Clamping arm, clamping device and underwater grabbing robot

Abstract

The invention discloses a clamping arm, a clamping device and an underwater grabbing robot, the clamping arm comprises a first deformation part and a second deformation part, a first deformation space is arranged between the first deformation part and the second deformation part, and a second deformation space is arranged on the side, away from the first deformation space, of the second deformation part; in the attaching state, the first deformation part is attached to the surface of the clamped piece, and in the clamping state, the second deformation part abuts against the first deformation part so that the first deformation part can clamp the clamped piece. According to the clamping device, the first deformation part is attached to the surface of the clamped part with small force in the first stage, the contact area of the first deformation part and the clamped part is increased, and the second deformation part supports the first deformation part with large force in the second stage and clamps the clamped part; the clamping force is improved on the premise that it is guaranteed that the clamped piece is not crushed, and the clamped piece which is fragile and complex in surface curvature can be stably clamped.

Description

Technical Field

[0001] The present invention relates to the technical field of grasping structures, and in particular to a clamping arm, a clamping device and an underwater grasping robot. Background Art

[0002] A clamping arm is a structure used to grasp workpieces, typically consisting of two openable arms. The arms move closer or further apart to clamp or release the workpiece. However, when clamping fragile workpieces with complex curvatures, excessive clamping force can easily crush the workpiece, while insufficient clamping force can prevent stable clamping and movement. Summary of the Invention

[0003] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is to propose a clamping arm, a clamping device and an underwater grasping robot for solving the problem that it is difficult to clamp fragile items in the prior art.

[0004] The present invention solves the technical problem by adopting a technical solution comprising a clamping arm including a first deformable portion and a second deformable portion, wherein a first deformable space for allowing the first deformable portion to deform is provided between the first deformable portion and the second deformable portion, and a second deformable space for allowing the second deformable portion to deform is provided on a side of the second deformable portion facing away from the first deformable space; The clamping arm has a fitting state and a clamping state. In the fitting state, the first deformation portion fits the surface of the clamped part, and the first deformation portion abuts against the second deformation portion; in the clamping state, the second deformation portion is deformed to the second deformation space, and the second deformation portion abuts against the first deformation portion, so that the first deformation portion clamps the clamped part.

[0005] The present invention has at least the following beneficial effects: The first deformable portion adheres to the surface of the clamped part with a smaller force in the first stage, thereby increasing the contact area between the first deformable portion and the clamped part. The second deformable portion supports the first deformable portion and clamps the clamped part with a larger force in the second stage, thereby increasing the clamping force without crushing the clamped part. This realizes segmented clamping of the clamped part and enables stable clamping of fragile parts with complex surface curvatures.

[0006] Further, including: a first flexible member, wherein the first deformable portion is provided on the first flexible member, and the first flexible member has a first connecting end and a second connecting end; a second flexible member, wherein the second deformable portion is provided on the second flexible member, and the second flexible member has a third connecting end and a fourth connecting end, the third connecting end is connected to the first connecting end, and the fourth connecting end is connected to the second connecting end; A first connecting member has one end connected to the second connecting end and the other end connected to the fourth connecting end. The first connecting member, the first flexible member and the second flexible member together form the first deformation space.

[0007] Furthermore, it also includes: a base having a first connecting portion and a second connecting portion; a second flexible member, wherein the second deformable portion is provided on the second flexible member, the second flexible member has a third connecting end and a fourth connecting end, and the third connecting end is connected to the first connecting portion; A second connecting member has one end connected to the fourth connecting end and the other end connected to the second connecting portion. The second connecting member, the second flexible member and the base together form the second deformation space.

[0008] Furthermore, the line connecting the two ends of the first connecting member is a first line, the line connecting the two ends of the first flexible member is a second line, and the line connecting the two ends of the second flexible member is a third line; The clamping arm also has an initial state, and the clamping arm can be deformed from the initial state to the fitting state; in the initial state, the first line, the second line and the third line together form an obtuse triangle or a right triangle, and the second line is the longest side of the obtuse triangle or the right triangle.

[0009] Furthermore, a line connecting two ends of the second flexible member is a third line, a line connecting two ends of the second connecting member is a fourth line, and a line connecting the first connecting portion and the second connecting portion is a fifth line; The clamping arm also has an initial state, and the clamping arm can be deformed from the initial state to the fitting state; in the initial state, the third connecting line, the fourth connecting line and the fifth connecting line form an acute-angled triangle.

[0010] Furthermore, the present invention further comprises a second flexible member, wherein the second deformable portion is provided on the second flexible member, and the second flexible member comprises a first component close to one side of the first deformation space and a second component close to one side of the second deformation space, wherein a third deformation space for the first component to deform is formed between the first component and the second component; The clamping arm further has an initial state, a first transition state, and a second transition state. The clamping arm can be deformed from the initial state to the first transition state, from the first transition state to the fitting state, from the fitting state to the second transition state, and from the second transition state to the clamping state. Between the initial state and the first transition state, the first deformation portion deforms alone; Between the first transition state and the fitted state, the first deformable portion and the first component are deformed simultaneously; Between the fitted state and the second transition state, the first component and the second component are deformed simultaneously; Between the second transition state and the clamping state, the second component is deformed independently.

[0011] Furthermore, the first component has a supporting section for abutting against the first deformable portion; A support member is further provided in the third deformation space, and two ends of the support member are respectively connected to the support section and the second component.

[0012] Furthermore, a third connecting member is included, and the third connecting member, the first component and the second component together form the third deformation space; The line connecting the two ends of the third connecting member is the sixth line, the line connecting the two ends of the first component is the seventh line, and the line connecting the two ends of the second component is the eighth line; The clamping arm also has an initial state, and the clamping arm can be deformed from the initial state to the fitting state; in the initial state, the sixth line, the seventh line and the eighth line together form a right triangle or an obtuse triangle, and the seventh line is the longest side of the right triangle or the obtuse triangle.

[0013] Furthermore, the first deformation portion is provided with a sawtooth unit, the sawtooth unit includes a plurality of first sawteeth, at least one second sawtooth is provided between any two adjacent first sawteeth, and the height of the first sawteeth is greater than the height of the second sawteeth.

[0014] Furthermore, the tooth height of the second sawtooth is set to h, the tooth height of the first sawtooth is set to 1.9h~2.2h, the minimum distance between the second sawtooth and the adjacent first sawtooth or the adjacent second sawtooth is set to 0.9h~1.1h, and 2~6 second sawteeth are set between any two adjacent first sawteeth.

[0015] Furthermore, a clamping device is disclosed, comprising at least two of the clamping arms, wherein the clamping arms comprise a base, and the bases of at least two of the clamping arms are rotatably connected.

[0016] Furthermore, an underwater grasping robot is disclosed, comprising: The clamping device has a base with a hinge portion and a slide groove; The mechanical arm, the hinge part is hinged to the mechanical arm; the mechanical arm is provided with a reciprocating driving member, the driving member is slidably arranged in the slide groove, and the driving member reciprocates to drive the clamping arm to rotate around the hinge part as the axis.

[0017] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which: Figure 1 Schematic diagram of the structure of the clamping arm in an embodiment of the present invention; Figure 2 Schematic diagram of the structure of the sawtooth unit in an embodiment of the present invention; Figure 3 This is a schematic structural diagram of a clamping device in an embodiment of the present invention; Figure 4 Schematic diagram of the structure of the clamping device and the robotic arm in an embodiment of the present invention.

[0019] Reference numerals: 100. Clamping arm; 101. First deformation part; 102. Second deformation part; 110. First flexible member; 111. First deformation space; 120. Second flexible member; 121. First component; 122. Second component; 123. Second deformation space; 124. Third deformation space; 125. Support member; 130. First connecting member; 140. Second connecting member; 150. Third connecting member; 160. Sawtooth unit; 161. First sawtooth; 162. Second sawtooth; 170. Base; 171. Articulated part; 172. Slide groove; 200. Robotic arm. DETAILED DESCRIPTION

[0020] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0021] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0022] In the description of the present invention, "several" means more than one, "plurality" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0023] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0024] In the description of the present invention, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the exemplary expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0025] Please refer to Figure 1-Figure 2 This embodiment discloses a clamping arm, comprising a first deformable portion 101 and a second deformable portion 102. A first deformable space 111 is provided between the first deformable portion 101 and the second deformable portion 102 to allow the first deformable portion 101 to deform. A second deformable space 123 is provided on a side of the second deformable portion 102 facing away from the first deformable space 111 to allow the second deformable portion 102 to deform. The clamping arm 100 has a fitting state and a clamping state. In the fitting state, the first deformable portion 101 fits the surface of the clamped part, and the first deformable portion 101 and the second deformable portion 102 abut against each other; in the clamping state, the second deformable portion 102 is deformed to the second deformation space 123, and the second deformable portion 102 abuts against the first deformable portion 101, so that the first deformable portion 101 clamps the clamped part.

[0026] Specifically, during the process of the clamping arm 100 closing from the initial state to the fitting state, the first deformable portion 101 deforms within the first deformable space 111, so that the first deformable portion 101 can fit the surface of the clamped part with less force; during the process of the clamping arm 100 closing from the fitting state to the clamping state, the second deformable portion 102 presses against the first deformable portion 101, and the second deformable portion 102 deforms within the second deformable space 123, so that the first deformable portion 101 clamps the clamped part with greater force. In this way, the first deformable portion 101 fits the surface of the clamped part with less force in the first stage, thereby increasing the contact area between the first deformable portion 101 and the clamped part. The second deformable portion 102 supports the first deformable portion 101 and clamps the clamped part with greater force in the second stage, thereby increasing the clamping force without crushing the clamped part, thereby achieving segmented clamping of the clamped part, and being able to stably clamp fragile parts with complex surface curvatures.

[0027] At the same time, in the clamped state, the second deformable portion 102 deforms into the second deformable space 123, and the second deformable space 123 is not completely compressed. The second deformable portion 102 can continue to deform, thereby maintaining an elastic clamping state in the clamped state. When the clamped part is disturbed by external forces during movement (such as mud and sand obstruction, water impact, and weed entanglement), the second deformable portion 102 can continue to deform within the second deformable space 123, allowing the clamped part to sway slightly between the two first deformable portions 101. This external force is dissipated by the continued deformation of the second deformable portion 102, preventing the clamped part from being directly damaged due to the inability to offset the external force.

[0028] Please refer to Figure 1 In this embodiment, the clamping arm 100 includes a base 170 , a first flexible member 110 , a second flexible member 120 , a first connecting member 130 and a second connecting member 140 . Among them, the base 170 has a first connection part and a second connection part; the first deformation part 101 is arranged on the first flexible part 110, the first flexible part 110 has a first connection end and a second connection end, and the first connection end is connected to the first connection part; the second deformation part 102 is arranged on the second flexible part 120, the second flexible part 120 has a third connection end and a fourth connection end, and the third connection end is connected to the first connection end; one end of the first connection part 130 is connected to the second connection end, and the other end of the first connection part 130 is connected to the fourth connection end, and the first deformation space 111 is formed between the first connection part 130, the first flexible part 110 and the second flexible part 120; one end of the second connection part 140 is connected to the fourth connection end, and the other end of the second connection part 140 is connected to the second connection part, and the second deformation space 123 is formed between the second connection part 140, the second flexible part 120 and the base 170.

[0029] Specifically, as the clamping arm 100 moves from its initial closed state to its fitted state, the first flexible member 110 bends, its outer surface fitting the surface of the clamped object, while its inner surface gradually moves toward the second flexible member 120, gradually compressing the first deformation space 111. As the clamping arm 100 moves from its fitted state to its clamped state, the second flexible member 120 is pressed against by the first flexible member 110, bending and deforming toward the base 170 and the second connecting member 140 to provide greater clamping force.

[0030] Please refer to Figure 1 In this embodiment, the line connecting the two ends of the first connecting member 130 is the first line, the line connecting the two ends of the first flexible member 110 is the second line, and the line connecting the two ends of the second flexible member 120 is the third line; the clamping arm 100 also has an initial state, and the clamping arm 100 can be deformed from the initial state to the fitting state; in the initial state, the first line, the second line and the third line together form an obtuse triangle or a right triangle, and the second line is the longest side of the obtuse triangle or the right triangle.

[0031] The line connecting the two ends of the second flexible member 120 is the third line, the line connecting the two ends of the second connecting member 140 is the fourth line, and the line connecting the first connecting portion and the second connecting portion is the fifth line; the clamping arm 100 also has an initial state, and the clamping arm 100 can be deformed from the initial state to a fitting state; in the initial state, the third line, the fourth line and the fifth line form an acute triangle.

[0032] In this embodiment, the first flexible member 110 and the second flexible member 120 can be configured to be a flexible material such as silicone or resin, and the first connecting member 130 and the second connecting member 140 can be configured to be the same material as the first flexible member 110 and the second flexible member 120. When the first flexible member 110 and the second flexible member 120 are deformed, the first connecting member 130 and the second connecting member 140 can also bend and deform along with them. The first connecting line, the second connecting line, and the third connecting line form a triangle. When the first flexible member 110 is deformed in the first deformation space 111, the end of the first flexible member 110 can pull the first connecting member 130 to bend and deform. The third connecting line, the fourth connecting line, and the fifth connecting line form a triangle. When the second flexible member 120 is deformed in the second deformation space 123, the end of the second flexible member 120 pulls the second connecting member 140 to bend and deform.

[0033] It is understandable that triangles are relatively stable structures. However, their ability to resist deformation under external forces varies greatly due to the different distribution of their internal angles. For example, in an obtuse or right-angled triangle, if one angle is greater than or equal to 90°, then the angles of the other two internal angles are smaller, causing the two short sides to be closer to the same line as the longest side (especially when the obtuse angle is close to 180°). The "effective support" of the two short sides to the longest side is weaker, and the structure located on the longest side is more prone to deformation under external forces. In an acute triangle, the three internal angles are more evenly distributed. When subjected to external forces, the stress transmitted by each side is more dispersed, and local stress concentration is less likely to occur. The structural strength is more stable than that of an obtuse triangle or a right-angled triangle.

[0034] The triangle formed by the first, second and third lines is a right triangle or an obtuse triangle, and the second line where the first flexible part 110 is located is the longest side of the triangle. The third, fourth and fifth lines together form an acute triangle. Based on the above, the first flexible part 110 is easier to deform than the second flexible part 120, thereby achieving a graded clamping effect in which the first flexible part 110 first adheres to the clamped part, and the second flexible part 120 then presses against the first flexible part 110 to clamp the clamped part. That is, by respectively arranging the first flexible part 110 and the second flexible part 120 in different types of triangular structures, different stiffness of the two can be achieved with the same material.

[0035] Furthermore, the third connecting line, the fourth connecting line and the fifth connecting line together form an equilateral triangle, which further improves the deformation resistance of the second flexible member 120 , thereby increasing its support force on the first flexible member 110 .

[0036] Please refer to Figure 1 In this embodiment, a second flexible member 120 is provided in the second deformation portion 102, and the second flexible member 120 includes a first component 121 close to the first deformation space 111 and a second component 122 close to the second deformation space 123. A third deformation space 124 is formed between the first component 121 and the second component 122 for the first component 121 to deform; the clamping arm 100 also has an initial state, a first transition state and a second transition state. The clamping arm 100 can be deformed from the initial state to the first transition state, from the first transition state to the fitting state, from the fitting state to the second transition state, and from the second transition state to the clamping state; between the initial state and the first transition state, the first deformation portion 101 is deformed alone; between the first transition state and the fitting state, the first deformation portion 101 and the first component 121 are deformed at the same time; between the fitting state and the second transition state, the first component 121 and the second component 122 are deformed at the same time; between the second transition state and the clamping state, the second component 122 is deformed alone.

[0037] Specifically, the second flexible member 120 is divided into a first component 121 and a second component 122, and a third deformation space 124 is formed between the first component 121 and the second component 122. This allows the first component 121 to deform together with the first deformable portion 101 during the transition from the first transition state to the fitted state, and to deform together with the second component 122 during the transition from the fitted state to the second transition state. In other words, the transition and connection between the first stage from the initial state to the fitted state and the second stage from the fitted state to the clamped state are achieved. During the transition from the first stage to the second stage, the clamping force increases at a relatively gradual rate, without increasing suddenly and damaging the clamped member.

[0038] Please refer to Figure 1 In this embodiment, a third connecting member 150 is further included. The third connecting member 150, the first component 121, and the second component 122 together form a third deformation space 124. The line connecting the two ends of the third connecting member 150 is the sixth line, the line connecting the two ends of the first component 121 is the seventh line, and the line connecting the two ends of the second component 122 is the eighth line. The clamping arm 100 also has an initial state, and the clamping arm 100 can be deformed from the initial state to a fitting state. In the initial state, the sixth line, the seventh line, and the eighth line together form a right triangle or an obtuse triangle, and the seventh line is the longest side of the right triangle or the obtuse triangle. The first component 121 has a support section for abutting the first deformation portion 101. A support member 125 is also provided in the third deformation space 124, and the two ends of the support member 125 are respectively connected to the support section and the second component 122.

[0039] Specifically, since the sixth, seventh, and eighth connecting lines together form a right triangle or an obtuse triangle, and the seventh connecting line is the longest side of the right triangle or the obtuse triangle, it is the same as the triangular configuration of the first deformation space 111. In order to prevent the first component 121 from participating in the deformation during the process from the initial state to the first transition state, it is necessary to make the deformation resistance of the first component 121 slightly greater than the deformation resistance of the first flexible member 110. Based on this, in this embodiment, a support member 125 is provided between the support section and the second component 122. On the premise that the first deformation space 111 and the third deformation space 124 have the same triangular structural configuration, the first component 121 has a higher deformation resistance than the first flexible member 110.

[0040] At the same time, a support member 125 is provided to connect with the support section. When the first flexible member 110 is deformed to abut against the support section, the support member 125 can effectively support the support section of the first component 121, thereby providing stronger support for the first flexible member 110 and achieving clamping of the clamped member.

[0041] Furthermore, the above-mentioned first deformation space 111, second deformation space 123 and third deformation space 124 form a plurality of hollow areas. When the clamping arm 100 in this embodiment is applied underwater, the hollow areas can allow water flow, mud and other impurities to pass through, which can effectively reduce the underwater resistance, so as to facilitate clamping objects underwater and driving them to move.

[0042] It should be mentioned that in existing designs, multiple serrations are usually provided on the clamping arm 100 to deform the serrations and / or the clamped object, or to embed / pierce the surface of the clamped object to enhance the friction between the clamping arm 100 and the clamped object. Figure 2 In this embodiment, the first deformable portion 101 is provided with a sawtooth unit 160. The sawtooth unit 160 includes a plurality of first sawteeth 161. At least one second sawteeth 162 is provided between any two adjacent first sawteeth 161. The height of the first sawteeth 161 is greater than the height of the second sawteeth 162. The sawtooth unit 160 is configured such that the plurality of first sawteeth 161 first abut against the clamped member, deforming the first sawteeth 161 and / or the clamped member, until the plurality of second sawteeth 162 abut against the clamped member together with the first sawteeth 161.

[0043] Specifically, this embodiment includes first serrations 161 of greater height and second serrations 162 of lesser height. Because the number of first serrations 161 is less than the total number of serrations, in the first stage, the first serrations 161 can exert a greater force on the clamped part, causing deformation of the first serrations 161 and / or the clamped part until the second serrations 162 also abut against the clamped part, thereby jointly clamping the clamped part. Thus, compared to a design in which all serrations have the same height, the first serrations 161 and second serrations 162 of different heights in this embodiment can increase the friction between them and the clamped part.

[0044] The applicant has discovered that the number of second serrations 162 between two adjacent first serrations 161 can significantly affect the magnitude of the friction between the first deformable portion 101 and the clamped member. When the number of second serrations 162 between two adjacent first serrations 161 is too large, the proportion of first serrations 161 in the same serration unit 160 is too small, and the number of first serrations 161 is insufficient to form a synergistic effect with the second serrations 162 to increase the friction between the serration unit 160 and the clamped member. When the number of second serrations 162 between two adjacent first serrations 161 is too small, the proportion of first serrations 161 in the same serration unit 160 is too large, resulting in a decrease in the force shared by each first serration 161. This often results in the first serration 161 being unable to deform to the point where the second serration 162 also abuts against the clamped member due to insufficient force. During the clamping process, only the first serrations 161 act on the clamped member, significantly reducing the friction.

[0045] Based on the above, the applicant also found that the magnitude of the friction force between the first deformation portion 101 and the clamped part also depends on factors such as the curvature of the surface of the clamped part, the spacing between the second serration 162 and the adjacent second serration 162 / first serration 161, the tooth height of the first serration 161 and the second serration 162, and the material.

[0046] Based on the above, in this embodiment, the first serrations 161 and the second serrations 162 are both made of a flexible material such as silicone or resin. The tooth height of the second serrations 162 is set to h, the tooth height of the first serrations 161 is set to 1.9h to 2.2h, and the minimum distance between the second serrations 162 and adjacent first serrations 161 or adjacent second serrations 162 is set to 0.9h to 1.1h. Furthermore, 2 to 6 second serrations 162 are provided between any two adjacent first serrations 161. The above design can significantly enhance friction even within a wide range of curvatures on the surface of the clamped part.

[0047] Please refer to Figure 3 This embodiment further discloses a clamping device, including at least two clamping arms 100 , wherein the clamping arms 100 include a base 170 , and the bases 170 of the at least two clamping arms 100 are rotatably connected.

[0048] Please refer to Figure 1 and Figure 4 This embodiment also discloses an underwater grasping robot, including a clamping device and a robotic arm 200. The clamping device includes at least two clamping arms 100. A hinge portion 171 and a slide groove 172 are provided on the base 170 of the clamping arm 100. The hinge portion 171 is hinged to the robotic arm 200; the robotic arm 200 is provided with a reciprocating driving member, which is slidably inserted into the slide groove 172. The driving member reciprocates to drive the clamping arm 100 to rotate around the hinge portion 171 as the axis.

[0049] Specifically, the driving component is a linear motor or other device equipped in the robot arm 200 itself. The driving component reciprocates along a straight line, causing it to slide in the slide groove 172 while driving the clamping arm 100 to rotate around the hinge part 171 as the axis, thereby realizing the opening and closing of the two clamping arms 100.

[0050] While the embodiments of the present invention have been described in detail above with reference to the accompanying drawings, the present invention is not limited to the embodiments described above. Various modifications may be made within the scope of knowledge possessed by a person skilled in the art without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof may be combined with one another unless there is a conflict.

Claims

1. Clamping arm, characterized in that, The invention comprises a first deformable portion and a second deformable portion, wherein a first deformable space is provided between the first deformable portion and the second deformable portion to allow the first deformable portion to deform, and a second deformable space is provided on a side of the second deformable portion away from the first deformable space to allow the second deformable portion to deform; The clamping arm has a fitting state and a clamping state. In the fitting state, the first deformable portion fits the surface of the clamped member, and the first deformable portion abuts against the second deformable portion. In the clamping state, the second deforming portion is deformed to the second deforming space, and the second deforming portion abuts against the first deforming portion, so that the first deforming portion clamps the clamped member.

2. The clamping arm according to claim 1, wherein: include: a first flexible member, wherein the first deformable portion is provided on the first flexible member, and the first flexible member has a first connecting end and a second connecting end; a second flexible member, wherein the second deformable portion is provided on the second flexible member, and the second flexible member has a third connecting end and a fourth connecting end, the third connecting end is connected to the first connecting end, and the fourth connecting end is connected to the second connecting end; A first connecting member has one end connected to the second connecting end and the other end connected to the fourth connecting end. The first connecting member, the first flexible member and the second flexible member together form the first deformation space.

3. The clamping arm according to claim 1, wherein: Also includes: a base having a first connecting portion and a second connecting portion; a second flexible member, wherein the second deformable portion is provided on the second flexible member, the second flexible member has a third connecting end and a fourth connecting end, and the third connecting end is connected to the first connecting portion; A second connecting member has one end connected to the fourth connecting end and the other end connected to the second connecting portion. The second connecting member, the second flexible member and the base together form the second deformation space.

4. The clamping arm according to claim 2, wherein: The line connecting the two ends of the first connecting member is a first line, the line connecting the two ends of the first flexible member is a second line, and the line connecting the two ends of the second flexible member is a third line; The clamping arm also has an initial state, and the clamping arm can be deformed from the initial state to the fitting state; in the initial state, the first line, the second line and the third line together form an obtuse triangle or a right triangle, and the second line is the longest side of the obtuse triangle or the right triangle.

5. The clamping arm according to claim 3, wherein: The line connecting the two ends of the second flexible member is a third line, the line connecting the two ends of the second connecting member is a fourth line, and the line connecting the first connecting portion and the second connecting portion is a fifth line; The clamping arm also has an initial state, and the clamping arm can be deformed from the initial state to the fitting state; in the initial state, the third connecting line, the fourth connecting line and the fifth connecting line form an acute-angled triangle.

6. The clamping arm according to claim 1, wherein: The second flexible member further comprises a second deformable portion provided on the second flexible member, the second flexible member comprising a first component close to one side of the first deformable space and a second component close to one side of the second deformable space, a third deformable space for the first component to deform being formed between the first component and the second component; The clamping arm further has an initial state, a first transition state, and a second transition state. The clamping arm can be deformed from the initial state to the first transition state, from the first transition state to the fitting state, from the fitting state to the second transition state, and from the second transition state to the clamping state. Between the initial state and the first transition state, the first deformation portion deforms alone; Between the first transition state and the fitted state, the first deformable portion and the first component are deformed simultaneously; Between the fitted state and the second transition state, the first component and the second component are deformed simultaneously; Between the second transition state and the clamping state, the second component is deformed independently.

7. The clamping arm according to claim 6, characterized in that The first component has a supporting section for abutting against the first deformable portion; A support member is further provided in the third deformation space, and two ends of the support member are respectively connected to the support section and the second component.

8. The clamping arm according to claim 6, wherein: A third connecting member is further included, wherein the third connecting member, the first component and the second component together form the third deformation space; The line connecting the two ends of the third connecting member is the sixth line, the line connecting the two ends of the first component is the seventh line, and the line connecting the two ends of the second component is the eighth line; The clamping arm also has an initial state, and the clamping arm can be deformed from the initial state to the fitting state; in the initial state, the sixth line, the seventh line and the eighth line together form a right triangle or an obtuse triangle, and the seventh line is the longest side of the right triangle or the obtuse triangle.

9. The clamping arm according to claim 1, wherein: The first deformation portion is provided with a sawtooth unit, and the sawtooth unit includes a plurality of first sawteeth. At least one second sawteeth is provided between any two adjacent first sawteeth, and the height of the first sawteeth is greater than that of the second sawteeth.

10. The clamping arm according to claim 9, wherein: The tooth height of the second sawtooth is set to h, the tooth height of the first sawtooth is set to 1.9h~2.2h, the minimum distance between the second sawtooth and the adjacent first sawtooth or the adjacent second sawtooth is set to 0.9h~1.1h, and 2~6 second sawteeth are set between any two adjacent first sawteeth.

11. The clamping device is characterized in that: The method comprises at least two clamping arms according to any one of claims 1 to 10, wherein the clamping arms comprise a base, and the bases of at least two clamping arms are rotatably connected.

12. An underwater grabbing robot, characterized in that: include: The clamping device according to claim 11, wherein the base is provided with a hinge portion and a slide groove; The mechanical arm, the hinge part is hinged to the mechanical arm; the mechanical arm is provided with a reciprocating driving member, the driving member is slidably arranged in the slide groove, and the driving member reciprocates to drive the clamping arm to rotate with the hinge part as the axis.

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