Gripping arms, gripping devices and underwater grasping robots

Abstract

This invention discloses a gripping arm, a gripping device, and an underwater grasping robot. The gripping arm includes a first deformable part and a second deformable part, with a first deformable space between the first and second deformable parts. A second deformable space is located on the side of the second deformable part facing away from the first deformable space. In the contact state, the first deformable part is in contact with the surface of the gripped object. In the clamping state, the second deformable part abuts against the first deformable part to clamp the gripped object. In this invention, the first deformable part contacts the surface of the gripped object with a smaller force in the first stage, increasing the contact area between the first deformable part and the gripped object. The second deformable part supports the first deformable part with a larger force in the second stage and clamps the gripped object. This increases the clamping force without crushing the gripped object, enabling stable clamping of fragile objects with complex surface curvature.

Description

Technical Field

[0001] This invention relates to the field of gripping structure technology, and in particular to a gripping arm, gripping device and underwater gripping robot. Background Technology

[0002] A clamping arm is a structure used to grip a workpiece. It typically consists of two opening and closing clamping arms, which move closer together or further apart to clamp or release the workpiece. However, when clamping some fragile workpieces with complex curvature surfaces, excessive clamping force can easily cause the workpiece to break, while insufficient clamping force will prevent stable clamping and movement. Summary of the Invention

[0003] In view of the above-mentioned shortcomings of the prior art, the technical problem to be solved by the present invention is to provide a gripping arm, a gripping device and an underwater gripping robot to solve the problem of difficulty in gripping fragile items in the prior art.

[0004] The technical solution adopted by the present invention to solve its technical problem is a clamping arm, including a first deformable part and a second deformable part. A first deformable space is provided between the first deformable part and the second deformable part to allow the first deformable part to deform. A second deformable space is provided on the side of the second deformable part away from the first deformable space to allow the second deformable part to deform.

[0005] The clamping arm has a fitting state and a clamping state. In the fitting state, the first deformable part is fitted to the surface of the clamped part, and the first deformable part abuts against the second deformable part. In the clamping state, the second deformable part deforms to the second deformable space, and the second deformable part abuts against the first deformable part, so that the first deformable part clamps the clamped part.

[0006] The present invention has at least the following beneficial effects:

[0007] The first deformation part adheres to the surface of the clamped part with a small force in the first stage, increasing the contact area between the first deformation part and the clamped part. The second deformation part supports the first deformation part with a larger force in the second stage and clamps the clamped part. The clamping force is increased without crushing the clamped part, thus realizing segmented clamping of the clamped part. It can stably clamp fragile parts with complex surface curvature.

[0008] Furthermore, including:

[0009] A first flexible member, wherein the first deformable part is disposed on the first flexible member, and the first flexible member has a first connecting end and a second connecting end;

[0010] The second flexible member has a second deformable part disposed on it. 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.

[0011] The first connector has one end connected to the second connector and the other end connected to the fourth connector. The first connector, the first flexible member, and the second flexible member together form the first deformation space.

[0012] Furthermore, it also includes:

[0013] The base has a first connecting part and a second connecting part;

[0014] The second flexible member has a second deformable part disposed 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 part.

[0015] The second connector has one end connected to the fourth connector and the other end connected to the second connector. The second connector, the second flexible member and the base together form the second deformation space.

[0016] Furthermore, the line connecting the two ends of the first connector is the first line, the line connecting the two ends of the first flexible member is the second line, and the line connecting the two ends of the second flexible member is the third line.

[0017] 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 connecting line, the second connecting line and the third connecting line form an obtuse triangle or a right triangle, and the second connecting line is the longest side of the obtuse triangle or the right triangle.

[0018] Furthermore, the line connecting the two ends of the second flexible member is the third line, the line connecting the two ends of the second connector is the fourth line, and the line connecting the first connecting part and the second connecting part is the fifth line.

[0019] 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 line, the fourth line and the fifth line form an acute triangle.

[0020] Furthermore, it also includes a second flexible member, wherein the second deformable portion is disposed on the second flexible member, the second flexible member includes a first component near the first deformable space and a second component near the second deformable space, and a third deformable space is formed between the first component and the second component, which allows the first component to deform.

[0021] The clamping arm also has an initial state, a first transition state and a second transition state. The clamping arm can deform 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.

[0022] Between the initial state and the first transition state, the first deformable part deforms independently;

[0023] Between the first transition state and the bonding state, the first deformable part and the first component deform simultaneously;

[0024] Between the bonding state and the second transition state, the first component and the second component deform simultaneously;

[0025] Between the second transition state and the clamping state, the second component deforms individually.

[0026] Furthermore, the first component has a support section for abutting against the first deformed portion;

[0027] A support member is also provided within the third deformation space, with both ends of the support member connected to the support segment and the second component, respectively.

[0028] Furthermore, it also includes a third connector, which, together with the first component and the second component, forms the third deformation space;

[0029] The connection between the two ends of the third connector is the sixth connection, the connection between the two ends of the first component is the seventh connection, and the connection between the two ends of the second component is the eighth connection.

[0030] 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.

[0031] Furthermore, the first deformable part is provided with a sawtooth unit, the sawtooth unit includes a plurality of first sawtooths, and at least one second sawtooth is provided between any two adjacent first sawtooths, the height of the first sawtooths being greater than the height of the second sawtooths.

[0032] Furthermore, the tooth height of the second saw tooth is set to h, the tooth height of the first saw tooth is set to 1.9h~2.2h, the minimum distance between the second saw tooth and the adjacent first saw tooth or the adjacent second saw tooth is set to 0.9h~1.1h, and 2~6 second saw teeth are set between any two adjacent first saw teeth.

[0033] Furthermore, a clamping device is also disclosed, comprising at least two of the aforementioned clamping arms, each clamping arm having a base, the bases of the at least two clamping arms being rotatably connected.

[0034] Furthermore, an underwater grasping robot was also disclosed, comprising:

[0035] The clamping device has a base with a hinge and a sliding groove.

[0036] A robotic arm, wherein the hinged part is hinged to the robotic arm; the robotic arm is provided with a reciprocating drive member, the drive member being slidably inserted in the slide groove, the reciprocating movement of the drive member driving the clamping arm to rotate about the hinged part as an axis.

[0037] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0038] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0039] Figure 1 This is a schematic diagram of the clamping arm in an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram of the sawtooth unit in an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of the clamping device in an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the clamping device and the robotic arm in an embodiment of the present invention.

[0043] Figure label:

[0044] 100. Clamping arm; 101. First deformation part; 102. Second deformation part; 110. First flexible element; 111. First deformation space; 120. Second flexible element; 121. First component; 122. Second component; 123. Second deformation space; 124. Third deformation space; 125. Support member; 130. First connector; 140. Second connector; 150. Third connector; 160. Sawtooth unit; 161. First sawtooth; 162. Second sawtooth; 170. Base; 171. Hinge part; 172. Slide groove; 200. Robotic arm. Detailed Implementation

[0045] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0046] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention 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. Therefore, they should not be construed as limiting this invention.

[0047] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0048] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0049] In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0050] Please refer to Figures 1-2 This embodiment discloses a clamping arm, including a first deformable part 101 and a second deformable part 102. A first deformable space 111 is provided between the first deformable part 101 and the second deformable part 102 to allow the first deformable part 101 to deform. A second deformable space 123 is provided on the side of the second deformable part 102 away from the first deformable space 111 to allow the second deformable part 102 to deform.

[0051] The clamping arm 100 has a fitting state and a clamping state. In the fitting state, the first deformation part 101 fits against the surface of the clamped part, and the first deformation part 101 abuts against the second deformation part 102. In the clamping state, the second deformation part 102 deforms to the second deformation space 123, and the second deformation part 102 abuts against the first deformation part 101, so that the first deformation part 101 clamps the clamped part.

[0052] Specifically, during the process of the clamping arm 100 closing from its initial state to its fitted state, the first deformation part 101 deforms within the first deformation space 111, allowing it to adhere to the surface of the clamped part with a relatively small force. During the process of the clamping arm 100 closing from its fitted state to its clamping state, the second deformation part 102 abuts against the first deformation part 101 and deforms within the second deformation space 123, allowing the first deformation part 101 to clamp the clamped part with a greater force. Thus, by having the first deformation part 101 adhere to the surface of the clamped part with a relatively small force in the first stage, the contact area between the first deformation part 101 and the clamped part is increased. By having the second deformation part 102 support the first deformation part 101 and clamp the clamped part with a greater force in the second stage, the clamping force is increased without crushing the clamped part, achieving segmented clamping of the clamped part. This enables stable clamping of fragile parts with complex surface curvatures.

[0053] Simultaneously, in the clamping state, the second deformation part 102 deforms into the second deformation space 123, and the second deformation space 123 is not completely compressed, allowing the second deformation part 102 to continue deforming. This ensures that the clamped part is in an elastically clamped state. When the clamped part is disturbed by external forces during movement (such as obstruction by mud and sand, water flow impact, and entanglement by weeds), the second deformation part 102 can continue to deform within the second deformation space 123, allowing the clamped part to sway slightly between the two first deformation parts 101. This external force is consumed by the continued deformation of the second deformation part 102, preventing the clamped part from being directly damaged due to the inability to offset the external force.

[0054] Please refer to Figure 1In this embodiment, the clamping arm 100 includes a base 170, a first flexible member 110, a second flexible member 120, a first connector 130, and a second connector 140. The base 170 has a first connecting portion and a second connecting portion; a first deformable portion 101 is disposed on a first flexible member 110, the first flexible member 110 has a first connecting end and a second connecting end, the first connecting end being connected to the first connecting portion; a second deformable portion 102 is disposed on a second flexible member 120, the second flexible member 120 has a third connecting end and a fourth connecting end, the third connecting end being connected to the first connecting end; one end of a first connecting member 130 is connected to the second connecting end, and the other end of the first connecting member 130 is connected to the fourth connecting end, the first connecting member 130, the first flexible member 110 and the second flexible member 120 together form a first deformable space 111; one end of a second connecting member 140 is connected to the fourth connecting end, and the other end of the second connecting member 140 is connected to the second connecting portion, the second connecting member 140, the second flexible member 120 and the base 170 together form a second deformable space 123.

[0055] Specifically, during the process of the clamping arm 100 closing from the initial state to the fitted state, the first flexible member 110 bends, its outer surface fits against the surface of the clamped part, and its inner surface gradually moves towards the second flexible member 120 and gradually compresses the first deformation space 111. During the process of the clamping arm 100 closing from the fitted state to the clamping state, the second flexible member 120 is bent and deformed towards the base 170 and the second connecting member 140 by the first flexible member 110 to provide greater clamping force.

[0056] Please refer to Figure 1 In this embodiment, the line connecting the two ends of the first connector 130 is the first connecting line, the line connecting the two ends of the first flexible member 110 is the second connecting line, and the line connecting the two ends of the second flexible member 120 is the third connecting line; the clamping arm 100 also has an initial state, and the clamping arm 100 can deform from the initial state to the fitting state; in the initial state, the first connecting line, the second connecting line and the third connecting line form an obtuse triangle or a right triangle, and the second connecting line is the longest side of the obtuse triangle or the right triangle.

[0057] 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 connector 140 is the fourth line, and the line connecting the first connecting part and the second connecting part is the fifth line; the clamping arm 100 also has an initial state, and the clamping arm 100 can deform from the initial state to the fitting state; in the initial state, the third line, the fourth line and the fifth line form an acute triangle.

[0058] In this embodiment, the first flexible member 110 and the second flexible member 120 can be made of flexible materials such as silicone or resin, and the first connector 130 and the second connector 140 can be made of 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 deform, the first connector 130 and the second connector 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 deforms in the first deformation space 111, the end of the first flexible member 110 can pull the first connector 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 deforms in the second deformation space 123, the end of the second flexible member 120 pulls the second connector 140 to bend and deform.

[0059] It's understandable that triangles are relatively stable structures. However, their resistance to deformation under external forces varies significantly depending on the distribution of their interior angles. For example, in an obtuse or right triangle, if one angle is greater than or equal to 90°, the other two interior angles are smaller. This causes the two shorter sides to be more collinear with the longest side (especially when the obtuse angle is close to 180°). The "effective support" of the two shorter sides for the longest side is weaker, making the structure along the longest side more prone to deformation under external forces. In an acute triangle, the three interior angles are more evenly distributed. When subjected to external forces, the stress transmitted to each side is more dispersed, reducing the likelihood of localized stress concentration. Therefore, the structure is more stable than that of obtuse or right triangles.

[0060] The triangle formed by the first, second, and third connecting lines is a right-angled or obtuse triangle, with the second connecting line containing the first flexible member 110 being the longest side of the triangle. The third, fourth, and fifth connecting lines together form an acute-angled triangle. Based on this, the first flexible member 110 is more easily deformable than the second flexible member 120, thus enabling a tiered clamping effect where the first flexible member 110 first conforms to the clamped part, and then the second flexible member 120 abuts against the first flexible member 110 to clamp the clamped part. In other words, by placing the first flexible member 110 and the second flexible member 120 in different types of triangular structures, using the same material, different stiffnesses are achieved between the two.

[0061] Furthermore, the third, fourth, and fifth connecting lines form an equilateral triangle, further enhancing the deformation resistance of the second flexible member 120, thereby increasing its support for the first flexible member 110.

[0062] Please refer to Figure 1In this embodiment, a second flexible member 120 is provided in the second deformation portion 102. The second flexible member 120 includes a first component 121 near the first deformation space 111 and a second component 122 near the second deformation space 123. A third deformation space 124 is formed between the first component 121 and the second component 122, which allows 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 deform 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 deforms alone. Between the first transition state and the fitting state, the first deformation portion 101 and the first component 121 deform simultaneously. Between the fitting state and the second transition state, the first component 121 and the second component 122 deform simultaneously. Between the second transition state and the clamping state, the second component 122 deforms alone.

[0063] 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 part 101 during the transition from the first transition state to the fitting state, and to deform together with the second component 122 during the transition from the fitting state to the second transition state. That is, the transition and connection between the first stage from the initial state to the fitting state and the second stage from the fitting state to the clamping state is realized. During the transition from the first stage to the second stage, the clamping force increases at a relatively gradual rate without instantaneously increasing and damaging the clamped part.

[0064] Please refer to Figure 1 In this embodiment, a third connector 150 is also included. The third connector 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 connector 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 deform from the initial state to the fitting state. In the initial state, the sixth, seventh, and eighth lines together form a right-angled triangle or an obtuse-angled triangle, and the seventh line is the longest side of the right-angled triangle or the obtuse-angled triangle. The first component 121 has a support section for abutting against the first deformation part 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.

[0065] Specifically, since the sixth, seventh, and eighth connecting lines form a right-angled or obtuse triangle, and the seventh connecting line is the longest side of the right-angled or obtuse triangle, its triangle configuration is the same as that of the first deformation space 111. To prevent the first component 121 from deforming during the transition from the initial state to the first transition state, its deformation resistance needs to be slightly greater than that of the first flexible member 110. Therefore, in this embodiment, a support member 125 is provided between the support section and the second component 122. Under the premise that the first deformation space 111 and the third deformation space 124 have the same triangular structure configuration, the first component 121 has a higher deformation resistance than the first flexible member 110.

[0066] Meanwhile, a support member 125 is connected to the support section. When the first flexible member 110 deforms 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 part.

[0067] Furthermore, the first deformation space 111, the second deformation space 123, and the third deformation space 124 form multiple hollow areas. When the clamping arm 100 in this embodiment is applied underwater, the hollow areas allow water flow, mud, sand, and other impurities to pass through, which can effectively reduce underwater resistance, so as to clamp objects underwater and move them.

[0068] It should be mentioned that in existing designs, multiple serrations are typically provided on the clamping arm 100 to deform the serrations and / or the clamped part, or to embed / pierce the surface of the clamped part, thereby enhancing the friction between the clamping arm 100 and the clamped part. Please refer to... Figure 2 In this embodiment, the first deformation part 101 is provided with a sawtooth unit 160, which includes a plurality of first sawtooths 161. At least one second sawtooth 162 is provided between any two adjacent first sawtooths 161, and the height of the first sawtooth 161 is greater than the height of the second sawtooth 162. The sawtooth unit 160 is configured such that the plurality of first sawtooths 161 first abut against the clamped member, so that the first sawtooths 161 and / or the clamped member are deformed, until the plurality of second sawtooths 162 abut against the clamped member together with the first sawtooths 161.

[0069] Specifically, this embodiment uses a first sawtooth 161 with a larger tooth height and a second sawtooth 162 with a smaller tooth height. Since the number of first sawtooths 161 is less than the total number of all sawtooths, in the first stage, the first sawtooths 161 can act on the clamped part with greater force, causing deformation of the first sawtooths 161 and / or the clamped part until the second sawtooths 162 also abut against the clamped part, and the first sawtooths 161 and the second sawtooths 162 together clamp the clamped part. Thus, compared to a design where all sawtooths are of equal height, the first sawtooths 161 and the second sawtooths 162 with different tooth heights in this embodiment can increase the friction between them and the clamped part.

[0070] The applicant discovered that the number of second serrations 162 between two adjacent first serrations 161 can significantly affect the frictional force between the first deformable part 101 and the clamped part. 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 cooperate with the second serrations 162 to increase the frictional force between the serration unit 160 and the clamped part. 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 smaller force distributed to each first serration 161. This usually leads to the first serration 161 being unable to deform to the point that the second serration 162 also abuts against the clamped part due to insufficient force. During the clamping process, only the first serration 161 acts on the clamped part, and the frictional force decreases significantly.

[0071] Following the above, the applicant also discovered that the magnitude of the frictional force between the first deformed part 101 and the clamped part also depends on factors such as the curvature of the surface of the clamped part, the distance between the second saw tooth 162 and the adjacent second saw tooth 162 / first saw tooth 161, the tooth height of the first saw tooth 161 and the second saw tooth 162, and the material.

[0072] Based on the above, in this embodiment, both the first sawtooth 161 and the second sawtooth 162 are made of flexible materials such as silicone or resin. The tooth height of the second sawtooth 162 is set to h, the tooth height of the first sawtooth 161 is set to 1.9h~2.2h, and the minimum distance between the second sawtooth 162 and an adjacent first sawtooth 161 or an adjacent second sawtooth 162 is set to 0.9h~1.1h. Simultaneously, 2 to 6 second sawtooths 162 are arranged between any two adjacent first sawtooths 161. This design can significantly enhance friction even when the curvature of the clamped surface is within a large range.

[0073] Please refer to Figure 3This embodiment also discloses a clamping device, including at least two clamping arms 100, each clamping arm 100 including a base 170, and the bases 170 of the at least two clamping arms 100 are rotatably connected.

[0074] Please refer to Figure 1 and Figure 4 This embodiment also discloses an underwater grasping robot, including a gripping device and a robotic arm 200. The gripping device includes at least two gripping arms 100. The base 170 of the gripping arm 100 is provided with a hinge portion 171 and a sliding groove 172. The hinge portion 171 is hinged to the robotic arm 200. The robotic arm 200 is provided with a reciprocating drive member. The drive member is slidably inserted through the sliding groove 172. The reciprocating motion of the drive member drives the gripping arm 100 to rotate about the hinge portion 171 as an axis.

[0075] Specifically, the driving component is a linear motor or other device equipped on the robotic arm 200 itself. The driving component moves back and forth 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.

[0076] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof can be combined with each other unless otherwise specified.

Claims

1. A clamping arm, characterized in that, include: A first deformation portion and a second deformation portion are provided, with a first deformation space between the first deformation portion and the second deformation portion to allow deformation of the first deformation portion, and a second deformation space on the side of the second deformation portion away from the first deformation space to allow deformation of the second deformation portion. The clamping arm has a fitting state and a clamping state. In the fitting state, the first deformable part is in contact with the surface of the clamped part, and the first deformable part abuts against the second deformable part. In the clamping state, the second deformation part deforms to the second deformation space, and the second deformation part abuts against the first deformation part, so that the first deformation part clamps the clamped part; A first flexible member and a second flexible member, wherein the first deformable portion is disposed on the first flexible member, and the first flexible member has a first connecting end and a second connecting end; the second deformable portion is disposed on the second flexible member, and the second flexible member has a third connecting end and a fourth connecting end, wherein the third connecting end is connected to the first connecting end, and the fourth connecting end is connected to the second connecting end; The base comprises a first connector and a second connector. One end of the first connector is connected to the second connector, and the other end of the first connector is connected to the fourth connector. The first connector, the first flexible member, and the second flexible member together form the first deformation space. The base has a first connecting portion and a second connecting portion. The first connecting portion is connected to the third connector. One end of the second connector is connected to the fourth connector, and the other end of the second connector is connected to the second connecting portion. The second connector, the second flexible member, and the base together form the second deformation space.

2. The clamping arm according to claim 1, characterized in that, The connection between the two ends of the first connector is the first connection, the connection between the two ends of the first flexible member is the second connection, and the connection between the two ends of the second flexible member is the third connection. 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 connecting line, the second connecting line and the third connecting line form an obtuse triangle or a right triangle, and the second connecting line is the longest side of the obtuse triangle or the right triangle.

3. The clamping arm according to claim 1, characterized in that, The line connecting the two ends of the second flexible member is the third line, the line connecting the two ends of the second connector is the fourth line, and the line connecting the first connecting part and the second connecting part is the 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 line, the fourth line and the fifth line form an acute triangle.

4. The clamping arm according to claim 1, characterized in that, The second deformation portion is disposed on the second flexible member. The second flexible member includes a first component near the first deformation space and a second component near the second deformation space. A third deformation space is formed between the first component and the second component, which allows the first component to deform. The clamping arm also has an initial state, a first transition state and a second transition state. The clamping arm can deform 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 deformable part deforms independently; Between the first transition state and the bonding state, the first deformable part and the first component deform simultaneously; Between the bonding state and the second transition state, the first component and the second component deform simultaneously; Between the second transition state and the clamping state, the second component deforms individually.

5. The clamping arm according to claim 4, characterized in that, The first component has a support section for abutting against the first deformed part; A support member is also provided within the third deformation space, with both ends of the support member connected to the support segment and the second component, respectively.

6. The clamping arm according to claim 4, characterized in that, It also includes a third connector, which, together with the first component and the second component, forms the third deformation space; The connection between the two ends of the third connector is the sixth connection, the connection between the two ends of the first component is the seventh connection, and the connection between the two ends of the second component is the eighth connection. 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.

7. The clamping arm according to claim 1, characterized in that, The first deformable part is provided with a sawtooth unit, the sawtooth unit includes a plurality of first sawtooths, and at least one second sawtooth is provided between any two adjacent first sawtooths, the height of the first sawtooths is greater than the height of the second sawtooths.

8. The clamping arm according to claim 7, characterized in that, The tooth height of the second saw tooth is set to h, the tooth height of the first saw tooth is set to 1.9h~2.2h, the minimum distance between the second saw tooth and the adjacent first saw tooth or the adjacent second saw tooth is set to 0.9h~1.1h, and 2~6 second saw teeth are set between any two adjacent first saw teeth.

9. A clamping device, characterized in that, It includes at least two clamping arms as described in any one of claims 1 to 8, each clamping arm having a base, and the bases of at least two of the clamping arms are rotatably connected.

10. An underwater grasping robot, characterized in that, include: The clamping device as described in claim 9, wherein the base is provided with a hinge and a sliding groove; A robotic arm, wherein the hinged part is hinged to the robotic arm; the robotic arm is provided with a reciprocating drive member, the drive member being slidably inserted in the slide groove, the reciprocating movement of the drive member driving the clamping arm to rotate about the hinged part as an axis.

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