High-degree-of-freedom mechanical arm

Abstract

The invention relates to the technical field of mechanical arms, and discloses a high-degree-of-freedom mechanical arm which comprises a supporting arm mechanism and a grabbing mechanism, the grabbing mechanism comprises a telescopic assembly and two clamping jaw assemblies, the telescopic assembly is connected with the supporting arm mechanism, and the two clamping jaw assemblies are symmetrically arranged on the two sides of the telescopic assembly; the telescopic assembly is used for driving the two clamping jaw assemblies to conduct clamping action. By means of the grabbing mechanism, when the pipeline is installed in an inserted mode, the middle position of the pipeline can be grabbed and transferred firstly, so that the stability of the pipeline transferred to the preset installation position is guaranteed, and after the pipeline is transferred to the preset position, the pipeline is fixed. And the grabbing width of the grabbing mechanism, the pipeline contact structure and the mode of generating traction force on the pipeline are actively changed through the grabbing mechanism, the manual pushing effect is matched, the pipeline is stably pushed to the preset installation position, the operation of manually using a rope to assist traction is omitted, and the pipeline installation difficulty is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and more specifically, to a mechanical arm with a high degree of freedom. Background Art

[0002] When installing large pipelines, a special auxiliary installation vehicle is used. The mechanical arm installed on the auxiliary installation vehicle is used to grab the pipeline for auxiliary installation. The grabbing mechanical arm currently used on the auxiliary installation vehicle is generally composed of a support arm mechanism with multiple degrees of freedom and a grabbing mechanism. By setting up a support arm mechanism with multiple degrees of freedom, the grabbing mechanism can perform multi-angle grabbing actions to meet different auxiliary installation usage requirements.

[0003] When using the above-mentioned robotic arm to assist in the installation of pipelines, in order to keep the two ends of the pipeline balanced and ensure the stability and safety of the pipeline during the transfer process, the grasping mechanism is generally controlled to grasp the middle position of the pipeline. However, when one end of the pipeline needs to be inserted horizontally or vertically into the preset installation position, and the insertion length exceeds the middle position of the pipeline, at this time, in order for the pipeline to be installed smoothly, the grasping mechanism can only be controlled to grasp the other end of the pipeline. This grasping method will cause unbalanced force on both ends of the pipeline. In order to solve this problem, the existing practice is to use a rope to assist in pulling the end of the pipeline with less gravity to keep the pipeline stable during the transfer process. Although this method can solve the problem of pipeline flatness, it requires a high degree of cooperation between the worker and the robotic arm during the traction process. It is difficult to operate and there is a certain risk to the worker's own safety. It is not conducive to use in large-scale pipeline installation operations. Summary of the invention

[0004] The purpose of the present invention is to provide a high degree of freedom robotic arm to solve the above-mentioned technical problems.

[0005] The present invention solves the above-mentioned technical problems through the following technical solutions:

[0006] The present invention provides a high degree of freedom mechanical arm, comprising: a support arm mechanism and a gripping mechanism, wherein the gripping mechanism comprises a telescopic assembly and two clamping claw assemblies, the telescopic assembly is connected to the support arm mechanism, the two clamping claw assemblies are symmetrically arranged on both sides of the telescopic assembly, and the telescopic assembly is used to drive the two clamping claw assemblies to perform a gripping action;

[0007] The clamping jaw assembly includes a first clamping member, an extension drive member, a rolling traction member, a roller clamping member, a transmission member and two second clamping members, the two second clamping members are symmetrically arranged on both sides of the first clamping member, the first clamping member and the ends of the two second clamping members away from the telescopic assembly are both provided with rolling contact members, the extension drive member is installed on the first clamping member, the extension drive member is respectively connected to the two second clamping members, the extension drive member is used to drive the two second clamping members to translate away from the first clamping member, and the rolling traction member is arranged on the first clamping member. One side of the transmission member generates rolling friction with the outer wall of the pipeline, pulling the pipeline to move linearly between the two clamping jaw assemblies. The roller clamp is respectively connected to the first clamp and the two second clamps. When clamping the outer wall of the pipeline, the roller clamp is used to contact the outer wall of the pipeline so that the clamped pipeline can be rotated. The two ends of the transmission member are respectively connected to the roller clamp and the extension drive member. When the extension drive member drives the two second clamps to translate and extend, the transmission member synchronously drives the roller clamp to retract to one side of the transmission member.

[0008] As a further optimization scheme of the present invention, the telescopic end of the telescopic component is connected to one side of the first clamping member, the top end of the first clamping member is hinged to one side of the telescopic component, the first clamping member and the two second clamping members are all arc-shaped plates, and the bottom of the arc-shaped plates are provided with a pointed end.

[0009] As a further optimization scheme of the present invention, the extension drive member includes a bidirectional cylinder, which is fixedly installed on the outer side of the first clamping member, and the two telescopic ends of the bidirectional cylinder are respectively fixed to the two second clamping members, and the first clamping member is fixedly installed with limiting rods on both sides facing the two second clamping members, and the outer sides of the two limiting rods are slidably sleeved with sliding sleeves, and the ends of the two sliding sleeves away from the first clamping member are respectively fixed to the corresponding second clamping members.

[0010] As a further optimization scheme of the present invention, the rolling traction member includes a driving motor, a traction roller and two pulleys, the driving motor is fixedly installed on the outside of the first clamping member, the traction roller is rotatably installed on the inside of the first clamping member, the two pulleys are respectively fixed to the rotating end of the driving motor and the rotating end of the traction roller, and the two pulleys are connected by a transmission belt.

[0011] As a further optimization scheme of the present invention, the traction roller is located in the middle position of the first clamping member, the traction roller is made of rubber, the outer peripheral side of the traction roller is concave inward, the concave cross-section is arc-shaped, and the outer peripheral side of the traction roller is evenly provided with protrusions.

[0012] As a further optimization scheme of the present invention, the roller clamping member includes three roller groups, and the three roller groups are respectively arranged on a first clamping member and two second clamping members. The roller groups located on the first clamping member are respectively connected to the remaining two roller groups. The roller groups include a movable frame, which is slidably connected to the first clamping member, and a number of evenly distributed clamping rollers are rotatably installed on both sides of the movable frame.

[0013] As a further optimization scheme of the present invention, the transmission member is arranged on the outside of the first clamping member, and the transmission member includes a connecting rod, a rotating body, a movable rod, a return spring and an extrusion block. The rotating body is rotatably installed on one side of the first clamping member, and the two ends of the rotating body are respectively hinged to the top of the connecting rod and the movable rod, the bottom end of the connecting rod is fixedly connected to the movable frame, the bottom end of the movable rod is slidably connected to one side of the first clamping member, the return spring is fixedly installed between the movable rod and the first clamping member, and one side of the movable rod is provided with an inclined groove adapted to the extrusion block, the extrusion block is fixed to the outer side of one of the sliding sleeves, and one end of the extrusion block is movably engaged with the inclined groove.

[0014] As a further optimization scheme of the present invention, the telescopic assembly includes a connecting seat and two hydraulic cylinders, the two hydraulic cylinders are symmetrically distributed on both sides of the connecting seat, the fixed ends of the hydraulic cylinders are hinged to the outer side of the connecting seat, and the telescopic ends of the hydraulic cylinders are hinged to the outer side of the first clamping member.

[0015] As a further optimization solution of the present invention, the rolling contact member is a spherical roller, the spherical roller is made of stainless steel, and the spherical roller is installed on the inner side of the tip portion.

[0016] As a further optimization scheme of the present invention, the support arm mechanism includes a first extension component, a second extension component and a flipping component. The fixed end of the first extension component is connected to an external device, and its connecting end is hingedly connected to the second extension component. The connecting end of the second extension component is hingedly connected to the flipping component. The flipping component is connected to a grasping mechanism, and is used to drive the grasping mechanism to perform lateral and longitudinal flipping actions.

[0017] The beneficial effects of the present invention are:

[0018] The grabbing mechanism provided in the present invention can first grab and transfer the middle position of the pipeline when inserting and installing the pipeline, so as to ensure the stability of the pipeline when it is transferred to the preset installation position. After the pipeline is transferred to the preset position, the grabbing mechanism actively changes its grabbing width, contact structure with the pipeline, and the way of generating traction force on the pipeline, and cooperates with the manual pushing action to achieve stable pushing of the pipeline to the preset installation position, eliminating the operation of manual use of ropes to assist traction, reducing the difficulty of pipeline installation, and being suitable for installation operations of large quantities of pipelines. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of a high degree of freedom mechanical arm provided by the present invention;

[0020] Figure 2 It is a structural schematic diagram of a grasping mechanism in a high degree of freedom mechanical arm provided by the present invention;

[0021] Figure 3 It is a structural schematic diagram of a first-view of a gripper assembly in a high-degree-of-freedom mechanical arm provided by the present invention;

[0022] Figure 4 It is a structural schematic diagram of a second viewing angle of a gripper assembly in a high degree of freedom mechanical arm provided by the present invention;

[0023] Figure 5 It is a structural schematic diagram of a roller clamping member in a high degree of freedom mechanical arm provided by the present invention;

[0024] Figure 6 It is a cross-sectional view of a gripper assembly in a high-degree-of-freedom mechanical arm provided by the present invention;

[0025] Figure 7 It is a structural schematic diagram of a transmission member, a roller group and a sliding sleeve in a high degree of freedom mechanical arm provided by the present invention;

[0026] Figure 8 It is a structural schematic diagram of a support arm mechanism in a high degree of freedom mechanical arm provided by the present invention.

[0027] In the figure: 1. support arm mechanism; 11. first extension component; 12. second extension component; 13. flip component; 2. grabbing mechanism; 21. telescopic component; 211. connecting seat; 212. hydraulic cylinder; 22. clamping claw assembly; 220. arc plate; 221. two-way cylinder; 222. limit rod; 223. sliding sleeve; 224. driving motor; 225. traction roller; 226. pulley; 227. movable frame; 228. clamping roller; 229. connecting rod; 2210. rotating body; 2211. movable rod; 2212. reset spring; 2213. extrusion block; 2214. inclined groove; 2215. spherical roller. DETAILED DESCRIPTION

[0028] The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that the discussion of these embodiments is only to enable those skilled in the art to better understand and implement the subject matter described herein, and the functions and arrangements of the elements discussed may be changed without departing from the scope of protection of the contents of this specification. Each example may omit, replace or add various processes or components as needed. In addition, the features described relative to some examples may also be combined in other examples.

[0029] Please refer to Figure 1 to Figure 2 A high degree of freedom robotic arm comprises: a support arm mechanism 1 and a grasping mechanism 2, wherein the grasping mechanism 2 comprises a telescopic component 21 and two clamping claw components 22, the telescopic component 21 is connected to the support arm mechanism 1, and the two clamping claw components 22 are symmetrically arranged on both sides of the telescopic component 21, and the telescopic component 21 is used to drive the two clamping claw components 22 to perform a clamping action.

[0030] Specifically, the clamping jaw assembly 22 includes a first clamping member, an extension drive member, a rolling traction member, a roller clamping member, a transmission member and two second clamping members. The first clamping member is connected to the telescopic assembly 21. The two second clamping members are symmetrically arranged on both sides of the first clamping member. The first clamping member and the ends of the two second clamping members away from the telescopic assembly 21 are both provided with rolling contact members. The extension drive member is installed on the first clamping member. The extension drive member is respectively connected to the two second clamping members. The extension drive member is used to drive the two second clamping members to translate away from the first clamping member to increase the clamping width of the clamping assembly. It is arranged on one side of the first clamping member, and generates rolling friction with the outer wall of the pipe to pull the pipe to move linearly between the two clamping jaw assemblies 22. The roller clamping member is respectively connected to the first clamping member and the two second clamping members. When the first clamping member and the two second clamping members clamp the outer wall of the pipe, the roller clamping member is used to contact with the outer wall of the pipe so that the clamped pipe can be rotated. The two ends of the transmission member are respectively connected to the roller clamping member and the extension driving member. When the extension driving member drives the two second clamping members to translate and extend, the transmission member synchronously drives the roller clamping member to retract to one side of the transmission member.

[0031] It should be noted that when the pipeline is normally grabbed and installed, the grabbing mechanism 2 is first driven to move to the location of the pipeline through the support arm mechanism 1, and then the two clamping jaw assemblies 22 are driven to rotate and open by extending the telescopic assembly 21, and then the clamping jaw assembly 22 is driven to move to the outside of the pipeline through the support arm mechanism 1, and the two clamping jaw assemblies 22 are driven to rotate and close by contracting the telescopic assembly 21, so that the two clamping jaw assemblies 22 are respectively close to the two sides of the pipeline. When the roller clamp contacts the outside of the pipeline, the clamping action of the pipeline is completed, and the grabbing mechanism 2 is driven to move by the support arm mechanism 1 to transfer the pipeline to the preset installation position. During the installation process, due to the setting of the roller clamp, the worker can manually rotate the outside of the pipeline to align the installation hole on the connecting end of the pipeline with the preset installation position, and then directly align and install it;

[0032] When it is necessary to insert the pipe horizontally or vertically into the preset position for installation, the above operation is repeated, and the grasping mechanism 2 is still controlled to grasp the middle position of the pipe. After the pipe reaches the entrance of the preset position, the support arm mechanism 1 stops moving, so that the grasping mechanism 2 and the pipe are aligned with the entrance of the preset position. Thereafter, the pipe is rotated to align the mounting hole on the connecting end with the preset mounting position, and then the two second clamping members are driven to move horizontally away from the first clamping member by the extension drive member, so that the overall clamping width of the clamping jaw assembly 22 is increased. In this process, the transmission member synchronously follows the movement of the extension drive member, so that the transmission member can drive the roller clamping member to move and shrink gradually away from the outside of the pipe, and the pipe is no longer fixed by the roller clamping member, but is still clamped by the first clamping member and the second clamping member, and the bottom of the pipe is in contact with the rolling contact member, so that the pipe is temporarily stabilized, and then one end of the pipe is pushed away from the entrance of the preset position, and at the same time, the rolling traction member is produced by the outer wall of the pipe. Rolling friction is generated, which produces horizontal traction on the pipeline, and finally enables the pipeline to slowly move in a straight line between the two clamping jaw assemblies 22 and gradually insert into the entrance of the preset position. Due to the extension of the clamping jaw assembly 22, more support can be provided for the pipeline during the translation process to ensure the stability of the pipeline during movement, until the end of the pipeline is aligned and connected with the preset installation position to complete the installation of the pipeline. In this way, even when the grasping mechanism 2 is performing insertion installation on the pipeline, it can first grasp and transfer the middle position of the pipeline to ensure the stability of the pipeline when it is transferred to the preset installation position. After the pipeline is transferred to the preset position, the grasping mechanism 2 actively changes its grasping width, contact structure with the pipeline, and the way of generating traction on the pipeline, and cooperates with the manual pushing action to achieve the stable pushing of the pipeline to the preset installation position, eliminating the operation of manual use of ropes to assist traction, reducing the difficulty of pipeline installation, and making it suitable for the installation of large quantities of pipelines.

[0033] Please refer to Figure 3 The telescopic end of the telescopic component 21 is connected to one side of the first clamping piece, the top end of the first clamping piece is hinged to one side of the telescopic component 21, the first clamping piece and the two second clamping pieces are both arc-shaped plates 220, the arc-shaped plates 220 can adapt to the shape of the pipeline, and the bottom of the arc-shaped plates 220 are provided with a pointed end, which facilitates the clamping claw assembly 22 to grab the bottom of the pipeline placed on the ground.

[0034] Please refer to Figure 1 to Figure 2 The extension drive member includes a two-way cylinder 221, which is fixedly installed on the outer side of the first clamping member. The two telescopic ends of the two-way cylinder 221 are respectively fixed to the two second clamping members. The first clamping member is fixedly installed with limit rods 222 on both sides facing the two second clamping members. The outer sides of the two limit rods 222 are slidably sleeved with sliding sleeves 223. The ends of the two sliding sleeves 223 away from the first clamping member are respectively fixed to the corresponding second clamping members.

[0035] It should be noted that when the extension drive drives the two second clamping members to translate and extend, the two-way cylinder 221 is extended, and the two second clamping members can be respectively driven to translate away from the first clamping member, while the sleeve 223 moves with the second clamping member, and the second clamping member can move smoothly under the sliding limit of the limit rod 222. After the two-way cylinder 221 is extended to the maximum extension, it stops extending, and the second clamping member no longer translates. At this time, the jaw assembly is extended to the state of maximum clamping width. By adjusting the clamping width of the jaw assembly 22, on the one hand, it can provide a longer support for the pipeline when pushing the pipeline to translate. After the pipeline reaches the preset installation position, the pipeline is always supported, thereby ensuring the safety of the pipeline installation. On the other hand, when grabbing a longer pipeline, the jaw assembly 22 can also be adjusted to the maximum clamping width, which is conducive to stable grabbing of the long pipeline.

[0036] Please refer to Figure 3 and Figure 6 The rolling traction member includes a driving motor 224, a traction roller 225 and two pulleys 226. The driving motor 224 is fixedly mounted on the outer side of the first clamping member, and the traction roller 225 is rotatably mounted on the inner side of the first clamping member. The two pulleys 226 are respectively fixed to the rotating ends of the driving motor 224 and the traction roller 225, and the two pulleys 226 are connected by a transmission belt. The traction roller 225 is located in the middle of the first clamping member. The traction roller 225 is made of rubber. The outer peripheral side of the traction roller 225 is concave inwardly. The concave cross section is arc-shaped. The arc-shaped concave can adapt to the arc shape of the outer side of the pipeline to increase the contact area between the traction roller 225 and the outer side of the pipeline. The outer peripheral side of the traction roller 225 is evenly provided with protrusions. The setting of the protrusions is used to increase the friction between the traction roller 225 and the outer side of the pipeline.

[0037] It should be noted that when the rolling traction member is in use, the two pulleys 226 can be rotated synchronously by driving the motor 224, thereby driving the traction roller 225 to rotate, and rolling friction is generated between the traction roller 225 and the outside of the pipe. At the same time, since the outside of the pipe loses the clamping effect of the roller clamp, its bottom is only supported by the rolling contact member, which can generate traction on the pipe. Combined with the action of manual push, the pipe can be slowly translated, thus saving manual thrust and making the translation action of the pipe more convenient.

[0038] Please refer to Figure 4 and Figure 5The roller clamp includes three roller groups, which are respectively arranged on the first clamp and the two second clamps. The roller groups on the first clamp are respectively connected to the remaining two roller groups. The roller groups include a movable frame 227, which is slidably connected to the first clamp. Both sides of the movable frame 227 are rotatably installed with a number of evenly distributed clamping rollers 228. The number of clamping rollers 228 on the first clamp is four, two in a group, symmetrically distributed on both sides of the first clamp, and the number of clamping rollers 228 on the second clamp is eight, four in a group, symmetrically distributed on both sides of the second clamp, and the clamping rollers 228 on the first clamp are fixed to the adjacent clamping rollers 228 on the second clamp by a rotating shaft, so that the entire roller clamp can move together.

[0039] It should be noted that when the clamping jaw assembly 22 clamps the pipe, the movable frame 227 is in a naturally expanded state, and the outer side of the clamping roller 228 extends to the inner side of the first clamping member and the second clamping member. When the first clamping member and the second clamping member rotate close to the outside of the pipe, the movable frame 227 and the clamping roller 228 synchronously follow their movement until the outer side of the clamping roller 228 contacts the outside of the pipe, thereby clamping the pipe. When the pipe is rotated so that the mounting hole at its connecting end is aligned with the mounting position, the pipe can be directly rotated due to the rolling contact between the clamping roller 228 and the pipe.

[0040] Please refer to Figure 3 , Figure 6 and Figure 7 The transmission member is arranged on the outer side of the first clamping member, and the transmission member includes a connecting rod 229, a rotating body 2210, a movable rod 2211, a return spring 2212 and an extrusion block 2213. The rotating body 2210 is rotatably installed on one side of the first clamping member, and the two ends of the rotating body 2210 are respectively hinged to the top of the connecting rod 229 and the movable rod 2211. The bottom end of the connecting rod 229 is fixedly connected to the movable frame 227, and the bottom end of the movable rod 2211 is slidably connected to one side of the first clamping member. The return spring 2212 is fixedly installed between the movable rod 2211 and the first clamping member. One side of the movable rod 2211 is provided with an inclined groove 2214 adapted to the extrusion block 2213. The extrusion block 2213 is fixed to the outer side of one of the sliding sleeves 223, and one end of the extrusion block 2213 is movably engaged with the inclined groove 2214.

[0041] It should be noted that when the transmission member is in use, the second clamping member is extended and extended by extending the driving member, and the extrusion block 2213 slides together with the sliding sleeve 223, gradually moving away from the inclined groove 2214, so that the extrusion force of the extrusion block 2213 on the movable rod 2211 changes synchronously, and under the elastic force of the reset spring 2212, the movable rod 2211 can be driven to move downward synchronously, and the rotating body 2210 starts to rotate under the driving action of the movable rod 2211, and the connecting rod 229 is driven by the rotating body 2210 and starts to move upward, thereby pulling the movable frame 227 connected thereto to move upward. After the block 2213 is completely separated from the inclined groove 2214, the reset spring 2212 is completely reset, and the movable rod 2211 no longer moves downward, and the rotating body 2210 and the connecting rod 229 are no longer active. At this time, the clamping roller 228 on the entire roller clamping member is no longer in contact with the outside of the pipe, so that the clamping roller 228 no longer clamps and fixes the pipe. After losing the clamping effect of the clamping roller 228, the pipe moves slightly downward under its own gravity, so that its bottom contacts the contact rolling member, so that the friction between the pipe and the clamping jaw assembly 22 is reduced, which makes it easier for the subsequent rolling traction member to drive the pipe to move horizontally.

[0042] Please refer to Figure 2 The telescopic assembly 21 includes a connecting seat 211 and two hydraulic cylinders 212. The two hydraulic cylinders 212 are symmetrically distributed on both sides of the connecting seat 211. The fixed end of the hydraulic cylinder 212 is hinged to the outer side of the connecting seat 211, and the telescopic end of the hydraulic cylinder 212 is hinged to the outer side of the first clamping member.

[0043] It should be noted that when the telescopic component 21 drives the clamping jaw component 22 to perform a grasping action, the hydraulic cylinder 212 is extended, which can drive the first clamping member to rotate. Under the connecting action of the extension driving member, the two second clamping members can rotate together with the first clamping member, thereby realizing the expansion action of the clamping jaw component 22.

[0044] Please refer to Figure 4 The rolling contact member is a spherical roller 2215, which is made of stainless steel and is installed on the inner side of the tip. The setting of the spherical roller 2215 can reduce the direct friction between the bottom ends of the first clamping member and the second clamping member and the pipeline.

[0045] Please refer to Figure 8 The support arm mechanism 1 includes a first extension component 11, a second extension component 12 and a flip component 13. The fixed end of the first extension component 11 is connected to an external device, and its connecting end is hingedly connected to the second extension component 12. The connecting end of the second extension component 12 is hingedly connected to the flip component 13. The flip component 13 is connected to the grasping mechanism 2, and is used to drive the grasping mechanism 2 to perform lateral and longitudinal flipping actions.

[0046] An example of the present specific implementation mode is described above, but the present embodiment is not limited to the above-mentioned specific implementation mode, which is merely illustrative and not restrictive. A person skilled in the art may make many forms inspired by the present embodiment, all of which are protected by the present embodiment.

Claims

1. A high degree of freedom robotic arm, comprising: A support arm mechanism (1) and a gripping mechanism (2), characterized in that the gripping mechanism (2) comprises a telescopic assembly (21) and two clamping jaw assemblies (22), the telescopic assembly (21) being connected to the support arm mechanism (1), the two clamping jaw assemblies (22) being symmetrically arranged on both sides of the telescopic assembly (21), and the telescopic assembly (21) being used to drive the two clamping jaw assemblies (22) to perform a clamping action; The clamping jaw assembly (22) comprises a first clamping member, an extension drive member, a rolling traction member, a roller clamping member, a transmission member and two second clamping members, the two second clamping members are symmetrically arranged on both sides of the first clamping member, the first clamping member and the two second clamping members are provided with rolling contact members at one end away from the telescopic assembly (21), the extension drive member is installed on the first clamping member, the extension drive member is respectively connected to the two second clamping members, the extension drive member is used to drive the two second clamping members to translate away from the first clamping member, the rolling traction member is arranged on the first clamping member One side of the holding member generates rolling friction with the outer wall of the pipe, pulling the pipe to move linearly between the two clamping jaw assemblies (22), the roller clamping member is respectively connected to the first clamping member and the two second clamping members, when clamping the outer wall of the pipe, the roller clamping member is used to contact the outer wall of the pipe, so that the clamped pipe can be rotated, the two ends of the transmission member are respectively connected to the roller clamping member and the extension drive member, when the extension drive member drives the two second clamping members to translate and extend, the transmission member drives the roller clamping member to retract toward one side of the transmission member synchronously.

2. A high degree of freedom robotic arm according to claim 1, characterized in that: The telescopic end of the telescopic component (21) is connected to one side of the first clamping member, the top end of the first clamping member is hinged to the one side of the telescopic component (21), the first clamping member and the two second clamping members are both arc-shaped plates (220), and the bottoms of the arc-shaped plates are both provided with pointed ends.

3. A high degree of freedom robotic arm according to claim 2, characterized in that: The extension drive member comprises a bidirectional cylinder (221), the bidirectional cylinder (221) is fixedly mounted on the outer side of a first clamping member, two telescopic ends of the bidirectional cylinder (221) are respectively fixed to two second clamping members, limiting rods (222) are fixedly mounted on both sides of the first clamping member facing the two second clamping members, sliding sleeves (223) are slidably mounted on the outer sides of the two limiting rods (222), and one end of the two sliding sleeves (223) away from the first clamping member is respectively fixed to the corresponding second clamping member.

4. A high degree of freedom robotic arm according to claim 3, characterized in that: The rolling traction member comprises a driving motor (224), a traction roller (225) and two pulleys (226); the driving motor (224) is fixedly mounted on the outside of the first clamping member; the traction roller (225) is rotatably mounted on the inside of the first clamping member; the two pulleys (226) are respectively fixed to the rotating end of the driving motor (224) and the rotating end of the traction roller (225); and the two pulleys (226) are connected to each other via a transmission belt.

5. A high degree of freedom robotic arm according to claim 4, characterized in that: The traction roller (225) is located in the middle of the first clamping member. The traction roller (225) is made of rubber. The outer peripheral side of the traction roller (225) is concave inwards, the concave cross section is arc-shaped, and the outer peripheral side of the traction roller (225) is evenly provided with protrusions.

6. A high degree of freedom robotic arm according to claim 5, characterized in that: The roller clamping member comprises three roller groups, which are respectively arranged on a first clamping member and two second clamping members, and the roller groups located on the first clamping member are respectively connected to the remaining two roller groups. The roller groups comprise a movable frame (227), which is slidably connected to the first clamping member, and a plurality of evenly distributed clamping rollers (228) are rotatably mounted on both sides of the movable frame (227).

7. A high degree of freedom robotic arm according to claim 6, characterized in that: The transmission member is arranged on the outside of the first clamping member, and comprises a connecting rod (229), a rotating body (2210), a movable rod (2211), a return spring (2212) and an extrusion block (2213). The rotating body (2210) is rotatably mounted on one side of the first clamping member, and the two ends of the rotating body (2210) are respectively hinged to the top of the connecting rod (229) and the movable rod (2211), and the bottom end of the connecting rod (229) is hinged to the movable frame (227). The movable rod (2211) is fixedly connected, the bottom end of the movable rod (2211) is slidably connected to one side of the first clamping member, the return spring (2212) is fixedly installed between the movable rod (2211) and the first clamping member, one side of the movable rod (2211) is provided with an inclined groove (2214) adapted to the extrusion block (2213), the extrusion block (2213) is fixed to the outer side of one of the sliding sleeves (223), and one end of the extrusion block (2213) is movably engaged with the inclined groove (2214).

8. A high degree of freedom robotic arm according to claim 7, characterized in that: The telescopic assembly (21) comprises a connecting seat (211) and two hydraulic cylinders (212), wherein the two hydraulic cylinders (212) are symmetrically distributed on both sides of the connecting seat (211), the fixed ends of the hydraulic cylinders (212) are hinged to the outer side of the connecting seat (211), and the telescopic ends of the hydraulic cylinders (212) are hinged to the outer side of the first clamping member.

9. A high degree of freedom robotic arm according to claim 8, characterized in that: The rolling contact member is a spherical roller (2215), the spherical roller is made of stainless steel, and the spherical roller is installed on the inner side of the tip portion.

10. The high degree of freedom robotic arm according to claim 1, characterized in that: The support arm mechanism (1) comprises a first extension component (11), a second extension component (12) and a flip component (13); the fixed end of the first extension component (11) is connected to an external device, and the connecting end thereof is hingedly connected to the second extension component (12); the connecting end of the second extension component (12) is hingedly connected to the flip component (13); the flip component (13) is connected to the grasping mechanism (2) and is used to drive the grasping mechanism (2) to perform lateral and longitudinal flipping actions.

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