Clamping device and robot

Abstract

The utility model discloses a clamping device and a robot. The clamping device comprises a substrate connected with an external device; the first clamping part comprises a first clamping arm and a first clamping claw; the first clamping arm is arc-shaped, one end of the first clamping arm is pivotally connected with the connecting part through a first pivot, and the connecting part is fixedly connected with the lower surface of the substrate; the first clamping jaw is connected with the other end of the first clamping arm in a pivot mode so as to make pivot motion under the condition that the first clamping jaw makes contact with the to-be-clamped object. The second clamping part comprises a second clamping arm and a second clamping jaw, the second clamping part and the first clamping part are symmetrically arranged and are the same in structure, and a clamping space is formed by the second clamping part and the first clamping part; one end of the first driving part is connected with the lower surface of the base plate, and the other end of the first driving part is connected with the first clamping arm so as to drive the first clamping arm to do pivot motion; one end of the second driving part is connected with the lower surface of the base plate, and the other end of the second driving part is connected with the second clamping arm so as to drive the second clamping arm to do pivot motion. The clamping device can prevent the object to be clamped from being separated from the clamping device.

Description

Technical Field

[0001] The present application relates to the technical field of equipment recycling, and in particular to a clamping device and a robot. Background Art

[0002] Existing cylindrical unmanned underwater autonomous vehicles can be salvaged and recovered by underwater robots. For example, the underwater robot can salvage and recover the unmanned underwater autonomous vehicle through a clamping device.

[0003] However, the applicant has discovered that when recovering equipment underwater, the action and reaction forces between the gripping device and the UAV are quite pronounced. For example, in an underwater environment, the gripping device advancing toward the UAV may cause the UAV to move further away from the gripping device, causing it to detach from the gripping device. During the salvage process, multiple attempts may be required to complete the recovery. Furthermore, in complex water conditions, salvage operations using the gripping device by underwater robots are even more difficult. Utility Model Content

[0004] The present application aims to provide a clamping device that can pre-press an object to be clamped, thereby preventing the object to be clamped from detaching from the clamping device during the clamping process.

[0005] According to one aspect of the present application, a clamping device is provided. The clamping device includes a substrate, a first clamping portion, a second clamping portion, a first driving portion, and a second driving portion. The substrate is connected to an external device. The first clamping portion includes a first clamping arm and a first clamping claw. The first clamping arm is arc-shaped, with one end pivotally connected to a connecting portion via a first pivot, and the connecting portion is fixedly connected to the lower surface of the substrate. The first clamping claw is pivotally connected to the other end of the first clamping arm to pivotally move when in contact with an object to be clamped. The second clamping portion includes a second clamping arm and a second clamping claw. The second clamping portion is symmetrically arranged with the first clamping portion and has the same structure, forming a clamping space with the first clamping portion. One end of the first driving portion is connected to the lower surface of the substrate, and the other end is connected to the first clamping arm to drive the first clamping arm to pivot. One end of the second driving portion is connected to the lower surface of the substrate, and the other end is connected to the second clamping arm to drive the second clamping arm to pivot.

[0006] According to some embodiments of the present application, the first clamping arm includes a first upper arm and a first lower arm; one end of the first upper arm is pivotally connected to the connecting portion via a first pivot. One end of the first lower arm is pivotally connected to the other end of the first upper arm via a second pivot, and the other end of the first lower arm is pivotally connected to the first clamping claw. The other end of the first driving portion is connected to the second pivot to drive the first clamping arm to move. The second clamping arm includes a second upper arm and a second lower arm, and the second clamping arm is symmetrically arranged with the first clamping arm. One end of the second upper arm is pivotally connected to the connecting portion via the first pivot; one end of the second lower arm is pivotally connected to the other end of the second upper arm via a second pivot, and the other end of the second lower arm is pivotally connected to the second clamping claw. The other end of the second driving portion is connected to the second pivot to drive the second clamping arm to move.

[0007] According to some embodiments of the present application, the first clamping claw includes a first rotating portion, a first stopper, and a first elastic member. One end of the first rotating portion is pivotally connected to the other end of the first clamping arm. The first stopper is fixedly connected to the other end of the first clamping arm and, when the first rotating portion pivots, abuts one end of the first rotating portion to limit movement of the first rotating portion. The first elastic member has one end connected to one end of the first rotating portion and the other end connected to the other end of the first clamping arm, enabling the first rotating portion to return to its restricted position upon pivoting. The second clamping claw includes a second rotating portion, a second stopper, and a third elastic member. One end of the second rotating portion is pivotally connected to the other end of the second clamping arm. The second stopper is fixedly connected to the other end of the second clamping arm and, when the second rotating portion pivots, abuts one end of the second rotating portion to limit movement of the second rotating portion. The second elastic member has one end connected to one end of the second rotating portion and the other end connected to the other end of the second clamping arm, enabling the second rotating portion to return to its restricted position upon pivoting.

[0008] According to some embodiments of the present application, the first clamping arm further includes a first anti-collision pad disposed on the outside of the first clamping arm. The second clamping arm further includes a second anti-collision pad disposed on the outside of the second clamping arm.

[0009] According to some embodiments of the present application, the clamping device further includes a fixing bracket assembly, the fixing bracket assembly being fixedly connected to the upper surface of the substrate, and the substrate being connected to an external device via the fixing bracket assembly.

[0010] According to some embodiments of the present application, the clamping device further includes a clamping assembly, and the clamping assembly includes a first clamping unit and a second clamping unit that are symmetrically arranged and of the same number. The first clamping unit includes at least two first clamping parts, one end of each first upper arm of the first clamping arm is connected by a first pivot, and each first lower arm of the first clamping arm is connected by a second pivot. At least one of the first clamping parts is connected to the lower surface of the substrate via a connecting part. The second clamping unit includes at least two second clamping parts, one end of each second upper arm of the second clamping arm is connected by a first pivot, and each second lower arm of the second clamping arm is connected by a second pivot. At least one of the second clamping parts is connected to the lower surface of the substrate via a connecting part.

[0011] According to one aspect of the present application, the present application also provides a robot, which includes the clamping device as described above.

[0012] According to some embodiments of the present application, the robot is an underwater robot.

[0013] Beneficial effects

[0014] Through the above-mentioned technical solution, the present application forms a pre-pressure on the object to be clamped by the first clamping claw and the second clamping claw when the first clamping claw and the second clamping claw make a pivotal movement after the first clamping claw and the second clamping claw come into contact with the object to be clamped, so that the clamping device can prevent the object to be clamped from falling off from the clamping device when it comes into contact with the object to be clamped.

[0015] In the present application, the first driving part drives the first clamping arm to pivot, and the second driving part drives the second clamping arm to pivot, so that the object to be clamped can enter the clamping space and the clamping device can lock the object to be clamped, thereby achieving the salvage of the object to be clamped. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 A schematic diagram of the two-dimensional structure of a clamping device according to an embodiment of the present application is shown;

[0018] Figure 2 A schematic diagram showing a three-dimensional structure of a clamping device according to an embodiment of the present application is shown;

[0019] Figure 3 A schematic diagram showing a three-dimensional structure of a first clamping portion according to an embodiment of the present application is shown;

[0020] Figure 4 A schematic diagram showing a three-dimensional structure of a first clamping claw according to an embodiment of the present application is shown;

[0021] Figure 5 A schematic diagram showing a salvaging process of a clamping device according to an embodiment of the present application is shown;

[0022] Figure 6 Another schematic diagram showing a salvaging process of a clamping device according to an embodiment of the present application;

[0023] Figure 7 Another schematic diagram showing a salvaging process of a clamping device according to an embodiment of the present application;

[0024] Figure 8 Another schematic diagram showing a salvaging process of a clamping device according to an embodiment of the present application;

[0025] Figure 9 Another schematic diagram showing a salvaging process of a clamping device according to an embodiment of the present application;

[0026] Figure 10 Another schematic diagram shows the salvaging process of the clamping device according to an embodiment of the present application.

[0027] Reference numerals:

[0028] Clamping device 100; object to be clamped 200.

[0029] Base plate 1; first clamping part 2; second clamping part 3; first driving part 4; second driving part 5; fixing bracket group 6; clamping assembly 7.

[0030] Connecting portion 11 ; first pivot 12 ; second pivot 13 .

[0031] First clamping arm 21 ; First clamping claw 22 .

[0032] Second clamping arm 31 ; second clamping claw 32 .

[0033] a first upper arm 211 , a first lower arm 212 , and a first crash pad 213 .

[0034] a second upper arm 311 , a second lower arm 312 , and a second crash pad 313 .

[0035] a first rotating portion 221 , a first limiting block 222 , and a first elastic member 223 .

[0036] Fix the bracket 61.

[0037] First clamping unit 71; second clamping unit 72. DETAILED DESCRIPTION

[0038] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Like reference numerals in the drawings represent like or similar parts, and thus repetitive description thereof will be omitted.

[0039] The described features, structures or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of these specific details, or other methods, components, materials, devices, etc. may be employed. In these cases, well-known structures, methods, devices, implementations, materials or operations will not be shown or described in detail.

[0040] Furthermore, the terms "include," "comprise," and "have," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements, but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0041] The terms "first", "second" and the like in the specification, claims and drawings of this application are used to distinguish different objects rather than to describe a specific order.

[0042] The following is a clear and complete description of the technical solution of this application in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making any creative efforts are within the scope of protection of this application.

[0043] According to one aspect of the present application, the present application provides a clamping device 100. Figure 1 The clamping device 100 includes a substrate 1 , a first clamping portion 2 , a second clamping portion 3 , a first driving portion 4 and a second driving portion 5 .

[0044] The substrate 1 is connected to an external device so that the clamping device 100 can be fixed on the external device.

[0045] See also Figure 1The first clamping portion 2 includes a first clamping arm 21 and a first clamping claw 22. The first clamping arm 21 is arc-shaped. One end of the first clamping arm 21 is pivotally connected to the connecting portion 11 via a first pivot 12, allowing the first clamping arm 21 to pivot about the first pivot 12. Pivotal motion can be a rotational motion of a moving object around a fulcrum.

[0046] The connecting portion 11 is fixed to the lower surface of the substrate 1. The first clamping claw 22 is pivotally connected to the other end of the first clamping arm 21. The first clamping claw 22 contacts the object to be clamped 200 ( Figure 1 In the case of (not shown), the first clamping claw 22 can do pivotal movement.

[0047] Exemplarily, the connection portion 11 may be fixed to the lower surface of the substrate 1 by screws.

[0048] See also Figure 1 The second clamping portion 3 includes a second clamping arm 31 and a second clamping claw 32. The second clamping portion 3 is symmetrically arranged with the first clamping portion 2 and has the same structure. One end of the second clamping arm 31 is pivotally connected to the connecting portion 11 via the first pivot 12, so that the second clamping arm 31 can pivot about the first pivot 12.

[0049] The second clamping claw 32 is pivotally connected to the other end of the second clamping arm 31. When the second clamping claw 32 contacts the object 200, the second clamping claw 32 can pivot. The second clamping portion 3 and the first clamping portion 2 form a clamping space.

[0050] When the first clamping jaw 22 and the second clamping jaw 32 pivot, the object 200 can begin to enter the clamping space. The first clamping jaw 22 and the second clamping jaw 32 exert a preload on the object 200. The preload is a certain pressure exerted by the first clamping jaw 22 and the second clamping jaw 32 on the object to be clamped, thereby preventing the object 200 from falling off the clamping device 100.

[0051] See also Figure 1 One end of the first driving portion 4 is connected to the lower surface of the substrate 1, and the other end is connected to the first clamping arm 21. The first driving portion 4 can drive the first clamping arm 21 to perform pivotal motion.

[0052] One end of the second driving portion 5 is connected to the lower surface of the substrate 1, and the other end is connected to the second clamping arm 31. The second driving portion 5 can drive the second clamping arm 31 to perform pivotal motion.

[0053] For example, the first driving part 4 and the second driving part 5 can both be motors. The first driving part 4 and the second driving part 5 can be fixed to the lower surface of the substrate 1 through the connecting part 11.

[0054] When the first clamping jaw 22 and the second clamping jaw 32 contact the object 200 to be clamped and perform pivotal motion, the object 200 to be clamped begins to enter the clamping space. The first driving unit 4 pulls the first clamping arm 21 to perform pivotal motion and open outward. The second driving unit 5 pulls the second clamping arm 31 to perform pivotal motion and open outward, thereby allowing the object 200 to be clamped to enter the clamping space. After the object 200 to be clamped has completely entered the clamping space, the first driving unit 4 pulls the first clamping arm 21 to perform pivotal motion and close inward. The second driving unit 5 pulls the second clamping arm 31 to perform pivotal motion and close inward, thereby locking the object 200 to be clamped.

[0055] Through the above-mentioned embodiments, in this application, when the first clamping claw 22 and the second clamping claw 32 are in contact with the object to be clamped 200 and perform pivotal motion, the first clamping claw 22 and the second clamping claw 32 form a pre-pressure on the object to be clamped 200, which can prevent the object to be clamped 200 from falling off the clamping device 100 when the clamping device 100 contacts the object to be clamped 200.

[0056] In this application, the first driving part 4 drives the first clamping arm 21 to perform pivotal motion, and the second driving part 5 drives the second clamping arm 31 to perform pivotal motion, so that the object to be clamped 200 can enter the clamping space, and the clamping device 100 can lock the object to be clamped 200, thereby achieving the salvage of the object to be clamped 200.

[0057] Alternatively, see Figure 1-Figure 2 The first clamping arm 21 includes a first upper arm 211 and a first lower arm 212. One end of the first upper arm 211 is pivotally connected to the connecting portion 11 via a first pivot 12. One end of the first lower arm 212 is pivotally connected to the other end of the first upper arm 211 via a second pivot 13, and the other end of the first lower arm 212 is pivotally connected to the first clamping claw 22. The other end of the first driving portion 4 is connected to the second pivot 13 to drive the movement of the first clamping arm 21.

[0058] For example, the first driving part 4 (such as a motor) can pull the second pivot 13 to move toward the direction close to the substrate 1, thereby driving the first upper arm 211 to pivot with the first pivot 12 as a reference, and then driving the first lower arm 212 to move toward the direction close to the substrate 1, thereby opening the first clamping arm 21 outward.

[0059] The first driving part 4 (such as a motor) can pull the second pivot 13 to move away from the substrate 1, thereby driving the first upper arm 211 to pivot with the first pivot 12 as a reference, and then driving the first lower arm 212 to move away from the substrate 1, thereby closing the first clamping arm 21 inward.

[0060] The second clamping arm 31 includes a second upper arm 311 and a second lower arm 312 . The second clamping arm 31 is symmetrically arranged with the first clamping arm 21 and has the same structure.

[0061] One end of the second upper arm 311 is pivotally connected to the connecting portion 11 via the first pivot 12. One end of the second lower arm 312 is pivotally connected to the other end of the second upper arm 311 via the second pivot 13, and the other end of the second lower arm 312 is pivotally connected to the second clamping claw 32. The other end of the second driving portion 5 is connected to the second pivot 13 to drive the second clamping arm 31 to move.

[0062] For example, the second driving part 5 (such as a motor) can pull the second pivot 13 to move toward the direction close to the substrate 1, thereby driving the second upper arm 311 to pivot with the first pivot 12 as a reference, and then driving the second lower arm 312 to move toward the direction close to the substrate 1, thereby opening the second clamping arm 31 outward.

[0063] The second driving part 5 (such as a motor) can pull the second pivot 13 to move away from the substrate 1, thereby driving the second upper arm 311 to pivot with the first pivot 12 as a reference, and then driving the second lower arm 312 to move away from the substrate 1, thereby closing the second clamping arm 31 inward.

[0064] Alternatively, see Figure 3-Figure 4 The first clamping claw 22 includes a first rotating portion 221 , a first limiting block 222 and a first elastic member 223 .

[0065] One end of the first rotating portion 221 is pivotally connected to the other end of the first clamping arm 21 , that is, one end of the first rotating portion 221 is pivotally connected to the other end of the first lower arm 212 .

[0066] The first stopper 222 is fixedly connected to the other end of the first clamping arm 21, that is, the first stopper 222 is fixed to the other end of the first lower arm 212. When the first rotating portion 221 pivots, the first stopper 222 abuts against one end of the first rotating portion 221 to limit the movement of the first rotating portion 221, thereby preventing the first rotating portion 221 from exceeding its travel range.

[0067] One end of the first elastic member 223 is connected to one end of the first rotating portion 221, and the other end is connected to the other end of the first clamping arm 21, so that the first rotating portion 221 can be reset when it pivots to the restricted position. The restricted position can be the position of the first rotating portion when the first rotating portion abuts the first limit block.

[0068] The second clamping claw 32 has the same structure as the first clamping claw 22. The second clamping claw 32 includes a second rotating portion, a second limiting block, and a second elastic member.

[0069] One end of the second rotating portion is pivotally connected to the other end of the second clamping arm 31 , that is, one end of the second rotating portion is pivotally connected to the other end of the second lower arm 312 .

[0070] The second stopper is fixedly connected to the other end of the second clamping arm 31, that is, the second stopper is fixed to the other end of the second lower arm 312. When the second rotating part pivots, the second stopper abuts one end of the second rotating part to limit the movement of the second rotating part, thereby preventing the second rotating part from exceeding the travel range.

[0071] One end of the second elastic member is connected to one end of the second rotating portion, and the other end is connected to the other end of the second clamping arm 31, so that the second rotating portion is reset when it pivots to the restricted position.

[0072] For example, both the first elastic member 223 and the second elastic member may be torsion springs. After the first rotating portion 221 contacts the object to be clamped, the force between the first rotating portion 221 and the object 200 causes the first rotating portion 221 to pivot into the clamping space. After the second rotating portion contacts the object 200, the force between the second rotating portion and the object 200 causes the second rotating portion to pivot into the clamping space. The object 200 begins to enter the clamping space.

[0073] After the object 200 has fully entered the clamping space, the first rotating portion 221 pivots out of the clamping space under the elastic action of the first elastic member 223 (torsion spring). The second rotating portion pivots out of the clamping space under the elastic action of the second elastic member (torsion spring), thereby returning the first and second clamping jaws 22 and 32 to their original positions, thereby pre-pressing the object 200.

[0074] Alternatively, see Figure 1-Figure 2 The first clamping arm 21 further includes a first anti-collision pad 213 , which is disposed on the outside of the first clamping arm 21 . The second clamping arm 31 includes a second anti-collision pad 313 , which is disposed on the outside of the second clamping arm 31 .

[0075] The first anti-collision pad 213 and the second anti-collision pad 313 can prevent the clamping device 100 from having adverse effects on the object 200 during the salvaging process.

[0076] Alternatively, see Figure 1-Figure 2 The clamping device 100 further includes a fixing bracket set 6. The fixing bracket set 6 is fixedly connected to the upper surface of the substrate 1. The substrate 1 is connected to an external device through the fixing bracket set 6. The fixing bracket set 6 may include four fixing brackets 61, each of which may be fixed to the upper surface of the substrate 1 by a screw.

[0077] Alternatively, see Figure 2 The clamping device 100 further includes a clamping assembly 7. The clamping assembly 7 includes a first clamping unit 71 and a second clamping unit 72 that are symmetrically arranged and have the same number.

[0078] The first clamping unit 71 includes at least two first clamping portions 2. One end of each first upper arm 211 of the first clamping arm 21 is connected via a first pivot 12, and each first lower arm 212 of the first clamping arm 21 is connected via a second pivot 13. At least one of the first clamping portions 2 is connected to the lower surface of the substrate 1 via a connecting portion 11.

[0079] The second clamping unit 72 includes at least two second clamping portions 3. One end of each second upper arm 311 of the second clamping arm 31 is connected via a first pivot 12, and each second lower arm 312 of the second clamping arm 31 is connected via a second pivot 13. At least one second clamping portion 3 is connected to the lower surface of the substrate 1 via a connecting portion 11.

[0080] For example, see Figure 2 The first clamping unit 71 includes eight first clamping parts 2, two of which are connected to the lower surface of the substrate 1 through the connecting part 11. The second clamping unit 72 includes eight second clamping parts 3, two of which are connected to the lower surface of the substrate 1 through the connecting part 11. A first clamping claw 22 can be provided between every two first clamping arms 21. The first rotating parts 221 of the seven first clamping claws 22 can be an integral structure. A second clamping claw 32 can be provided between every two second clamping arms 31. The second rotating parts of the seven second clamping claws 32 can be an integral structure.

[0081] Through the above-mentioned embodiment, the present application can increase the clamping space by providing at least two first clamping parts 2 and at least two second clamping parts 3. This increases the clamping force and increases the contact area between the first clamping claw 22, the second clamping claw 32 and the object 200 to be clamped, thereby improving the clamping effect of the first clamping claw 22 and the second clamping claw 32.

[0082] According to one aspect of the present application, the present application further provides a robot, which includes the clamping device 100 as described above.

[0083] Optionally, the robot may be an underwater robot, and the object 200 to be clamped may be an unmanned underwater autonomous vehicle.

[0084] See also Figures 5-10 , the salvaging process of the clamping device 100 is:

[0085] See also Figure 5 , the clamping device 100 approaches the object to be clamped 200 (unmanned underwater autonomous vehicle).

[0086] See also Figure 6 The first driving portion 4 of the clamping device 100 pulls and drives the first clamping arm 21 to open outward, and the second driving portion 5 drives the second clamping arm 31 to open outward, and the clamping device 100 starts to salvage.

[0087] See also Figure 7 During the salvaging process of the clamping device 100 , the object 200 to be clamped (unmanned underwater autonomous vehicle) can press the first clamping claw 22 and the second clamping claw 32 back into the clamping space to achieve pre-compression of the object 200 to be clamped.

[0088] See also Figure 8 The first driving part 4 of the clamping device 100 pulls and drives the first clamping arm 21 to open outward, and the second driving part 5 drives the second clamping arm 31 to open outward, so that the object to be clamped 200 (unmanned underwater autonomous vehicle) gradually enters the clamping space.

[0089] See also Figure 4 and Figure 9 After the object 200 (UAV) to be clamped fully enters the clamping space, the first rotating portion 221 can pivot out of the clamping space under the elastic action of the first elastic member 223 (torsion spring). The second rotating portion can also pivot out of the clamping space under the elastic action of the second elastic member (torsion spring). This allows the first clamping jaw 22 and the second clamping jaw 32 to return to their original position, completing the pre-compression of the object 200.

[0090] See also Figure 10 The first driving part 4 of the clamping device 100 pulls and drives the first clamping arm 21 to close inward, and the second driving part 5 drives the second clamping arm 31 to close inward, completely clamping the object 200 to be clamped (unmanned underwater autonomous vehicle), thereby locking the object 200 to be clamped (unmanned underwater autonomous vehicle) and completing the salvage process.

[0091] Finally, it should be noted that the above are merely preferred embodiments of the present application and are not intended to limit the present application. Although the present application is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions of the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A clamping device, characterized in that: The clamping device comprises: a substrate, connected to an external device; The first clamping portion comprises: a first clamping arm, which is arc-shaped and has one end pivotally connected to a connecting portion via a first pivot, wherein the connecting portion is fixedly connected to the lower surface of the base plate; a first clamping claw pivotally connected to the other end of the first clamping arm so as to pivotally move when in contact with the object to be clamped; a second clamping portion, comprising a second clamping arm and a second clamping claw, wherein the second clamping portion and the first clamping portion are symmetrically arranged and have the same structure, and the second clamping portion and the first clamping portion form a clamping space; a first driving portion, one end of which is connected to the lower surface of the substrate and the other end of which is connected to the first clamping arm to drive the first clamping arm to perform pivotal motion; The second driving part has one end connected to the lower surface of the substrate and the other end connected to the second clamping arm to drive the second clamping arm to perform pivotal motion.

2. The clamping device according to claim 1, characterized in that The first clamping arm includes a first upper arm and a first lower arm; One end of the first upper arm is pivotally connected to the connecting portion via the first pivot; One end of the first lower arm is pivotally connected to the other end of the first upper arm via a second pivot, and the other end of the first lower arm is pivotally connected to the first clamping claw; The other end of the first driving portion is connected to the second pivot to drive the first clamping arm to move; The second clamping arm includes a second upper arm and a second lower arm, and the second clamping arm is symmetrically arranged with the first clamping arm; One end of the second upper arm is pivotally connected to the connecting portion via the first pivot; One end of the second lower arm is pivotally connected to the other end of the second upper arm via the second pivot, and the other end of the second lower arm is pivotally connected to the second clamping claw; The other end of the second driving portion is connected to the second pivot to drive the second clamping arm to move.

3. The clamping device according to claim 1, characterized in that The first clamping claw comprises: a first rotating portion, one end of which is pivotally connected to the other end of the first clamping arm; a first limiting block fixedly connected to the other end of the first clamping arm, and abutting against one end of the first rotating part to limit the movement of the first rotating part when the first rotating part pivots; a first elastic member, one end of which is connected to one end of the first rotating portion, and the other end of which is connected to the other end of the first clamping arm, so as to enable the first rotating portion to return to its original position when pivoting to the restricted position; The second clamping claw comprises: a second rotating portion, one end of which is pivotally connected to the other end of the second clamping arm; a second limiting block fixedly connected to the other end of the second clamping arm, and abutting against one end of the second rotating part to limit the movement of the second rotating part when the second rotating part pivots; The second elastic member has one end connected to one end of the second rotating part and the other end connected to the other end of the second clamping arm, so that the second rotating part can be reset when it pivots to the restricted position.

4. The clamping device according to claim 1, characterized in that The first clamping arm includes: a first anti-collision pad, disposed on an outer side of the first clamping arm; The second clamping arm includes a second anti-collision pad, which is arranged on the outer side of the second clamping arm.

5. The clamping device according to claim 1, characterized in that The clamping device also includes: A fixed bracket assembly, fixedly connected to the upper surface of the substrate; The substrate is connected to the external device through the fixing bracket group.

6. The clamping device according to claim 2, characterized in that: The clamping device also includes: The clamping assembly includes a first clamping unit and a second clamping unit that are symmetrically arranged and have the same number; The first clamping unit includes at least two first clamping parts, one end of each of the first upper arms of the first clamping arms is connected by the first pivot, and each of the first lower arms of the first clamping arms is connected by the second pivot; wherein at least one first clamping portion is connected to the lower surface of the substrate through the connecting portion; The second clamping unit includes at least two second clamping parts, one end of each second upper arm of the second clamping arm is connected by the first pivot, and each second lower arm of the second clamping arm is connected by the second pivot; At least one of the second clamping portions is connected to the lower surface of the substrate through the connecting portion.

7. A robot, characterized in that: The robot comprises the clamping device according to any one of claims 1-6.

8. The robot according to claim 7, characterized in that The robot is an underwater robot.

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