products. The first clamping jaw 31 and the second clamping jaw 32 both comprise a clamping body 311 and a bottom support 312, and the bottom support 312 comprises a connecting section 3121 and flexible sections 3122. The first end of the connecting section 3121 is stably connected with the clamping body 311, ensuring the firmness and reliability of the whole structure, and the flexible sections 3122 in an S-shaped structure are arranged on the second end of the connecting section 3121 in a spaced and orderly manner, reducing the interference between adjacent flexible sections 3122, and being able to adapt to the curvature of different regular articles. Through the flexible deformation occurring on the contact surface with the article, it is ensured that most of the flexible sections 3122 can form effective contact with the wall surface of the marine product, and through such arrangement, marine products with different shapes and textures can be effectively grabbed. For example, when the marine product such as sea cucumber with soft texture and variable shape is grabbed, the S-shaped flexible section 3122 can closely adhere to the surface of the sea cucumber by virtue of its unique elastic deformation capability, effectively avoiding physical damage to the marine product, and relying on its special curved shape, increasing the friction and grabbing force between the marine product, ensuring stable and accurate grabbing; when encountering abalone with hard shell and irregular shape, the flexible section 3122 can also adaptively adjust the adhesion angle and intensity according to the contour of the abalone, closely surround the shell of the abalone, and cooperate with the clamping body 311 to achieve efficient and reliable grabbing.

[0054] The clamping body 311 is in a U-shaped structure, the clamping body 311 in the U-shaped structure can be closed on the side away from the driving part 2 when the driving part 2 drives the clamping body 311 to clamp, realizing the sealing of the clamping of the marine product, and a plurality of holes are formed in the side wall, which can realize that only the marine product is retained by allowing the liquid to flow out through the holes during the clamping and transferring of the marine product.

[0055] The connecting section 3121 and the flexible section 3122 are made of TPU material by 3D printing technology, which not only ensures the tensile strength of up to 70 MPa and the elongation at break of up to 1000%, but also realizes lossless grabbing without affecting the strength of clamping. Even when performing the functions of carrying and clamping, it can still maintain good performance.

[0056] The bottom support 312 further comprises a contact section 3123 arranged on the side of the flexible section 3122 away from the connecting section 3121.

[0057] Specifically, the contact section 3123 is arranged on the side of the flexible section 3122 away from the connecting section 3121 at regular intervals, and the number thereof is multiple. When the grabbing operation is carried out, no matter whether it is faced with sea cucumber with soft texture or abalone with hard shell and irregular shape, the contact section 3123 can first contact the surface of the marine product, so that it can closely adhere to the marine product according to the instant shape of the marine product, thereby maximizing the stability of grabbing and ensuring that the claw assembly 3 can accurately and efficiently complete the grabbing task in the complex underwater environment.

[0058] The contact section 3123 is also made of TPU material and printed in an integrated structure with the connecting section 3121 and the flexible section 3122 by 3D printing technology.

[0059] The outer wall of the clamping body 311 is outwardly protruded to form a flow guide part 3111.

[0060] Specifically, the flow guide part 3111 outwardly protruded on the outer wall of the clamping body 311 is shark scale-shaped and regularly arranged in the direction of water flow, which can change the water flow velocity distribution and greatly reduce the shear resistance caused by surface water flow, so that the out-of-layer turbulent flow is significantly reduced. When the device is high-speed shuttling in the underwater environment, the flow guide part 3111 can effectively eliminate the vortex generated on the surface, greatly reduce the contact area between water and the surface, and further sharply reduce the surface shear stress. Therefore, through the arrangement of the flow guide part 3111, the claw assembly 3 can approach the marine product in the most suitable posture and the most accurate angle, greatly improving the accuracy of grabbing. On the other hand, thanks to the excellent drag reduction performance, the claw assembly 3 moves more agilely and smoothly in the water, reducing energy consumption. The adaptability and reliability of the entire grabbing mechanism in the complex underwater environment are comprehensively improved.

[0061] The bottom of the clamping body 311 is arranged with a limiting rod 313, and the limiting rod 313 is located on both sides of the bottom support 312.

[0062] Specifically, by setting the limiting rods 313 at the bottom of the clamping body 311 and on both sides of the bottom support 312, the limiting rods 313 play an important role in the underwater grabbing operation. On the one hand, the limiting rods 313 are not completely closed structures, which are installed at the bottom of the clamping body 311 with a certain interval, so that the seawater can flow smoothly, ensuring that the water flow will not be disturbed when grabbing marine products, maintaining the stability of the underwater operation environment and protecting the grabbing action from abnormal water flow. On the other hand, the limiting rods 313 play a key protective role in preventing marine products from leaking out and can greatly reduce the accidental sliding of marine products from the bottom.

[0063] The mechanical arm 1 comprises:

[0064] The initial link 11 is connected with the first end of the middle link 12.

[0065] The middle link 12 is connected with the first end of the initial link 11.

[0066] The tail link 13 is connected with the second end of the middle link 12.

[0067] The rudder 14 is arranged between the initial link 11, the middle link 12 and the tail link 13.

[0068] Specifically, the mechanical arm 1 is composed of the initial link 11, the middle link 12, the tail link 13 and the rudder 14. The initial link 11 serves as the starting part of the mechanical arm 1 and has good rigidity and stability, providing support for the connection and action execution of the subsequent links. The first end of the middle link 12 is connected with the initial link 11, and the connection mode of the two can not only ensure effective force transmission but also realize a certain degree of relative rotation to adapt to the complex and changeable underwater operation posture requirements. The tail link 13 is connected with the second end of the middle link 12, further extending the operable range of the mechanical arm 1, so that the mechanical claw can accurately touch marine products at different positions.

[0069] The rudders 14 are arranged between the initial link 11, the middle link 12 and the tail link 13. These rudders 14 control the angle change between adjacent links. When performing underwater grabbing tasks, the rudders 14 quickly and accurately adjust the included angle between the links according to the instructions from the control system. For example, during the grabbing process, the rudders 14 rotate to adjust the link posture, cooperate with the opening and closing action of the claw assembly 3, and ensure stable grabbing of marine products. Whether it is soft and slippery sea cucumber or strong suction and hard shell abalone, accurate force can be applied. Moreover, through the multi-degree-of-freedom setting, the rudders 14 can also drive the grabbing assembly to move, pour the grabbed marine products into the storage frame, and realize the process of automatically collecting marine products.

[0070] The driving part 2 comprises:

[0071] A fixed plate 21 is arranged on one end of the tail section connecting rod 13 away from the middle section connecting rod 12;

[0072] A first driving member 22 is arranged on the fixed plate 21;

[0073] A first transmission member 23 is arranged on the output end of the first driving member 22, and the first transmission member 23 is connected with the first clamping jaw 31;

[0074] A second transmission member 24 is rotatably arranged on the fixed plate 21, and the second transmission member 24 can be driven to rotate when the first transmission member 23 rotates, and the second transmission member 24 is connected with the second clamping jaw 32.

[0075] Specifically, the fixed plate 21 is fixedly arranged on one end of the tail section connecting rod 13 away from the middle section connecting rod 12, thereby providing a stable mounting position for other components of the driving part 2, ensuring that each component installed subsequently always maintains a relatively stable position and is not deviated due to external interference factors such as water flow impact and mechanical vibration, thereby providing a basis for the stability and accuracy of the entire driving process.

[0076] The first driving member 22 is located on the fixed plate 21, and provides power for opening and closing of the clamping jaw assembly 3. The driving member can be selected as a motor with high torque and excellent waterproof performance to meet the power requirement of underwater operation. When the control system issues an instruction according to a grabbing task, the first driving member 22 can quickly respond to convert electrical energy into mechanical energy to provide power for subsequent transmission. The first transmission member 23 is connected to the output end of the first driving member 22 and is connected with the first clamping jaw 31. The first transmission member 23 is responsible for transmitting the rotary power generated by the first driving member 22 to the first clamping jaw 31. The second transmission member 24 is rotatably arranged on the fixed plate 21 through a rotating shaft. When the first transmission member 23 starts to rotate under the driving of the first driving member 22, the first transmission member 23 and the second transmission member 24 are connected through gear meshing, chain transmission or friction transmission to realize connection and synchronous rotation, thereby driving the second transmission member 24 to operate. The second transmission member 24 is closely connected with the second clamping jaw 32. Therefore, the first clamping jaw 31 and the second clamping jaw 32 can accurately and synchronously complete the opening and closing action under the driving of the first driving member 22 through the transmission of the first transmission member 23 and the second transmission member 24, thereby realizing the capturing of marine products.

[0077] The first transmission member 23 and the second transmission member 24 are gears, and the first transmission member 23 is meshingly connected with the second transmission member 24.

[0078] Specifically, the first transmission member 23 and the second transmission member 24 are both gears. When the first driving member 22 is started to drive the first transmission member 23 to rotate, the second transmission member 24 will synchronously and accurately rotate due to the meshing action between the gears. In use, when the control system issues a grabbing instruction, the first driving member 22 quickly operates, and the power is transmitted to the second transmission member 24 engaged with the first transmission member 23. For soft sea cucumbers, the first transmission member 23 and the second transmission member 24 rotate at a relatively slow and stable speed, driving the first jaw 31 and the second jaw 32 to gently and synchronously close, which can stably grab the sea cucumber and avoid damaging it to the greatest extent; when facing abalones, the first driving member 22 increases the output torque, and the first transmission member 23 and the second transmission member 24 accurately transmit strong clamping force to the jaws by virtue of their reliable gear transmission characteristics, ensuring that the abalone shell can be firmly grabbed to achieve efficient grabbing of the marine products.

[0079] The base 4 is connected with the mechanical arm 1 and used to drive the mechanical arm 1 to horizontally rotate. The base 4 comprises:

[0080] The bottom plate 41 is connected with the carrier;

[0081] The transmission assembly 42 is arranged on the bottom plate 41;

[0082] The second driving member 43 is arranged on the bottom plate 41 and drives the mechanical arm 1 to horizontally rotate through the transmission assembly 42.

[0083] Specifically, the base 4 is composed of the bottom plate 41, the transmission assembly 42 and the second driving member 43. The bottom plate 41 is the basic part of the base 4 and is stably connected with the carrier. The carrier can be a specific installation structure of an underwater working robot or a mariculture ship or a bearing part adapted to a shore fixed facility. Through this reliable connection, the bottom plate 41 provides a stable support foundation for the entire base 4 and the mechanical arm 1 above, so that it can resist external disturbances such as water flow impact and equipment vibration in the complex and changeable underwater environment and always maintain a relatively fixed position.

[0084] The second driving member 43 is installed on the bottom plate 41 to provide power for horizontal rotation of the mechanical arm 1, and can be selected from a waterproof motor, a hydraulic motor or other equipment. When the control system issues a rotation instruction according to the operation requirement, the second driving member 43 is started to transmit power to the mechanical arm 1 through the transmission assembly 42 to drive the mechanical arm 1 to rotate horizontally. In an actual underwater grabbing operation scene, when it is necessary to grab marine products distributed on one side of the mechanical arm 1, the second driving member 43 drives the transmission assembly 42 to drive the mechanical arm 1 to rotate horizontally to the target position quickly, and cooperates with the structural design of the mechanical arm 1 to realize grabbing of the marine products, thereby improving the operation efficiency in a complex underwater environment.

[0085] The transmission assembly 42 comprises:

[0086] A limiting disc 421 is arranged on the base 4.

[0087] A third transmission member 422 is arranged on the bottom plate 41 and connected with the second driving member 43.

[0088] A rotating disc 423 is arranged in the limiting disc 421 and is in meshing connection with the third transmission member 422.

[0089] A connecting plate 424 is arranged on the rotating disc 423 and is connected with the mechanical arm 1.

[0090] Specifically, the transmission assembly 42 mainly comprises the limiting disc 421, the third transmission member 422, the rotating disc 423 and the connecting plate. The limiting disc 421 is stably arranged on the base 4 to provide limiting and guiding functions for movement of subsequent components. In a complex underwater operation environment, the impact of water flow and the vibration of the machine can easily interfere with the normal operation of the transmission components, and the limiting disc 421 can ensure that the rotating disc 423 connected therewith can only rotate smoothly inside, thereby effectively avoiding transmission failure caused by excessive shaking or deviation.

[0091] The rotating disc 423 is arranged in the limiting disc 421 and is in meshing connection with the third transmission member 422. The inner peripheral tooth shape of the rotating disc 423 is in close cooperation with the tooth shape of the third transmission member 422. When the third transmission member 422 starts to rotate under the drive of the second driving member 43, the rotating disc 423 will synchronously and accurately rotate.

[0092] The connecting plate 424 is arranged on the rotating disc 423 and connected with the mechanical arm 1, and transmits the rotating action of the rotating disc 423 to the mechanical arm 1. The connecting plate 424 needs to ensure firm connection with the rotating disc 423 and accurate connection with the mechanical arm 1, so that the mechanical arm 1 can be smoothly and smoothly rotated around the vertical shaft under the driving of the rotating disc 423. In actual underwater grabbing operation, when it is necessary to grab marine products distributed at a far distance on one side of the mechanical arm 1, the second driving part 43 drives the third transmission part 422, and then drives the rotating disc 423 to rotate, and transmits power through the connecting plate 424, so as to quickly and accurately horizontally rotate the mechanical arm 1 to the target position, and realize grabbing of the marine products.

[0093] A plurality of rotors are arranged between the limiting disc 421 and the rotating disc 423.

[0094] Specifically, the plurality of rotors are installed in the gap space between the limiting disc 421 and the rotating disc 423, and play an auxiliary role in the rotating process. On the one hand, when the rotating disc 423 starts to rotate under the driving of the third transmission part 422, the rotors can effectively reduce the friction resistance between the rotating disc 423 and the limiting disc 421. Compared with the traditional direct contact type rotation, the arrangement of the rotors makes the relative movement between the two more smooth, reduces the energy loss caused by friction, and thus improves the mechanical efficiency of the entire transmission system, ensuring that the mechanical arm 1 can perform horizontal rotation operation with faster response speed.

[0095] On the other hand, the rotors also have a certain buffering function. During underwater operation, various sudden impact forces will inevitably be encountered, for example, when the mechanical arm 1 quickly turns to grab marine products and suddenly encounters a current impact, the rotors can absorb and disperse part of the impact force by virtue of their rotating characteristics, avoiding the impact force acting directly on the connecting part of the rotating disc 423 and the limiting disc 421, effectively protecting the key structure of the transmission assembly 42, reducing the risk of component damage, and prolonging the service life of the entire transmission system.

[0096] The above are only preferred embodiments of the present application and are not used to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application. The above is only the preferred embodiment of the present application, and it should be pointed out that, for ordinary skilled in the art, without departing from the technical principles of the present application, a number of improvements and modifications can be made, and these improvements and modifications should be regarded as the protection scope of the present application.

Claims

1. A mantis-mimicking underwater gripping mechanism, characterized by, The utility model relates to a mechanical arm for sea product, and belongs to the field of mechanical arm. The utility model discloses a mechanical arm for sea product, which comprises a mechanical arm (1) provided with a driving part (2) on the first end; a clamping jaw assembly (3) comprising a first clamping jaw (31) and a second clamping jaw (32), both of which are arranged on the first end of the mechanical arm (1) and connected with the driving part (2), and the driving part (2) is used to drive the first clamping jaw (31) and the second clamping jaw (32) to open and close; the first clamping jaw (31) and the second clamping jaw (32) both comprise a clamping body (311) and a bottom support (312) arranged at the bottom of the clamping body (311), the clamping body (311) is of a U-shaped structure, a plurality of holes are formed in the side wall of the clamping body (311), and liquid can flow out through the holes during the clamping and transfer of sea products, and only sea products are retained; the bottom support (312) comprises a connecting section (3121) and a flexible section (3122), the first end of the connecting section (3121) is connected with the clamping body (311), and a plurality of flexible sections (3122) are arranged at intervals on the second end of the connecting section (3121); the flexible section (3122) is of an S-shaped structure; the bottom support (312) further comprises a contact section (3123) arranged on the side of the flexible section (3122) away from the connecting section (3121); a flow guide part (3111) is formed on the outer wall of the clamping body (311) and protrudes outward, the flow guide part (3111) is shark scale-shaped and regularly arranged in the direction of water flow, so that the water flow velocity distribution can be changed. The bottom of the clamping body (311) is provided with a limiting rod (313) arranged at intervals, and the limiting rod (313) is located on both sides of the bottom support (312). The mechanical arm (1) comprises: an initial section connecting rod (11); a middle section connecting rod (12) connected with the initial section connecting rod (11) at the first end; a tail section connecting rod (13) connected with the middle section connecting rod (12) at the second end; 2. The mantis-bionic underwater gripping mechanism according to claim 1, characterized in that, a rudder (14) arranged between the initial section connecting rod (11), the middle section connecting rod (12) and the tail section connecting rod (13).

3. The mantis-biometric underwater gripping mechanism according to claim 1, characterized in that, The driving part (2) comprises: a fixed plate (21) arranged on the end of the tail section connecting rod (13) away from the middle section connecting rod (12); a first driving part (22) arranged on the fixed plate (21); a first transmission part (23) arranged on the output end of the first driving part (22) and connected with the first clamping jaw (31); a second transmission part (24) rotatably arranged on the fixed plate (21) and capable of rotating with the first transmission part (23), and the second transmission part (24) is connected with the second clamping jaw (32).

4. The mantis-biometric underwater gripping mechanism according to claim 3, characterized in that, ​ ​ ​ ​ ​ 5. The mantis-biometric underwater gripping mechanism according to claim 4, characterized in that, The first transmission member (23) and the second transmission member (24) are gears, and the first transmission member (23) is in meshing connection with the second transmission member (24).

6. The mantis-biometric underwater gripping mechanism according to claim 1, characterized in that, Further comprising a base (4) connected with the mechanical arm (1) for driving the mechanical arm (1) to rotate horizontally, wherein the base (4) comprises: a bottom plate (41) connected with the carrier; a transmission assembly (42) arranged on the bottom plate (41); a second driving member (43) arranged on the bottom plate (41), and the second driving member (43) drives the mechanical arm (1) to rotate horizontally through the transmission assembly (42).

7. The mantis-biometric underwater gripping mechanism according to claim 6, characterized in that, The transmission assembly (42) comprises: a limiting disc (421) arranged on the base (4); a third transmission member (422) arranged on the bottom plate (41) and connected with the second driving member (43); a rotating disc (423) arranged in the limiting disc (421), and the rotating disc (423) is in meshing connection with the third transmission member (422); a connecting plate (424) arranged on the rotating disc (423), and the connecting plate (424) is connected with the mechanical arm (1).

8. The mantis-biometric underwater gripping mechanism according to claim 7, characterized in that, A plurality of rotors are arranged between the limiting disc (421) and the rotating disc (423).

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