Bionic mechanical arm pipe grabbing device

Abstract

The invention relates to the technical field of mechanical grippers, in particular to a bionic mechanical arm tube gripping device which comprises a base, a tray, a blood collection tube, a first sliding rail, a second sliding rail and a sliding block. A plurality of trays are installed on the base, a plurality of blood collection tubes are installed on the trays, first sliding rails are vertically installed on the two sides of the base respectively, a second sliding rail is horizontally installed between the two first sliding rails, and a sliding block is installed on the second sliding rail; the problems that when an existing bionics mechanical arm grabs a blood collection tube, the blood collection tube needs to be clamped and placed in a labeling device for labeling when the blood collection tube is clamped and labeled, the needed time is long, the occupied area of equipment is large, the labeling efficiency is low, and when the bionics mechanical arm grabs the blood collection tube, the labeling efficiency is high are solved. The blood collection tubes do not need to be placed in the labeling device for labeling, time is saved, meanwhile, the occupied area of equipment is reduced, cost is saved, and the labeling efficiency of the blood collection tubes is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical grippers, and in particular to a bionic mechanical gripper pipe grasping device. Background Art

[0002] Blood sampling is one of the commonly used examination methods in hospitals. It refers to the process of medical staff collecting blood samples from the veins or arteries of the subjects. Before blood sampling, medical staff need to prepare a large number of blood collection tubes and paste corresponding labels on each blood collection tube to ensure that each blood collection tube corresponds to the tester. The blood collection tubes need to be taken manually by medical staff, which is time-consuming and labor-intensive, increasing the workload of medical staff. Existing technologies have provided some solutions.

[0003] For example, the Chinese patent, application number: 202221957006.4, published on November 11, 2022, discloses a medical bionic manipulator tube grasping device, including a fixed frame, a clamping assembly is movably installed at the bottom of the fixed frame, and a support frame is fixed on the lower end surface of the fixed frame at its two side edges, and a fixed plate is provided on the side where the two support frames are close to each other, and a tray is provided between the two fixed plates, and a test tube is placed on the tray. The two support frames are slidably installed on the corresponding fixed plates through a slider, and a first synchronous wheel is provided on the front and rear sides of the bottom of the two fixed plates. The first synchronous wheels on the same side are connected by a first belt, so as to realize accurate clamping of the test tubes on the tray and place the test tubes on the labeling device for labeling.

[0004] However, in the prior art, after the blood collection tube is clamped by the clamping assembly, it is still necessary to place the blood collection tube in the labeling device to label the blood collection tube, which takes a long time, occupies a large area of ​​equipment, has a high cost, and has a low labeling efficiency. In view of the above situation, in order to overcome the above technical problems, the present invention designs a bionic manipulator pipe grasping device to solve the above technical problems. Summary of the invention

[0005] The technical purpose to be achieved by the present invention is to solve the problem that when the existing bionic manipulator grasps the blood collection tube and clamps and labels the blood collection tube, the blood collection tube needs to be clamped and placed in a labeling device for labeling, which takes a long time, occupies a large area of ​​equipment, and has a low labeling efficiency. When the bionic manipulator grasps the blood collection tube, there is no need to place the blood collection tube in the labeling device for labeling, which saves time and, at the same time, reduces the area occupied by the equipment and the cost, thereby greatly improving the labeling efficiency of the blood collection tube.

[0006] In order to achieve the above technical objectives, the present invention provides the following technical solutions: A bionic manipulator tube grasping device, comprising: a base, a tray, a blood collection tube, a first slide rail, a second slide rail and a slider; a plurality of trays are mounted on the base, a plurality of blood collection tubes are mounted on the tray, first slide rails are vertically mounted on both sides of the base, a second slide rail is horizontally mounted between two of the first slide rails, and a slider is mounted on the second slide rail; The clamping mechanism is also included, and the clamping mechanism is slidably mounted on the slider. The clamping mechanism drives the driving assembly to move through the driving motor, drives the flexible claws and the flexible clamping block to bend inward, clamps the blood collection tube, and makes the flexible clamping block form a circular ring structure. The first bevel gear on the driving assembly moves axially and meshes with the second bevel gear, drives the rotating shaft and the rotating drum on the rotating assembly to rotate, and sends out the label. At the same time, the first gear on the rotating shaft drives the second gear to rotate, and drives the flexible clamping block to rotate. The rotating flexible clamping block drives the blood collection tube to rotate, and the label is attached to the outer wall of the blood collection tube.

[0007] The tray is used to place blood collection tubes in order, and multiple blood collection tubes are arranged in the tray for the robot to grasp and operate. The first slide rail is used to control the movement of the clamping mechanism in the Z-axis direction, and the second slide rail is used to control the movement of the clamping mechanism in the X-axis direction. The clamping mechanism can slide on the slider to achieve movement in the Y-axis direction.

[0008] The clamping mechanism realizes the precise movement of the flexible claws through the cooperation of the drive assembly. The flexible claws are connected to the flexible clamping block. Under the action of the drive assembly, the flexible clamping block can bend inwards to firmly clamp the blood collection tube. The flexible clamping block is bent to form a circular ring structure, and the stability is further enhanced by magnetic adsorption at both ends to ensure the reliability of the clamping action.

[0009] The clamping mechanism not only completes the grasping of the blood collection tube, but also realizes the label pasting function through the driving component. The first bevel gear in the clamping mechanism meshes with the second bevel gear when moving axially, thereby driving the rotating component to operate. The rotating drum on the rotating component is used to unfold the label and deliver it to the surface of the blood collection tube. At the same time, the first gear on the rotating shaft meshes with the second gear, and the flexible clamping block is driven to rotate through the second gear. When the flexible clamping block rotates, it drives the clamped blood collection tube to rotate synchronously. During the rotation process, the blood collection tube is closely attached to the delivered label, thereby achieving uniform pasting of the label.

[0010] During the entire operation, the blood collection tube rotates one circle (360°) to ensure that the label is completely attached to its outer wall, and the label is pasted flatly and firmly. The entire process makes full use of the coordinated work of the drive component and the rotating component, so that the grasping and labeling of the blood collection tube are completed synchronously, greatly improving work efficiency. In addition, the flexible clamping block of the device is made of highly elastic material and covered with non-slip rubber blocks to ensure that the blood collection tube will not slide due to insufficient friction during the grasping and rotation process, further improving the stability and operating accuracy of the device.

[0011] Preferably, the clamping mechanism comprises: a sliding block, a shell, a connecting block, a semicircular ring, a flexible claw, a flexible clamping block, a driving motor, a driving assembly, and a rotating assembly; the sliding block is slidably installed inside the sliding block, a shell is installed on the outside of the sliding block, and an upper cavity and a lower cavity are respectively opened inside the shell; connecting blocks are respectively installed on both sides of the shell, a semicircular ring is installed between the two connecting blocks, flexible claws are respectively installed at both ends of the semicircular ring, and flexible clamping blocks are movably installed on the flexible claws and the bottom of the semicircular ring, a driving motor is installed inside the sliding block, a driving assembly is installed at the output end of the driving motor, the driving assembly is connected to the semicircular ring, and the driving assembly is located inside the shell, a rotating assembly is installed inside the shell, and the rotating assembly is located at the bottom of the driving assembly, the flexible clamping block is connected end to end with the deformation of the flexible claw, and rotates at the semicircular ring and the bottom of the flexible claw, and the length of the flexible clamping block is equal to the circumference of the blood collection tube.

[0012] The upper and lower cavities inside the shell are used to accommodate and protect the internal components. Connecting blocks are symmetrically installed on both sides of the shell, and the connecting blocks are used to fix the semicircular ring. During the entire clamping process, the semicircular ring is fixed, and the flexible claws are flexibly deformed to wrap and clamp the blood collection tube. A driving motor is installed inside the sliding block, and the output end of the driving motor is connected to the driving component. The flexible clamping block is driven to deform the flexible claw to realize the grabbing operation of the blood collection tube. The rotating component is used to output the label and cooperate with the rotating blood collection tube to complete the label sticking function.

[0013] When the flexible claw is deformed, the two ends of the flexible clamping block are connected end to end to form a closed circular ring structure, and at the same time the flexible clamping block is driven to rotate on the semicircular ring and the bottom of the flexible claw.

[0014] Preferably, an output shaft is installed at the output end of the driving motor, a rotating disk is installed on the output shaft, a spiral shaft section is provided at the end of the output shaft, and triangular grooves are provided in a circular array on the rotating disk with the axis as the center.

[0015] It should be noted that the rotating disk always rotates with the output shaft, and the triangular groove cooperates with the protrusion on the circular ring block, which can drive the circular ring block to rotate in the same direction. Conversely, it will push the protrusion away from the triangular groove and push the moving plate onto the spiral shaft segment.

[0016] Preferably, the driving assembly includes: a movable plate, a spiral protrusion, a convex ring, a first bevel gear, a circular ring block and a protrusion, the movable plate is located at the outside of the output shaft, a spiral protrusion is provided at the center of the movable plate, the spiral protrusion cooperates with the spiral shaft section, a convex ring is installed on one side of the movable plate, the first bevel gear is rotatably installed on the convex ring, a circular ring block is installed on the first bevel gear, and the convex ring, the first bevel gear and the circular ring block are located on the same axis, a plurality of protrusions are installed on the outside of the circular ring block in a circular array with the axis as the center, the protrusion is a triangular structure, and the protrusion cooperates with the triangular groove.

[0017] The spiral protrusion cooperates with the spiral shaft section so that the moving plate can move axially during the rotation of the output shaft. A plurality of protrusions are installed in a circular array around the axis of the circular ring block. Each protrusion is designed as a triangular structure to cooperate with the corresponding triangular groove. The power of the rotating disk can be transmitted to the circular ring block and drive the first bevel gear to rotate. The first bevel gear will rotate on the protruding ring and will not drive the movable plate to rotate.

[0018] This structural design effectively combines the various components of the drive assembly, realizes the driving action through the cooperation of the moving plate, the spiral protrusion and the spiral shaft segment, and at the same time, through the cooperation of the first bevel gear and the circular ring block, the power is efficiently transmitted to the rotating assembly, providing stable and reliable power support for the clamping and labeling operations of the blood collection tube.

[0019] Preferably, the rotating assembly includes: a second bevel gear, a first gear, a second gear, a rotating shaft, a third gear, a fourth gear, a rotating drum and a label; the second bevel gear is installed inside the shell, the first gear is installed at the bottom of the second bevel gear, the second gear is installed at the bottom of the upper cavity, and the second gear and the first gear are meshed with each other, the second bevel gear, the first gear and the second gear are all located inside the upper cavity of the shell, a rotating shaft is installed at the bottom of the first gear, and the rotating shaft passes through the upper and lower cavities, the third gear is installed on the rotating shaft, the third gear is located below the first gear, a fourth gear is installed on one side of the third gear, and the third gear and the fourth gear are meshed with each other, a rotating drum is installed at the bottom of the fourth gear, the rotating bottom is connected to the bottom of the lower cavity, and the third gear, the fourth gear and the rotating drum are all located inside the lower cavity of the shell, a rolled label is placed on the rotating shaft, and the free end of the label is surrounded by the outside of the rotating drum.

[0020] The first gear meshes with the second gear installed at the bottom of the upper cavity, so that the rotation of the second bevel gear can accurately transmit power through the gear transmission system. The second bevel gear, the first gear and the second gear are all arranged inside the upper cavity of the housing to ensure the compactness and protection of the mechanism.

[0021] The bottom of the first gear is connected to the rotating shaft, which passes through the upper and lower cavities of the shell to transfer power from the upper cavity to the lower cavity. The rotating drum is used to transport the labels. The bottom of the rotating drum is fixedly connected to the bottom of the lower cavity of the shell to maintain the stability of the overall structure.

[0022] The rolled label is placed on the rotating shaft, and its free end is wound around the outside of the drum. As the gear transmission system operates, the drum drives the label to unfold and output, providing support for labeling the blood collection tube. The entire rotating assembly achieves efficient transmission from power input to label output through the ingenious design of gears and shaft systems, while ensuring the continuity and accuracy of the labeling process.

[0023] It should be noted that the labels are manually mounted on the rotating shaft, and there is an easy-to-tear structure between the labels. When a label is attached to a blood collection tube, the label will break when the blood collection tube falls.

[0024] Preferably, flexible covers are respectively installed on the top of the two flexible claws, and connecting rods are movably installed on the side of the two flexible covers close to one end of the semicircular ring, and rectangular blocks are installed on the free ends of the two connecting rods, and two connecting rods are respectively installed on the other side of the rectangular block away from the connecting rod, and the free ends of the two connecting rods are connected to the movable plate.

[0025] This design transmits power to the rectangular block through the connecting rod, and drives the connecting rod to move through the rectangular block, thereby achieving efficient transmission of the clamping mechanism and helping to improve the stability and grasping accuracy of the device.

[0026] Preferably, a fixing pin is respectively installed on the top of both ends of the semicircular ring, a movable rod is installed on the top of the fixing pin, and the middle part of the movable rod is rotated and positioned on the fixing pin, and a first push rod is respectively installed on the inner ends of the two movable rods, and the second push rod is respectively installed on the outer ends of the two movable rods, and the free ends of the first push rod and the second push rod are provided with pistons, and the inner ends of the two movable rods away from the second push rod are respectively connected to the two connecting rods, and an oil cylinder is respectively provided on the top of the two flexible claws, one side of the two oil cylinders is movably connected to the first push rod and the second push rod respectively, and the other side of the two oil cylinders is respectively provided with a first telescopic oil pipe and a second telescopic oil pipe, and the two first telescopic oil pipes are located on the inner sides of the two second telescopic oil pipes, and a first oil hole and a second oil hole are respectively opened inside the oil cylinder, the piston of the first push rod is located inside the first oil hole, the piston of the second push rod is located inside the second oil hole, and the first oil hole is connected with the first telescopic oil pipe, and the second oil hole is connected with the second telescopic oil pipe, and hydraulic oil is placed in the first telescopic oil pipe and the second telescopic oil pipe.

[0027] The middle part of the movable rod is rotatably connected by a fixed pin. The pistons on the free ends of the first push rod and the second push rod are used for hydraulic transmission with the inside of the oil cylinder. The first telescopic oil pipe and the second telescopic oil pipe are filled with hydraulic oil for hydraulic transmission. Through the coordination between the movable rod, the first push rod, the second push rod and the oil cylinder, the device can accurately control the bending and resetting action of the flexible claw, thereby ensuring the stability and reliability of clamping and releasing the blood collection tube.

[0028] It should be noted that the first telescopic oil pipe and the second telescopic oil pipe are connected to the flexible claw, and the flexible claw can be bent and deformed. When the first telescopic oil pipe and the second telescopic oil pipe are extended or contracted, the flexible claw can be driven to deform and bend, so that the flexible clamping block is deformed at the same time to form a circular structure. Preferably, a first groove is formed at the bottom of the semicircular ring, a second groove is formed at the bottom of the two flexible claws, and two ends of the first groove are respectively connected to the two second grooves.

[0029] The first groove and the second groove are used to install the flexible block, and make the roller on the flexible block contact with the inner walls of the first groove and the second groove to reduce friction, so that the flexible block can rotate inside the circular structure formed around the first groove and the second groove.

[0030] Preferably, the flexible clamping block includes: a flexible block, a roller, trapezoidal teeth and a rubber block. The flexible block rotates inside the first groove and the second groove. A plurality of rollers are respectively provided on both sides of the top of the flexible block. A plurality of trapezoidal teeth are provided in a linear array on one side of the bottom of the flexible block, and the plurality of trapezoidal teeth are meshed with the second gear. A plurality of rubber blocks are provided in a linear array on the other side of the bottom of the flexible block. The two end surfaces of the flexible block have different magnetic properties.

[0031] The roller contacts the side walls of the first groove and the second groove on the semicircular ring and the flexible claw, so that the friction between the flexible block and the inner wall is reduced during the rotation, and the rubber block is used to increase the contact area with the blood collection tube and firmly grasp the blood collection tube to prevent it from falling off. The trapezoidal teeth are used to cooperate with the second gear and transmit power to the flexible block and drive the blood collection tube to rotate. The two end surfaces of the flexible block have different magnetic properties so that the head and tail of the flexible block can cooperate quickly and can quickly enter the second groove when rotating.

[0032] Preferably, the distance between the inner end of the spiral shaft segment and the side of the rotating disk away from the driving motor is equal to the distance between the outer end surface of the movable plate and the side of the circular ring block close to the rotating disk.

[0033] This is to ensure that when the flexible clamping block contacts head to tail and clamps the blood collection tube, the movable plate will fall off the spiral shaft segment, and the power will not be transmitted to the flexible claw during the subsequent continuous rotation of the driving motor, and the annular block just contacts the rotating disk so that the protrusion on the annular block cooperates with the triangular groove on the rotating disk, and the power is transmitted to the first bevel gear through the rotating disk, driving the rotating assembly to rotate, thereby outputting the label. When the blood collection tube is put down, the driving motor rotates in the opposite direction to quickly push the annular block out, and make the movable plate return to the spiral shaft segment, drive the movable plate to move, and restore the flexible claw to its original position, and put down the blood collection tube.

[0034] The beneficial effects of the present invention are as follows: 1. The present invention provides a flexible clamping block, a driving assembly and a rotating assembly on the clamping mechanism. Through the cooperation between the driving assembly and the rotating assembly, the flexible clamping block wraps and clamps the blood collection tube, and drives the blood collection tube to rotate 360 ​​degrees around its own axis. Through the joint rotation of the rotating shaft and the rotating drum, the label is output and attached to the blood collection tube. There is no need to place the blood collection tube in the labeling device for labeling, which saves time. At the same time, it also reduces the floor space and cost of the equipment, and greatly improves the labeling efficiency of the blood collection tube.

[0035] 2. The present invention provides a flexible claw on the clamping mechanism, and the first push rod and the second push rod cooperate with each other to jointly push the first telescopic oil tube and the second telescopic oil tube to extend and retract, thereby driving the flexible claw to deform. The flexible claw will simultaneously drive the flexible clamping block to wrap the blood collection tube with the clamping claw, and the multiple rubber blocks on the flexible clamping block will be in full contact with the blood collection tube and firmly fix the blood collection tube, thereby preventing the blood collection tube from falling off during the movement.

[0036] 3. The present invention provides a rotating assembly on the clamping mechanism, and the second bevel gear on the rotating assembly drives the first gear and the second gear to rotate, thereby driving the flexible clamp to rotate, and at the same time drives the fourth gear to rotate through the third gear, and outputs the label on the rotating shaft, and cooperates with the rotating blood collection tube to stick the label on the outside of the blood collection tube. Through the same power source, the label is stuck on the outer wall of the blood collection tube during the clamping and moving process of the blood collection tube, and there is no need to place the blood collection tube in the labeling device for labeling, which saves time and cost and greatly improves the labeling efficiency of the blood collection tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] The above and other aspects of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which: Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention.

[0039] Figure 2 It is a three-dimensional structural schematic diagram of the clamping mechanism of the present invention.

[0040] Figure 3 It is a three-dimensional structural schematic diagram of the clamping mechanism of the present invention without a sliding block.

[0041] Figure 4 It is a three-dimensional structural schematic diagram of the driving motor, rotating shaft, rotating disk and spiral shaft segment of the present invention.

[0042] Figure 5 It is a three-dimensional structural schematic diagram of the driving component of the present invention.

[0043] Figure 6 It is a three-dimensional structural schematic diagram of the driving component of the present invention from another perspective.

[0044] Figure 7 It is a three-dimensional structural schematic diagram of the rotating assembly of the present invention.

[0045] Figure 8 It is a schematic diagram of the three-dimensional structure inside the cavity on the shell of the present invention.

[0046] Fig. 9 It is a schematic diagram of the three-dimensional structure inside the shell of the present invention.

[0047] Fig.10 It is a three-dimensional structural schematic diagram of the connecting block, the flexible claws and the flexible clamping block of the present invention.

[0048] Fig.11 It is a schematic diagram of the three-dimensional structure inside the flexible cover of the present invention.

[0049] Fig.12 It is a three-dimensional structural schematic diagram of the flexible claw and the flexible clamping block of the present invention from another perspective.

[0050] Fig.13 It is a schematic diagram of the three-dimensional structure of the flexible clamping block of the present invention.

[0051] Fig.14 It is a schematic diagram of the three-dimensional structure inside the oil cylinder of the present invention.

[0052] In the figure: 1, base; 2, tray; 3, blood collection tube; 4, first slide rail; 5, second slide rail; 6, slider; 7, clamping mechanism; 71, sliding block; 72, housing; 721, upper cavity; 722, lower cavity; 73, connecting block; 74, semicircular ring; 741, first groove; 75, flexible claw; 751, flexible cover; 7511, fixing pin; 7512, first push rod; 7513, second push rod; 7514, oil cylinder; 7515, first telescopic oil pipe; 7516, second telescopic oil pipe; 7517, first oil hole; 7518, second oil hole; 7519, piston; 752, connecting rod; 753, rectangular block; 754, connecting rod; 755, The second groove; 756, movable rod; 76, flexible clamping block; 761, flexible block; 762, roller; 763, trapezoidal teeth; 764, rubber block; 77, driving motor; 771, output shaft; 772, rotating disk; 773, spiral shaft section; 774, triangular groove; 78, driving assembly; 781, moving plate; 782, convex ring; 783, first bevel gear; 784, spiral protrusion; 785, circular ring block; 786, convex block; 79, rotating assembly; 791, second bevel gear; 792, first gear; 793, second gear; 794, rotating shaft; 795, third gear; 796, fourth gear; 797, rotating drum; 798, label. DETAILED DESCRIPTION

[0053] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0054] like Figures 1 to 14 As shown, a bionic manipulator tube grasping device comprises: a base 1, a tray 2, a blood collection tube 3, a first slide rail 4, a second slide rail 5 and a slider 6; a plurality of trays 2 are mounted on the base 1, a plurality of blood collection tubes 3 are mounted on the tray 2, first slide rails 4 are vertically mounted on both sides of the base 1, a second slide rail 5 is horizontally mounted between two of the first slide rails 4, and a slider 6 is mounted on the second slide rail 5; The clamping mechanism 7 is also included, and the clamping mechanism 7 is slidably installed on the slider 6. The clamping mechanism 7 drives the driving assembly 78 to move through the driving motor 77, drives the flexible claws 75 and the flexible clamping block 76 to bend inward, clamps the blood collection tube 3, and makes the flexible clamping block 76 form a circular ring structure. The first bevel gear 783 on the driving assembly 78 moves axially and meshes with the second bevel gear 791, drives the rotating shaft 794 and the rotating drum 797 on the rotating assembly 79 to rotate, and sends out the label 798. At the same time, the first gear 792 on the rotating shaft 794 drives the second gear 793 to rotate, and drives the flexible clamping block 76 to rotate. The rotating flexible clamping block 76 drives the blood collection tube 3 to rotate, and sticks the label 798 on the outer wall of the blood collection tube 3.

[0055] The clamping mechanism 7 can accurately control the movement of the flexible claw 75 through the cooperation of the driving assembly 78. The flexible claw 75 is connected to the flexible clamping block 76. Under the action of the driving assembly 78, the flexible clamping block 76 can bend inward and form an annular structure to firmly clamp the blood collection tube 3.

[0056] In addition, the clamping mechanism 7 is also responsible for the function of pasting the label 798 on the blood collection tube 3. During operation, the clamping mechanism 7 meshes with the second bevel gear 791 through the axial movement of the first bevel gear 783, thereby driving the rotating assembly 79 to operate. The rotating shaft 794 in the rotating assembly 79 unfolds the label 798 and transports it to the surface of the blood collection tube 3 through the rotating drum 797. At the same time, the first gear 792 on the rotating shaft 794 meshes with the second gear 793, and the second gear 793 drives the flexible clamping block 76 to rotate. When rotating, the flexible clamping block 76 drives the blood collection tube 3 to rotate synchronously, so that the blood collection tube 3 is closely attached to the label 798 during the rotation process, thereby achieving uniform pasting of the label 798. During the entire labeling operation, the blood collection tube 3 will rotate a full circle (360°) to ensure that the label 798 is completely attached to the outer wall of the tube body, and the pasting effect is flat and firm.

[0057] like Figure 2 and Figure 3 As shown, the clamping mechanism 7 includes: a sliding block 71, a shell 72, a connecting block 73, a semicircular ring 74, a flexible claw 75, a flexible clamping block 76, a driving motor 77, a driving assembly 78, and a rotating assembly 79; the sliding block 71 is slidably installed inside the slider 6, and a shell 72 is installed on the outer side of the sliding block 71, and an upper cavity 721 and a lower cavity 722 are respectively opened inside the shell 72; connecting blocks 73 are respectively installed on both sides of the shell 72, and a semicircular ring 74 is installed between the two connecting blocks 73, and flexible claws 75 are respectively installed at both ends of the semicircular ring 74, and the flexible claws 75 and the semicircular ring 74 are respectively installed. A flexible clamp 76 is movably installed at the bottom of the ring 74, a driving motor 77 is installed inside the sliding block 71, a driving assembly 78 is installed at the output end of the driving motor 77, the driving assembly 78 is connected to the semicircular ring 74, and the driving assembly 78 is located inside the shell 72, a rotating assembly 79 is installed inside the shell 72, and the rotating assembly 79 is located at the bottom of the driving assembly 78, the flexible clamp 76 is connected end to end at both ends as the flexible claw 75 is deformed, and rotates at the bottom of the semicircular ring 74 and the flexible claw 75, and the length of the flexible clamp 76 is equal to the circumference of the blood collection tube 3.

[0058] When the clamping mechanism 7 starts working, the internal drive motor 77 is started, and the drive motor 77 rotates to drive the output shaft 771 to rotate, so that the moving plate 781 moves toward the rotating disk 772 and deforms the flexible claw 75 driven by the drive assembly 78, bending inward, thereby driving the flexible clamping block 76 to bend. The rubber block 764 on the flexible clamping block 76 contacts the outer wall of the blood collection tube 3 to achieve wrapping and clamping. The head and tail ends of the flexible clamping block 76 are magnetically attracted to each other to form a closed circular structure.

[0059] The driving assembly 78 transmits power to the rotating assembly 79 at the same time, driving the flexible clamping block 76 of the circular structure to rotate at the bottom of the flexible claw 75 and the semicircular ring 74, and driving the blood collection tube 3 to rotate. At the same time, the rotating assembly 79 outputs the label 798 and cooperates with the rotating blood collection tube 3 to stick the label 798 on the outer wall, thereby realizing the grabbing and labeling of the blood collection tube 3.

[0060] like Figure 4 As shown, an output shaft 771 is installed at the output end of the driving motor 77, a rotating disk 772 is installed on the output shaft 771, a spiral shaft section 773 is provided at the end of the output shaft 771, and a triangular groove 774 is opened in a circular array on the rotating disk 772 with the axis as the center.

[0061] like Figure 5 and Figure 6 As shown, the driving assembly 78 includes: a moving plate 781, a spiral protrusion 784, a convex ring 782, a first bevel gear 783, a circular ring block 785 and a protrusion 786. The moving plate 781 is located on the outside of the output shaft 771. A spiral protrusion 784 is provided in the center of the moving plate 781. The spiral protrusion 784 cooperates with the spiral shaft segment 773. A convex ring 782 is installed on one side of the moving plate 781. The first bevel gear 783 is rotatably installed on the convex ring 782. The first bevel gear 783 is installed on the circular ring block 785. The convex ring 782, the first bevel gear 783 and the circular ring block 785 are located on the same axis. A plurality of protrusions 786 are installed on the outside of the circular ring block 785 in a ring array with the axis as the center. The protrusion 786 is a triangular structure, and the protrusion 786 cooperates with the triangular groove 774.

[0062] The driving motor 77 is started, and drives the output shaft 771 and the connected rotating disk 772 and the spiral shaft section 773 to rotate together. The rotation of the spiral shaft section 773 cooperates with the spiral protrusion 784 on the moving plate 781, so that the moving plate 781 moves toward the rotating disk 772. The displacement of the moving plate 781 further drives the connecting rod 754 and the rectangular block 753 to move, and during this process, the first bevel gear 783 and the annular block 785 will not rotate.

[0063] When the spiral protrusion 784 on the moving plate 781 is separated from the spiral shaft section 773, the protrusion 786 on the annular block 785 cooperates with the triangular groove of the rotating disk 772 to enter therein, so that the annular block 785 contacts the rotating disk 772. At this time, the first bevel gear 783 meshes with the second bevel gear 791, and the power is transmitted from the rotating disk 772 to the rotating assembly 79. The second gear 793 on the rotating assembly 79 meshes with the trapezoidal teeth 763 on the flexible block 761, driving the flexible clamping block 76 to rotate, so that the flexible clamping block 76 and the clamped blood collection tube 3 rotate synchronously.

[0064] like Figures 7 to 9 As shown, the rotating assembly 79 includes: a second bevel gear 791, a first gear 792, a second gear 793, a rotating shaft 794, a third gear 795, a fourth gear 796, a rotating drum 797 and a label 798; the second bevel gear 791 is installed inside the housing 72, the first gear 792 is installed at the bottom of the second bevel gear 791, the second gear 793 is installed at the bottom of the upper cavity 721, and the second gear 793 and the first gear 792 are meshed with each other, the second bevel gear 791, the first gear 792 and the second gear 793 are all located inside the upper cavity 721 of the housing 72, the rotating shaft 794 is installed at the bottom of the first gear 792, and the The rotating shaft 794 passes through the upper and lower cavities 722, and a third gear 795 is installed on the rotating shaft 794, and the third gear 795 is located below the first gear 792. A fourth gear 796 is installed on one side of the third gear 795, and the third gear 795 and the fourth gear 796 are meshed with each other. A rotating drum 797 is installed at the bottom of the fourth gear 796, and the rotating bottom is connected to the bottom of the lower cavity 722, and the third gear 795, the fourth gear 796 and the rotating drum 797 are all located inside the lower cavity 722 of the outer shell 72, and a rolled label 798 is placed on the rotating shaft 794, and the free end of the label 798 is wrapped around the outside of the rotating drum 797.

[0065] When the annular block 785 and the first bevel gear 783 move together with the moving plate 781, the protrusion 786 on the annular block 785 cooperates with the triangular groove of the rotating disk 772 to enter therein, so that the annular block 785 contacts the rotating disk 772. At this time, the first bevel gear 783 meshes with the second bevel gear 791, and the power is transmitted from the rotating disk 772 to the second bevel gear 791, thereby driving the first gear 792 and the second gear 793 to rotate. The second gear 793 meshes with the trapezoidal teeth 763 on the flexible block 761, driving the flexible clamping block 76 to rotate. The flexible clamping block 76 drives the clamped blood collection tube 3 to rotate synchronously.

[0066] While the blood collection tube 3 is rotating, the first gear 792 also drives the third gear 795 through the rotating shaft 794, thereby driving the fourth gear 796 and the rotating drum 797 to rotate. The rotating shaft 794 unfolds the label 798 and outputs it through the rotating drum 797, and it is precisely attached to the rotating blood collection tube 3. The blood collection tube 3 rotates 360 degrees, and the label 798 is completely attached to its outer wall. The entire process of attaching the label 798 is completed while the flexible clamp clamps the blood collection tube 3.

[0067] like Fig.10 As shown, flexible covers 751 are respectively installed on the top of the two flexible claws 75, and connecting rods 752 are movably installed on the side of one end of the two flexible covers 751 close to the semicircular ring 74, and rectangular blocks 753 are installed on the free ends of the two connecting rods 752. Two connecting rods 754 are respectively installed on the other side of the rectangular block 753 away from the connecting rod 752, and the free ends of the two connecting rods 754 are connected to the movable plate 781.

[0068] When the clamping mechanism 7 starts to work, the internal drive motor 77 is started, and the drive motor 77 rotates to drive the output shaft 771 and the connected rotating disk 772 and the spiral shaft section 773 to operate together. The rotation of the spiral shaft section 773 cooperates with the spiral protrusion 784 on the movable plate 781, so that the movable plate 781 moves toward the rotating disk 772. The displacement of the movable plate 781 further drives the connecting rod 754 and the rectangular block 753 to move, and the rectangular block 753 drives the connecting rod 752 to move, and the connecting rod 752 is connected to the inner end of the movable rod 756, so that the inner end of the movable rod 756 rotates outward and the outer end rotates inward with the fixed pin 7511 as the axis.

[0069] like Fig.11 and Fig.14As shown, the top of both ends of the semicircular ring 74 is respectively installed with a fixing pin 7511, and the top of the fixing pin 7511 is installed with a movable rod 756, and the middle part of the movable rod 756 is rotated and located on the fixing pin 7511, and the inner ends of the two movable rods 756 are respectively installed with a first push rod 7512, and the outer ends of the two movable rods 756 are respectively installed with a second push rod 7513, and the free ends of the first push rod 7512 and the second push rod 7513 are respectively provided with a piston 7519, and the inner ends of the two movable rods 756 away from the second push rod 7513 are respectively connected to the two connecting rods 752, and the tops of the two flexible claws 75 are respectively provided with an oil cylinder 7514, and one side of the two oil cylinders 7514 is respectively connected to the first push rod 7512 and the second push rod 7513. 513 is movably connected, and the other side of the two oil cylinders 7514 is respectively provided with a first telescopic oil pipe 7515 and a second telescopic oil pipe 7516, and the two first telescopic oil pipes 7515 are located on the inner side of the two second telescopic oil pipes 7516, and the inside of the oil cylinder 7514 is respectively provided with a first oil hole 7517 and a second oil hole 7518, the piston 7519 of the first push rod 7512 is located in the first oil hole 7517, the piston 7519 of the second push rod 7513 is located in the second oil hole 7518, and the first oil hole 7517 is communicated with the first telescopic oil pipe 7515, and the second oil hole 7518 is communicated with the second telescopic oil pipe 7516, and hydraulic oil is placed in the first telescopic oil pipe 7515 and the second telescopic oil pipe 7516.

[0070] During the outward movement of the inner end of the movable rod 756, the first push rod 7512 also moves accordingly, and its piston 7519 slides in the first oil hole 7517, extracting the hydraulic oil from the first telescopic oil tube 7515 to shrink it. At the same time, the inward movement of the outer end of the movable rod 756 pushes the second push rod 7513, and its piston 7519 slides in the second oil hole 7518, pressing the hydraulic oil into the second telescopic oil tube 7516 to extend it. Through the coordinated action of the two telescopic oil tubes, the flexible claw 75 is deformed and bends inward, thereby driving the flexible clamping block 76 to bend. The rubber block 764 on the flexible clamping block 76 contacts the outer wall of the blood collection tube 3 to achieve wrapping and clamping.

[0071] like Fig.12 As shown, a first groove 741 is formed at the bottom of the semicircular ring 74 , and a second groove 755 is formed at the bottom of the two flexible claws 75 , and two ends of the first groove 741 are respectively connected to the two second grooves 755 .

[0072] The roller 762 on the flexible block 761 is in close contact with the inner walls of the first groove 741 and the second groove 755 , thereby reducing friction and ensuring that the flexible block 761 can rotate within the circular track surrounded by the first groove 741 and the second groove 755 .

[0073] like Fig.13 As shown, the flexible clamping block 76 includes: a flexible block 761, a roller 762, a trapezoidal tooth 763 and a rubber block 764. The flexible block 761 is rotatably located inside the first groove 741 and the second groove 755. A plurality of rollers 762 are respectively provided on both sides of the top of the flexible block 761. A plurality of trapezoidal teeth 763 are provided in a linear array on one side of the bottom of the flexible block 761, and the plurality of trapezoidal teeth 763 are meshed with the second gear 793. A plurality of rubber blocks 764 are provided in a linear array on the other side of the bottom of the flexible block 761. The two end surfaces of the flexible block 761 have different magnetic properties.

[0074] The rubber block 764 on the flexible clamping block 76 contacts the outer wall of the blood collection tube 3 to wrap and clamp it. When the moving plate 781 is separated from the spiral shaft section 773, the head and tail ends of the flexible clamping block 76 are magnetically attracted to each other to form a closed circular structure. At the same time, the roller 762 on the flexible clamping block 76 rolls in the first groove 741 and the second groove 755 of the semicircular ring 74 and the flexible claw 75 to reduce friction, so that the flexible clamping block 76 drives the clamped blood collection tube 3 to rotate synchronously.

[0075] The distance between the inner end of the spiral shaft segment 773 and the side of the rotating disk 772 away from the driving motor 77 is equal to the distance between the outer end surface of the moving plate 781 and the side of the annular block 785 close to the rotating disk 772 .

[0076] In order to ensure that the movable plate 781 can be smoothly separated from the spiral shaft section 773 after the flexible clamping block 76 contacts and clamps the blood collection tube 3, a sophisticated power transmission mechanism is designed in the device. When the driving motor 77 continues to operate, the power will no longer be transmitted to the flexible claw 75, avoiding unnecessary interference. At the same time, the annular block 785 is in precise contact with the rotating disk 772, and the protrusion 786 on the annular block 785 is tightly matched with the triangular groove 774 on the rotating disk 772, thereby transmitting the power to the first bevel gear 783 and driving the rotating assembly 79 to rotate, thereby realizing the output of the label 798.

[0077] When the blood collection tube 3 is put down, the driving motor 77 runs in the reverse direction, the annular block 785 will quickly detach from the rotating disk 772, and the moving plate 781 will re-engage with the spiral shaft section 773, driving the moving plate 781 to move to the initial position. At the same time, the flexible claw 75 will be reset to the original state, completing the release of the blood collection tube 3 and the reset of the device, ready for the next operation. This design effectively optimizes the continuity and stability of the action and improves the overall efficiency of the device.

[0078] The working process of the present invention is as follows: first, when grabbing the blood collection tube 3, the blood collection tube 3 needs to be placed on the tray 2, and then multiple trays 2 are placed on the base 1, and the control unit controls the clamping mechanism 7 on the base 1 to move to the specified position through the first slide rail 4 and the second slide rail 5, and the clamping mechanism 7 can move outward on the slider 6 to clamp the blood collection tube 3.

[0079] At this time, the driving motor 77 inside the clamping mechanism 7 will be started, and the driving motor 77 will rotate with the output shaft 771, and the output shaft 771 will drive the rotating disk 772 and the spiral shaft section 773 to rotate. When the spiral shaft section 773 rotates, the spiral shaft section 773 cooperates with the spiral protrusion 784 on the movable plate 781, which will drive the movable plate 781 to move toward the side of the rotating disk 772, and the movable plate 781 will drive the connecting rod 754 and the rectangular block 753 to move, and the rectangular block 753 will drive the connecting rod 752 to move. Since the connecting rod 752 is connected to the inner end of the movable rod 756, the movable rod 756 will be driven to rotate around the fixing pin 7511 as the center, so that the inner end of the movable rod 756 moves outward and the outer end moves inward. In the process of the inner end of the movable rod 756 moving outward, the first push rod 7512 will be pulled to move, and the piston 7519 on the first push rod 7512 will move in the first oil hole 7517 and push the first push rod 7519 into the first oil hole 7517. The hydraulic oil inside the telescopic oil tube 7515 is drawn outward, causing the first telescopic oil tube 7515 to contract. At the same time, the outer end of the movable rod 756 moves inward and pulls the second push rod 7513 to move. The piston 7519 on the second push rod 7513 will move in the second oil hole 7518 and push the hydraulic oil into the second telescopic oil tube 7516, causing the second telescopic oil tube 7516 to extend. Through the joint action of the first telescopic oil tube 7515 and the second telescopic oil tube 7516, the flexible claw 75 is driven to deform. The flexible claw 75 deforms and bends inward, driving the flexible clamping block 76 to bend. The rubber block 764 on the flexible clamping block 76 will contact the outer wall of the blood collection tube 3 and wrap and clamp the blood collection tube 3. When the movable plate 781 is detached from the spiral shaft segment 773, the two ends of the flexible clamping block 76 will contact each other and surround into a circular structure. It should be noted that the head and tail ends of the flexible clamping block 76 will be attracted to each other due to their different magnetic properties.

[0080] When the moving plate 781 is separated from the spiral shaft section 773, the annular block 785 and the first bevel gear 783 move with the moving plate 781, and the protrusion 786 on the annular block 785 will cooperate with the triangular groove 774 on the rotating disk 772 and enter the inside of the triangular groove 774, so that the annular block 785 and the rotating disk 772 contact each other. At this time, the first bevel gear 783 will mesh with the second bevel gear 791, and the rotating disk 772 will drive the annular block 785 and the first bevel gear 783 The second bevel gear 791 rotates and transmits power to the second bevel gear 791. The rotation of the second bevel gear 791 will drive the first gear 792 and the second gear 793 to rotate. Since the second gear 793 is meshed with the trapezoidal teeth 763 on the flexible block 761, the second gear 793 will drive the entire flexible clamping block 76 to rotate. The roller 762 on the flexible clamping block 76 will rotate in the first groove 741 and the second groove 755 on the semicircular ring 74 and the flexible claw 75, so that the entire flexible clamping block 76 drives the clamped blood collection tube 3 to rotate together.

[0081] While the blood collection tube 3 is rotating, the first gear 792 will also drive the rotating shaft 794 to rotate, and the third gear 795 on the rotating shaft 794 will drive the fourth gear 796 to rotate, and drive the rotating drum 797 to rotate together, so that the label 798 on the rotating shaft 794 is unfolded from the rotating shaft 794 and output through the rotating drum 797, and cooperates with the rotating blood collection tube 3, and the blood collection tube 3 rotates 360° and the label 798 is affixed. The whole process of affixing the label 798 can be completed in the process of the clamping mechanism clamping the blood collection tube 3.

[0082] When the blood collection tube 3 reaches the specified position, the driving motor 77 rotates in the opposite direction and drives the output shaft 771 and the rotating disk 772 to rotate. At this time, the rotating disk 772 will push the circular ring block 785 out due to the triangular structure of the protrusion 786 on the circular ring block 785. At the same time, the moving plate 781 will enter the spiral shaft section 773, driving the moving plate 781, the first bevel gear 783 and the circular ring block 785 to move. The movable plate 781 will drive the connecting rod 754 and the rectangular block 753 to move, and the rectangular block 753 will drive the connecting rod 752 to move. Since the connecting rod 752 is connected to the inner end of the movable rod 756, the movable rod 756 will be driven to rotate around the fixed pin 7511, so that the inner end of the movable rod 756 moves inward and the outer end moves outward. During the inward movement of the inner end of the movable rod 756, the first push rod 7512 will be pushed to move, and the piston 7519 on the first push rod 7512 will move in the first oil hole 7517 and push the hydraulic oil into the first The inside of the telescopic oil tube 7515 causes the first telescopic oil tube 7515 to extend. At the same time, the outer end of the movable rod 756 moves outward and pulls the second push rod 7513 to move. The piston 7519 on the second push rod 7513 will move in the second oil hole 7518 to extract the hydraulic oil from the second telescopic oil tube 7516, causing the second telescopic oil tube 7516 to contract. Through the joint action of the first telescopic oil tube 7515 and the second telescopic oil tube 7516, the flexible claw 75 is driven to return to its original position, the head and tail ends of the flexible clamp 76 will be disconnected, and the blood collection tube 3 will be put down.

[0083] Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A bionic manipulator pipe grasping device, comprising: A base (1), a tray (2), a blood collection tube (3), a first slide rail (4), a second slide rail (5) and a slider (6); a plurality of trays (2) are mounted on the base (1), a plurality of blood collection tubes (3) are mounted on the tray (2), first slide rails (4) are vertically mounted on both sides of the base (1), a second slide rail (5) is horizontally mounted between two of the first slide rails (4), and a slider (6) is mounted on the second slide rail (5); The invention is characterized in that it also comprises a clamping mechanism (7), wherein the clamping mechanism (7) is slidably mounted on the slider (6), and the clamping mechanism (7) drives the driving assembly (78) to move through the driving motor (77), drives the flexible claw (75) and the flexible clamping block (76) to bend inward, clamps the blood collection tube (3), and makes the flexible clamping block (76) form a circular ring structure. The first bevel gear (783) on the driving assembly (78) moves axially and meshes with the second bevel gear (791), drives the rotating shaft (794) and the rotating drum (797) on the rotating assembly (79) to rotate, and delivers the label (798). At the same time, the first gear (792) on the rotating shaft (794) drives the second gear (793) to rotate, and drives the flexible clamping block (76) to rotate. The rotating flexible clamping block (76) drives the blood collection tube (3) to rotate, and affixes the label (798) to the outer wall of the blood collection tube (3).

2. The bionic manipulator pipe grasping device according to claim 1, characterized in that: The clamping mechanism (7) comprises: a sliding block (71), a housing (72), a connecting block (73), a semicircular ring (74), a flexible claw (75), a flexible clamping block (76), a driving motor (77), a driving assembly (78), and a rotating assembly (79); the sliding block (71) is slidably mounted inside the sliding block (6); the housing (72) is mounted outside the sliding block (71); an upper cavity (721) and a lower cavity (722) are respectively provided inside the housing (72); connecting blocks (73) are respectively mounted on both sides of the housing (72); a semicircular ring (74) is mounted between the two connecting blocks (73); flexible claws (75) are respectively mounted at both ends of the semicircular ring (74); the flexible claws (75) and the lower cavity (722) are respectively mounted on the two ends of the semicircular ring (74); A flexible clamping block (76) is movably mounted at the bottom of the semicircular ring (74), a driving motor (77) is mounted inside the sliding block (71), a driving assembly (78) is mounted at the output end of the driving motor (77), the driving assembly (78) is connected to the semicircular ring (74), and the driving assembly (78) is located inside the housing (72), a rotating assembly (79) is mounted inside the housing (72), and the rotating assembly (79) is located at the bottom of the driving assembly (78), the flexible clamping block (76) is connected end to end with the deformation of the flexible claw (75), and rotates at the bottom of the semicircular ring (74) and the flexible claw (75), and the length of the flexible clamping block (76) is equal to the circumference of the blood collection tube (3).

3. The bionic manipulator pipe grasping device according to claim 2, characterized in that: An output shaft (771) is mounted on the output end of the drive motor (77), a rotating disk (772) is mounted on the output shaft (771), a spiral shaft section (773) is provided at the end of the output shaft (771), and triangular grooves (774) are provided in a circular array with the axis as the center on the rotating disk (772).

4. The bionic manipulator pipe grasping device according to claim 3, characterized in that: The driving assembly (78) comprises: a moving plate (781), a spiral protrusion (784), a convex ring (782), a first bevel gear (783), a circular ring block (785) and a convex block (786); the moving plate (781) is located outside the output shaft (771); a spiral protrusion (784) is provided at the center of the moving plate (781); the spiral protrusion (784) cooperates with the spiral shaft section (773); a convex ring (782) is installed on one side of the moving plate (781); A first bevel gear (783) is rotatably mounted on the convex ring (782), a circular ring block (785) is mounted on the first bevel gear (783), and the convex ring (782), the first bevel gear (783) and the circular ring block (785) are located on the same axis, and a plurality of protrusions (786) are mounted on the outer side of the circular ring block (785) in a circular array with the axis as the center, the protrusions (786) are triangular structures, and the protrusions (786) cooperate with the triangular grooves (774).

5. The bionic manipulator pipe grasping device according to claim 2, characterized in that: The rotating assembly (79) comprises: a second bevel gear (791), a first gear (792), a second gear (793), a rotating shaft (794), a third gear (795), a fourth gear (796), a rotating drum (797) and a label (798); the second bevel gear (791) is mounted inside the housing (72); the first gear (792) is mounted at the bottom of the second bevel gear (791); the second gear (793) is mounted at the bottom of the upper cavity (721); the second gear (793) and the first gear (792) are meshed with each other; the second bevel gear (791), the first gear (792) and the second gear (793) are all located inside the upper cavity (721) of the housing (72); the rotating shaft (794) is mounted at the bottom of the first gear (792); A rotating shaft (794) passes through the upper and lower cavities (722); a third gear (795) is mounted on the rotating shaft (794); the third gear (795) is located below the first gear (792); a fourth gear (796) is mounted on one side of the third gear (795); the third gear (795) and the fourth gear (796) are meshed with each other; a rotating drum (797) is mounted on the bottom of the fourth gear (796); the rotating bottom is connected to the bottom of the lower cavity (722); the third gear (795), the fourth gear (796) and the rotating drum (797) are all located inside the lower cavity (722) of the housing (72); a rolled label (798) is placed on the rotating shaft (794); the free end of the label (798) is wrapped around the outside of the rotating drum (797).

6. The bionic manipulator pipe grasping device according to claim 4, characterized in that: Flexible covers (751) are respectively installed on the tops of the two flexible claws (75), and connecting rods (752) are movably installed on the side surfaces of the two flexible covers (751) close to one end of the semicircular ring (74), and rectangular blocks (753) are installed on the free ends of the two connecting rods (752), and two connecting rods (754) are respectively installed on the other side surfaces of the rectangular blocks (753) away from the connecting rods (752), and the free ends of the two connecting rods (754) are connected to the movable plate (781).

7. The bionic manipulator pipe grasping device according to claim 6, characterized in that: A fixing pin (7511) is respectively installed at the top of both ends of the semicircular ring (74), a movable rod (756) is installed at the top of the fixing pin (7511), and the middle part of the movable rod (756) is rotated and located on the fixing pin (7511), the inner ends of the two movable rods (756) are respectively installed with a first push rod (7512), the outer ends of the two movable rods (756) are respectively installed with a second push rod (7513), and the free ends of the first push rod (7512) and the second push rod (7513) are respectively provided with a piston (7519), the inner ends of the two movable rods (756) away from the second push rod (7513) are respectively connected to the two connecting rods (752), and the tops of the two flexible claws (75) are respectively provided with an oil cylinder (7514), and one side of the two oil cylinders (7514) is respectively connected to the first push rod (7512) and the second push rod (7513). ) are movably connected, a first telescopic oil pipe (7515) and a second telescopic oil pipe (7516) are respectively provided on the other side of the two oil cylinders (7514), and the two first telescopic oil pipes (7515) are located on the inner side of the two second telescopic oil pipes (7516), a first oil hole (7517) and a second oil hole (7518) are respectively opened inside the oil cylinder (7514), a piston (7519) of the first push rod (7512) is located inside the first oil hole (7517), and a piston (7519) of the second push rod (7513) is located inside the second oil hole (7518), and the first oil hole (7517) is communicated with the first telescopic oil pipe (7515), and the second oil hole (7518) is communicated with the second telescopic oil pipe (7516), and hydraulic oil is placed in the first telescopic oil pipe (7515) and the second telescopic oil pipe (7516).

8. The bionic manipulator pipe grasping device according to claim 2, characterized in that: A first groove (741) is formed at the bottom of the semicircular ring (74), a second groove (755) is formed at the bottom of the two flexible claws (75), and two ends of the first groove (741) are respectively connected to the two second grooves (755).

9. The bionic manipulator pipe grasping device according to claim 8, characterized in that: The flexible clamping block (76) comprises: a flexible block (761), a roller (762), a trapezoidal tooth (763) and a rubber block (764); the flexible block (761) is rotatably located inside the first groove (741) and the second groove (755); a plurality of rollers (762) are respectively arranged on both sides of the top of the flexible block (761); a plurality of trapezoidal teeth (763) are arranged in a linear array on one side of the bottom of the flexible block (761); the plurality of trapezoidal teeth (763) are meshed with the second gear (793); a plurality of rubber blocks (764) are arranged in a linear array on the other side of the bottom of the flexible block (761); and two end surfaces of the flexible block (761) have different magnetic properties.

10. The bionic manipulator pipe grasping device according to claim 4, characterized in that: The distance between the inner end of the spiral shaft segment (773) and the side of the rotating disk (772) away from the driving motor (77) is equal to the distance between the outer end surface of the moving plate (781) and the side of the annular block (785) close to the rotating disk (772).

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