Underwater robot manipulator provided with flexible claw

The invention relates to an underwater robot manipulator equipped with a flexible claw, which not only has a large heavy object grabbing range, but also has few grabbing dead angles and good reliability. The transmission structure comprises a first joint moving up and down along the Z axis, a second joint rotating around the Z axis by 180 degrees and a third joint rotating around the Z axis by 360 degrees, the rear end face of a mechanical arm in the second joint is fixedly connected with a vertical plate in the L-shaped mounting plate through a plurality of bolts, and the mechanical arm of the second joint and a rotating shaft of the first joint are arranged at an angle of 90 degrees. A rotating seat is arranged between the upper and lower ends of the rotating shaft in the joint II; the rear end face of the mechanical arm in the joint I is fixedly connected with the front face of a vertical plate in the rotating seat through a plurality of bolts; the upper end face of a lead screw mounting base in the grabbi