Manipulator clamping arm mechanism and manipulator

The utility model relates to the technical field of parking, in particular to a clamping arm mechanism and a manipulator thereof. The clamping arm mechanism comprises a first driving unit, and the first driving unit is arranged on the frame body and serves as a power output source; the first linkage unit is connected with the first driving unit and can be driven by the first driving unit to rotate; the two groups of first transmission units are respectively arranged on two sides of the first driving unit and are respectively connected with the first linkage unit; the two clamping arm sets are arranged on the two sides of the first linkage unit respectively, and each clamping arm set is in transmission connection with one first transmission unit; wherein each clamping arm group comprises at least two clamping arms which are respectively connected with the corresponding first transmission units, and each clamping arm can be unfolded or folded relative to the frame body under the driving of the first transmissio