Multi-degree-of-freedom pipe grabbing bionic manipulator

Abstract

The invention relates to the technical field of manipulators, in particular to a multi-degree-of-freedom pipe grabbing bionic manipulator which comprises a mechanical arm, a rotating assembly, mechanical fingers, a bending assembly and a pipe grabbing mechanism. The mechanical arm is installed in an assembly line needing pipe grabbing work, the rotating assembly is installed at the front end of the mechanical arm, and the rotating assembly can control the whole mechanical finger to rotate so as to adjust the position. The mechanical fingers are installed on the side face of the rotating assembly, the bending assemblies are installed on the periphery of the rotating assembly and the back faces of the mechanical fingers, and the bending assemblies can control the bending degree of the mechanical fingers so as to meet different pipe grabbing requirements. The pipe grabbing mechanism is installed in the mechanical fingers. According to the tube grabbing mechanism, the supporting effect on mechanical fingers under different bending degrees is achieved through a connecting assembly, an adjusting assembly and a fixing assembly are arranged, test tubes of different sizes and materials are stably grabbed, and the positions and states of the test tubes are fixed when the tube grabbing mechanism moves.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and particularly relates to a multi-degree-of-freedom tube-gripping bionic manipulator. Background Art

[0002] The background technology of the multi-degree-of-freedom tube-gripping bionic manipulator involves the cross-integration of multiple fields, mainly including bionics, robotics, materials science, and intelligent control technology. The following is its core background technology and development context: Source of biological inspiration: Imitating the grasping mechanism of the human hand or primates, especially the joint structure of the fingers (such as multi-finger coordination, flexible grasping) and the tactile feedback system. For example, the "bionic hand" developed by Stanford University is based on human anatomy, simulating tendon drive and muscle coordination. Biomechanical model: Studying the redundant degrees of freedom and compliance of biological joints provides a theoretical basis for manipulator design (such as underactuated mechanisms, passive adaptive grasping). Multi-degree-of-freedom design: Achieving complex motions through series / parallel mechanisms, typical structures include: Finger module: 3-5 degrees of freedom per finger, imitating finger joints (proximal, distal joints). Wrist rotation: Adding 2-3 degrees of freedom to adjust the grasping posture. Driving method: Traditional motor drive: High precision but large volume (such as harmonic reduction motors). Hydraulic / electric hybrid: Used in heavy-load scenarios (such as industrial test tube grasping).

[0003] Existing tube-gripping manipulators are widely used in the medical industry. Due to the particularity of the medical machinery field, precise operations are often required. Direct manual operation is prone to contaminating external bacteria and other substances, which affects the quality of drugs. Especially during the manufacturing and use of medical test tubes, existing manipulators need to replace different grasping components to perform relatively stable tube-gripping work when facing test tubes of different sizes. Moreover, when moving the test tubes, their stability cannot be guaranteed, resulting in the problem of drug loss and waste in the test tubes from time to time.

[0004] In view of the above situation, in order to overcome the above technical problems, the present invention designs a multi-degree-of-freedom tube-gripping bionic manipulator to solve the above technical problems. Summary of the Invention

[0005] The technical objective to be achieved by the present invention is: Design a multi-degree-of-freedom tube-gripping bionic manipulator. When it is necessary to fix or move a test tube for operation in a medical scenario, when stably fixing the test tube for movement, it will not exert excessive squeezing force on the test tube, and it can quickly adjust for test tubes of different sizes to ensure the stable balance of the clamping torque.

[0006] In order to achieve the above technical objective, the present invention provides the following technical solution: A multi-degree-of-freedom tube-gripping bionic manipulator, comprising a robotic arm, a rotating assembly, robotic fingers, a bending assembly, and a tube-gripping mechanism; The robotic arm is installed in the production line that requires tube-gripping work. The rotating component is installed at the front end of the robotic arm, and the rotating component can control the rotation of the entire robotic finger to adjust the position. The robotic finger is installed on the side of the rotating component. The bending component is installed around the rotating component and on the back of the robotic finger. The bending component can control the degree of bending of the robotic finger to adapt to different tube-gripping requirements. The tube-gripping mechanism is installed inside the robotic finger. The tube-gripping mechanism realizes the support for the robotic finger under different bending degrees through the connection component, and sets the adjustment component and the fixing component to stably grip test tubes of different sizes and materials, and fix the position and state of the test tube during tube-gripping movement.

[0007] Preferably, the rotating component includes a rotating mounting ring, a rotating ball, and a rotating mounting plate. The rotating mounting ring is installed at the front end of the robotic arm. The rotating ball is installed inside the rotating mounting ring. The rotating mounting plate is installed on the side of the rotating ball.

[0008] Preferably, the bending component includes a mounting frame, a micro cylinder, and a telescopic rod. The mounting frame is installed on the rotating component and the robotic finger. The micro cylinder is installed on the mounting frame. The telescopic rod is installed inside the micro cylinder.

[0009] Preferably, the tube-gripping mechanism includes a driving cylinder, an arc-shaped mounting block, a connection component, a support component, an adjustment component, a fixing component, and a movable component. The driving cylinder is installed inside the robotic finger. The arc-shaped mounting block is installed at the output end of the driving mechanism. The connection component is installed at both ends of the connection component. The support component is installed inside the connection component. The adjustment component is installed on the side of the arc-shaped mounting block. The fixing component is installed inside the adjustment component. The movable component is installed inside the fixing component.

[0010] Preferably, an activity groove is opened inside the arc-shaped mounting block. A telescopic groove is opened on the outside of the activity groove. The radius value of the activity groove is set to be 1.2 - 1.5 times that of the telescopic groove.

[0011] Preferably, the connection component includes a connection sleeve, a deformation opening, and a guiding groove. The connection sleeve is installed on the side of the arc-shaped mounting block. The connection sleeve is made of rubber material. The deformation opening is opened on the side of the connection sleeve. The guiding groove is opened on the bottom surface inside the connection sleeve.

[0012] Preferably, the support component includes a support block, a mounting protrusion, a telescopic strip, and a guiding roller. The support block is installed inside the connection component, the installation protrusion is installed on the side of the support block, the telescopic strips are linearly arrayed on the side of the support block, the telescopic strips are arranged in an X shape, and guide rollers are arranged below the telescopic strips.

[0013] Preferably, the adjustment component includes an adjustment sleeve, a limit ring, a support spring, an adjustment groove block and a limit groove; The adjustment sleeve is installed inside the arc-shaped installation block, the limit ring is installed outside the adjustment sleeve, the support spring is arranged inside the adjustment sleeve, the adjustment groove block is installed on the upper surface of the adjustment sleeve, and the limit groove is opened on the side of the hollow part inside the adjustment groove block.

[0014] Preferably, the fixing component includes a sliding ring block, a wear-resistant rolling groove, a clamping groove, a fixing block and anti-slip stripes; The sliding ring block is installed inside the adjustment component, the wear-resistant rolling groove is opened on the inner surface of the sliding ring block, the clamping grooves are opened on both sides of the wear-resistant rolling groove, the fixing block is installed outside the sliding ring block, the fixing block is arranged in a semi-enclosed structure, the fixing block is made of an elastic material, and the anti-slip stripes are arranged on the surface of the fixing block.

[0015] Preferably, the fixing component includes a movable sliding ball, a limit block, a wear-resistant rolling ball and a clamping ring; The movable sliding ball is installed inside the adjustment component, the limit block is installed on the surface of the movable sliding ball, the wear-resistant rolling ball is installed on the surface of the movable sliding ball, and the clamping ring is installed on both sides of the wear-resistant rolling ball.

[0016] The beneficial effects of the present invention are as follows: 1. By setting the tube-gripping mechanism, for the grasping of test tubes in the medical field, while fixing the test tube for stable movement, excessive squeezing force will not be applied to the test tube. An adaptive clamping structure is adopted, which can automatically adjust the clamping force according to the diameter and material of the test tube, avoiding the deformation or surface damage of the test tube caused by rigid clamping of traditional mechanical claws, especially suitable for vulnerable materials such as soft plastic tubes and rubber tubes. The tube-gripping mechanism enhances the grasping force while ensuring gentle contact, preventing the test tube from slipping during movement and being applicable to operations in different environments. Through the bionic joint design, the mechanical hand can dynamically adjust its posture during grasping to adapt to the test tube layout at different angles (such as bent test tubes or narrow spaces), avoiding the loosening of the test tube or the leakage of the interface caused by forced pulling.

[0017] 2. By setting the connection component and the support component, when the mechanical fingers perform the opening and closing actions, the continuity of the test tube grasping action of the tube-gripping mechanism is ensured, and the stability of multiple tube-gripping mechanisms during operation is ensured, thereby enhancing the continuity and stability during multiple steps of moving, grasping and releasing the test tube, so as to ensure the continuity and stability of the tube-gripping mechanism during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Reference will now be made to the drawings, which will describe the above and other aspects of the present invention by way of example only, wherein: Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the structure of the rotating component of the present invention; Figure 3 is a schematic diagram of the structure of the bending component of the present invention; Figure 4 is a schematic diagram of the structure of the pipe grasping mechanism of the present invention; Figure 5 is a sectional view of the arc-shaped mounting block of the present invention; Figure 6 is a schematic diagram of the structure of the connecting component of the present invention; Figure 7 is a schematic diagram of the structure of the supporting component of the present invention; Figure 8 is a schematic diagram of the structure of the adjusting component of the present invention; Figure 9 is a sectional view of the adjusting component of the present invention; Figure 10 is a schematic diagram of the structure of the fixing component of the present invention; Figure 11 is a sectional view of the fixing component of the present invention; Figure 12 is a schematic diagram of the structure of the movable component of the present invention.

[0020] In the figure: 1. robotic arm; 2. rotating assembly; 21. rotating mounting ring; 22. rotating ball; 23. rotating mounting plate; 3. robotic finger; 4. bending assembly; 41. mounting bracket; 42. micro cylinder; 43. telescopic rod; 5. pipe grasping mechanism; 51. driving cylinder; 52. arc-shaped mounting block; 521. movable groove; 522. telescopic groove; 53. connecting assembly; 531. connecting sleeve; 532. deformation opening; 533. guiding groove; 54. supporting assembly; 541. supporting block; 542. mounting protrusion; 543. telescopic strip; 544. guiding roller; 55. adjusting assembly; 551. adjusting sleeve; 552. limiting ring; 553. supporting spring; 554. adjusting groove block; 555. limiting groove; 56. fixing assembly; 561. sliding ring block; 562. wear-resistant rolling groove; 563. clamping groove; 564. fixing block; 565. anti-slip stripe; 57. movable assembly; 571. movable sliding ball; 572. limiting block; 573. wear-resistant rolling ball; 574. clamping ring. Detailed implementation manners

[0021] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are some but not all of the embodiments of the present invention. Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the claimed invention, but merely represents some embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0022] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0023] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "rear", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed during use. Such terms are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0024] It should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "arranged", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0025] The embodiments of the present disclosure aim to solve the problems of the existing tube-gripping manipulator, which is widely used in the medical industry. Due to the particularity of the medical machinery field, precise operations are often required, and direct manual operations are likely to contaminate external bacteria and other substances, affecting the quality of drugs. Especially in the manufacturing and use process of medical test tubes, the existing manipulators need to replace different grasping components to perform relatively stable tube-gripping work for test tubes of different sizes, and the stability cannot be guaranteed when moving the test tubes. In view of this, the embodiments of the present disclosure propose a multi-degree-of-freedom tube-gripping bionic manipulator. By setting up a tube-gripping mechanism, for the tube grasping in the medical field, while fixing the test tube for stable movement, excessive extrusion force will not be applied to the test tube. An adaptive clamping structure is adopted, which can automatically adjust the clamping force according to the diameter and material of the test tube, avoiding the deformation or surface damage of the test tube caused by rigid clamping of traditional mechanical claws, especially suitable for vulnerable materials such as soft plastic tubes and rubber tubes. The tube-gripping mechanism enhances the grasping force while ensuring gentle contact, preventing the test tube from slipping during movement and being applicable to operations in different environments. Through the bionic joint design, the manipulator can dynamically adjust its posture during grasping to adapt to the tube layouts at different angles (such as curved test tubes or narrow spaces), avoiding the loosening of the test tube or the leakage of the interface caused by forced pulling.

[0026] As Figures 1 to 12 shown, a multi-degree-of-freedom tube-gripping bionic manipulator provided in this embodiment is an intelligent mechanical device with high flexibility and high adaptability, mainly used for the tube grasping and handling work in an automated production line. The manipulator is composed of multiple parts such as a robotic arm 1, a rotating assembly 2, robotic fingers 3, a bending assembly 4, and a tube-gripping mechanism 5, and each part works together to achieve precise and efficient grasping functions.

[0027] The robotic arm 1 is the main support structure of the manipulator, and the robotic arm 1 bears the load and stability of the entire manipulator. The robotic arm 1 can adapt to different working scenarios and adjust its height or angle according to the operation requirements to adapt to various working environments. Its material is usually selected as high-strength lightweight alloy or composite material to ensure stability during long-term operation.

[0028] The rotating assembly 2, as the core moving part of the manipulator, is installed at the front end of the robotic arm 1 and is connected to the bending assembly 4. This rotating assembly 2 is responsible for controlling the rotation and position adjustment of the entire robotic finger 3, enabling the manipulator to perform precise grasping at different angles. The rotating assembly 2 has the ability to rotate with multiple degrees of freedom, thus being able to adapt to more complex grasping requirements. For example, in the case of densely arranged test tubes or limited space, this rotating assembly 2 can flexibly adjust the position of the robotic finger 3 to ensure the successful completion of the grasping task.

[0029] The robotic finger 3 is the main grasping part of this manipulator, contacting the test tube and applying a clamping force. It is installed on the side of the rotating assembly 2, can rotate together with the rotating assembly 2, and adjusts its own bending angle through the bending assembly 4. The number of robotic fingers 3 is usually four to five, and the length and shape can be adjusted according to actual needs to adapt to test tubes of different sizes. The bending assembly 4 is installed around the rotating assembly 2 and on the back of the robotic finger 3, and its function is to control the bending degree of the robotic finger 3 so that it can adapt to the grasping requirements of test tubes with different diameters. Through the control system, the bending assembly 4 can automatically adjust the bending angle of the robotic finger 3 according to the sensor feedback information, thereby ensuring that appropriate grasping forces can be provided for test tubes of different sizes.

[0030] The test tube grasping mechanism 5 is the core functional component of this manipulator, installed inside the robotic finger 3, and is mainly responsible for the fixation and stable grasping of the test tube. This mechanism relies on the connecting component 53 to maintain stability under different bending degrees. In addition, an adjusting component 55 and a fixing component 56 are also arranged inside the test tube grasping mechanism 5, enabling it to adapt to test tubes of different diameters and materials and ensuring that there will be no loosening or slipping during the grasping and handling processes. The adjusting component 55 can automatically adjust the clamping force according to the specific size of the test tube, while the fixing component 56 is used to keep the relative position of the test tube unchanged during the handling process, improving the safety and reliability of the operation.

[0031] The manipulator adopts the principle of bionics, making its structure and function closer to the natural grasping method of the human hand. For example, the thumb in the robotic finger 3 plays a role in lateral support, being able to provide additional stability during the grasping process to prevent the test tube from shifting. At the same time, the positions of the middle finger and the ring finger are the main grasping parts, while the index finger and the little finger can provide additional support or assist in grasping according to needs. This flexible structural design enables this manipulator to maintain good grasping performance under different working conditions.

[0032] This manipulator can be widely applied in multiple industries. For example, in the petrochemical industry, this manipulator can be used for the automated assembly and handling of test tubes, improving the operation efficiency and reducing manual intervention. In the field of automated manufacturing, this manipulator can work in coordination with other intelligent devices to achieve precise grasping and installation on the assembly line. In addition, in the fields of construction and medical treatment, this manipulator can also give full play to its advantages to meet the test tube operation requirements in various complex environments. This multi-degree-of-freedom tube-grasping bionic manipulator realizes the efficient and stable test tube grasping function through the precise cooperation of the robotic arm 1, the rotating assembly 2, the robotic fingers 3, the bending assembly 4, and the tube-grasping mechanism 5. Its intelligent control method and flexible movement ability enable it to adapt to various complex operation environments, providing strong technical support for the development of industrial automation.

[0033] As Figure 2 shown, the rotating assembly 2 is composed of a rotating mounting ring 21, a rotating ball 22, and a rotating mounting plate 23. Each part cooperates with each other to achieve the multi-degree-of-freedom rotation function of the manipulator. Among them, the rotating mounting ring 21 is fixedly installed at the front end of the robotic arm 1, serving as the support structure of the entire rotating mechanism to ensure stability and reliability. The rotating ball 22 is arranged inside the rotating mounting ring 21 and can freely rotate in different directions, thus providing the manipulator with flexible angle adjustment ability. The rotating mounting plate 23 is installed on the side of the rotating ball 22 and is connected to the robotic fingers 3 and the bending assembly 4. Multiple bending assemblies 4 are adjusted in different degrees of expansion and contraction according to the task requirements, enabling the rotating mounting plate 23 to move flexibly in all directions, thereby achieving the precise positioning of the manipulator, improving the work efficiency and adaptability. This design not only enhances the operation flexibility of the manipulator but also enables it to efficiently complete various grasping tasks in complex environments.

[0034] As Figure 3 shown, the bending assembly 4 is composed of a mounting bracket 41, a micro cylinder 42, and a telescopic rod 43, which cooperate to achieve the flexible bending and grasping adjustment function of the robotic fingers 3. The mounting bracket 41 serves as the support structure of the bending assembly 4 and is fixedly installed on the rotating assembly 2 and the robotic fingers 3 to ensure overall stability and provide an installation basis for the micro cylinder 42 and the telescopic rod 43. The micro cylinder 42 is fixed on the mounting bracket 41, enabling the robotic fingers 3 to be adjusted within different angular ranges to adapt to test tubes of different specifications and shapes.

[0035] The telescopic rod 43 is installed inside the micro cylinder 42 and realizes telescopic movement under the drive of the cylinder. Its outer end is fixed to the next mounting bracket 41, enabling multiple bending assemblies 4 to form a continuous linkage structure, enabling the robotic fingers 3 to simulate the bending mode of the human hand, wrap the test tube, and achieve precise grasping. This design not only improves the flexibility of the manipulator but also enhances the adaptability to test tubes of different diameters and shapes, thereby improving the overall grasping effect and work efficiency.

[0036] As Figure 4 shown, the tube grasping mechanism 5 is a fixing device for grasping and moving test tubes, which is composed of multiple components, including a driving cylinder 51, an arc-shaped mounting block 52, a connecting component 53, a supporting component 54, an adjusting component 55, a fixing component 56 and a movable component 57. Each component cooperates with each other, enabling the tube grasping mechanism 5 to flexibly adjust the grasping position and adapt to test tubes of different sizes and shapes to ensure stability and efficiency.

[0037] First of all, the driving cylinder 51 is the core power element of the tube grasping mechanism 5 and is installed inside the mechanical finger 3. Its main function is to enable the mechanical finger 3 to adapt to test tubes of different specifications by adjusting the front and rear positions of the arc-shaped mounting block 52, providing the best grasping effect. When the driving cylinder 51 expands and contracts, it drives the arc-shaped mounting block 52 to move back and forth to adjust the grasping position and ensure that the test tube is stably covered.

[0038] The arc-shaped mounting block 52 is installed at the output end of the driving cylinder 51 and serves as the basic component for carrying other components. Its arc-shaped design can better protect the test tube and improve the grasping stability of the mechanical finger 3. In addition, multiple arc-shaped mounting blocks 52 are connected to each other through the connecting component 53 to form a complete tube grasping structure. The function of the connecting component 53 is to fix two adjacent arc-shaped mounting blocks 52 together, ensuring the integrity of the tube grasping mechanism 5 during adjustment and preventing the structure from being loose or deformed.

[0039] Inside the connecting component 53, a supporting component 54 is installed. Its main function is to enhance the stability between adjacent arc-shaped mounting blocks 52 and prevent deviation or loosening caused by external forces. The supporting component 54 can adaptively expand and contract when the mechanical finger 3 bends. The supporting component 54 can provide additional structural strength, enabling the entire tube grasping mechanism 5 to remain stable during operation and reducing the possible vibration or slippage of the test tube during clamping.

[0040] The adjusting component 55 is installed on the side of the arc-shaped mounting block 52 and is responsible for making adaptive adjustments according to the specific shape of the test tube. Different test tubes may have different curvatures or outer diameters. The adjusting component 55 can flexibly adjust the grasping force and angle to ensure full coverage of the test tube and improve the clamping effect.

[0041] The fixing component 56 is installed inside the adjusting component 55 and is mainly used to limit the displacement trend of the test tube in the vertical direction. It can effectively prevent the test tube from sliding up and down during grasping, ensuring that the test tube remains stable throughout the handling or fixing process.

[0042] Finally, the movable component 57 is installed inside the fixed component 56, and its special design enables it to move up and down within the fixed component 56. This function allows the manipulator to adapt to test tubes of different shapes or curvatures. Especially when dealing with irregular or variable-diameter test tubes, the movable component 57 can make fine adjustments to ensure that the test tube is always in a stable grasping state.

[0043] In summary, the tube-gripping mechanism 5 is powered by the driving cylinder 51. With the arc-shaped mounting block 52 as the foundation, the connecting component 53 and the supporting component 54 provide structural stability. The adjusting component 55 and the fixed component 56 enhance the adaptability to the test tube and the fixing effect, while the movable component 57 further improves the adaptability to complex test tube shapes. This precise design enables the tube-gripping mechanism 5 not only to have efficient grasping ability but also to handle test tubes of different specifications and forms, improving the practicality of the manipulator in various complex working environments.

[0044] As Figure 5 shown, an activity slot 521 is opened inside the arc-shaped mounting block 52, and a telescopic slot 522 is opened outside the activity slot 521. The radius value of the activity slot 521 is set to be 1.2 - 1.5 times that of the telescopic slot 522. The internal space of the activity slot 521 allows the adjusting sleeve 551 to be flexibly adjusted during the grasping process, while the outer telescopic slot 522 further increases the telescopic range. Setting the radius value of the activity slot to be 1.2 - 1.5 times that of the telescopic slot 522 helps to limit the movement range of the limit ring 552 and ensure that the grasping force is evenly distributed, improving the overall stability and reliability of the grasping.

[0045] As Figure 6 shown, the connecting component 53 consists of a connecting sleeve 531, a deformation opening 532, and a guiding slot 533, aiming to enhance the connection stability and flexibility of the tube-gripping mechanism 5. The connecting sleeve 531 is installed on the side of the arc-shaped mounting block 52 and serves as the basic component for connecting adjacent parts to ensure a tight connection between all parts. The connecting sleeve 531 is made of rubber material, which has good elasticity and wear resistance, and can effectively reduce vibration and impact force, thereby improving the stability and durability during the grasping process. The deformation opening 532 is opened on the side of the connecting sleeve 531, and the purpose of designing this opening is to adapt to size changes in different working environments. Through the deformation opening 532, the connecting sleeve 531 can finely adjust its shape according to the change of external force to ensure the firmness of the connection. The guiding slot 533 is opened on the bottom surface inside the connecting sleeve 531. As a guiding structure, the guiding slot 533 can drive the guiding roller 544 to move smoothly inside the connecting sleeve 531. This design improves the operation smoothness of the connecting component 53. Generally speaking, this connecting component 53 can provide flexible adaptability while ensuring stability to meet different test tube grasping requirements.

[0046] AsFigure 7 As shown, the support assembly 54 is composed of a support block 541, a mounting protrusion 542, a telescopic strip 543, and a guide roller 544, aiming to provide stable support and guiding functions to enhance the structural stability and operation accuracy of the entire tube-gripping mechanism 5. The support block 541 is installed inside the connection assembly 53. As the core component of the entire support assembly 54, it ensures the fixation and stability between components. The mounting protrusion 542 is installed on the side of the support block 541, and its main function is to provide fixed support for the telescopic strip 543 to prevent the components from loosening or shifting during use. The telescopic strip 543 is installed on the side of the support block 541 in a linear array and is set in an X-shaped structure. The X-shaped design not only enhances the elasticity and stability of the telescopic strip 543 but also provides more flexible telescopic adjustment ability during the grasping process. The telescopic strip 543 can be extended or contracted according to the needs of the grasping task to ensure adaptation to test tubes of different diameters and shapes. Below the telescopic strip 543, there is a guide roller 544, which can smoothly guide the telescopic movement of the telescopic strip 543, reduce friction, and ensure the smooth operation of the entire support assembly 54 during the working process. Through this design, the support assembly 54 can effectively improve the grasping stability and operation accuracy of the tube-gripping mechanism 5, ensuring the smoothness and reliability during the grasping process.

[0047] As Figures 8 to 9 shown, the adjustment assembly 55 is composed of an adjustment sleeve 551, a limit ring 552, a support spring 553, an adjustment groove block 554, a limit groove 555, etc., aiming to precisely control the adjustment function of the tube-gripping mechanism 5. The adjustment sleeve 551 is installed inside the arc-shaped mounting block 52. As the core part of the adjustment assembly 55, it can provide flexible adjustment functions during the grasping process. The limit ring 552 is installed outside the adjustment sleeve 551, which plays a role in restricting the movement range of the adjustment sleeve 551 to ensure that the entire adjustment process does not exceed the preset range, thereby protecting other components from damage.

[0048] The support spring 553 is arranged inside the adjustment sleeve 551. It can provide appropriate elastic force to help the adjustment sleeve 551 maintain stability and provide necessary support force when needed to ensure that there is no loosening or instability during the adjustment process. The adjustment groove block 554 is installed on the top of the adjustment sleeve 551, which is used to fix and guide the movement of the adjustment sleeve 551 to ensure the smoothness and precision of the adjustment action.

[0049] The limit groove 555 is opened on the side of the inner hollow part of the adjustment groove block 554, and its main function is to restrict the movement range of the adjustment sleeve 551 and ensure that the groove block does not shift or get stuck during the adjustment process. Generally speaking, the adjustment assembly 55 can effectively improve the flexibility and stability of the tube-gripping mechanism 5, ensuring precise adjustment and operation of the manipulator in a complex environment.

[0050] As Figure 10 shown, the fixing component 56 includes a sliding ring block 561, a wear-resistant rolling groove 562, a clamping groove 563, a fixing block 564, an anti-slip stripe 565, etc., aiming to provide stable fixing and anti-slip functions to ensure that the pipe-gripping mechanism 5 remains efficient and stable during the gripping process. The sliding ring block 561 is installed inside the adjusting component 55 and serves as the core component of the fixing component 56. Its main function is to ensure the smooth sliding of the adjusting component 55 through cooperation with other components, providing necessary support and guidance.

[0051] The wear-resistant rolling groove 562 is formed on the inner surface of the sliding ring block 561 for the sliding of the movable sliding ball 571. The cooperation between the movable sliding ball 571 and the wear-resistant rolling groove 562 can effectively reduce the wear between other components, ensuring that the sliding ring block 561 can maintain efficient operation during long-term operation and reducing the performance decline caused by friction.

[0052] The clamping groove 563 is formed on both sides of the wear-resistant rolling groove 562 and serves as a notch for connecting and fixing other components. It ensures the accurate docking of each component and makes the fixing component 56 more firm during use and not prone to loosening.

[0053] The fixing block 564 is installed outside the sliding ring block 561 and is designed with a semi-surrounding structure, enhancing the surrounding property of the fixing block 564 and making the connection with other components more stable. The fixing block 564 is made of an elastic material, having good flexibility and elasticity, and can effectively adapt to external pressure and maintain the stability of the connection.

[0054] The anti-slip stripe 565 is provided on the surface of the fixing block 564, increasing the friction with the contact surface, preventing sliding or falling off during the gripping process, and ensuring that the entire fixing component 56 can still maintain a stable gripping force under high load. Through this design, the fixing component 56 not only improves the stability of the pipe-gripping mechanism 5 but also enhances its durability and gripping efficiency, meeting the operation requirements in various complex environments.

[0055] The fixing component 56 consists of a movable sliding ball 571, a limiting block 572, a wear-resistant rolling ball 573, a clamping ring 574, etc., aiming to provide more precise fixing and sliding control functions to ensure the stability and efficiency of the pipe-gripping mechanism 5 in complex environments. The movable sliding ball 571 is installed inside the adjusting component 55 and serves as the core element of the fixing component 56. Its main function is to achieve smooth sliding and positioning. Through the flexible movement of the movable sliding ball 571, the entire fixing component 56 can adjust its position as needed to ensure the precise cooperation of other components.

[0056] The limit block 572 is installed on the surface of the movable sliding ball 571, which plays a role in restricting the movement range of the sliding ball, ensuring that the movable sliding ball 571 does not exceed the predetermined movement trajectory, thereby preventing possible collisions or damages. The design of the limit block 572 makes the sliding process more controlled, avoids unnecessary displacements, and improves the stability of the entire system.

[0057] The wear-resistant rolling ball 573 is installed on the surface of the movable sliding ball 571, and its main function is to reduce friction and extend the service life. The wear-resistant rolling ball 573 can effectively reduce the wear during the sliding process, ensure the high efficiency and durability of the fixed component 56 during long-term use, and ensure that the performance will not decline due to friction during repeated operations.

[0058] As Figures 11 to 12 shown, the clamping rings 574 are installed on both sides of the wear-resistant rolling ball 573, which play a role in fixing and strengthening. The cooperation between the clamping rings 574 and the clamping grooves 563 can ensure the stable position of the wear-resistant rolling ball 573 during the sliding process, prevent it from shifting or falling off, and thus enhance the overall stability of the fixed component 56. Through these designs, the fixed component 56 can achieve efficient motion control and provide stable support during the grasping task, ensuring that the manipulator can accurately execute operations in various environments.

[0059] During the working process of the present invention, first install the robotic arm 1 in the required test tube clamping production line or other medical scenarios, and perform preliminary preparation work such as powering on and networking the entire manipulator; By controlling the movement of the robotic arm, the entire manipulator device is moved to one side of the test tube to be grasped. The bending component 4 on the rotating component 2 starts to work, adjusting the entire mechanical finger 3 part to move to a suitable position. The bending component 4 of the mechanical finger 3 part starts to work, causing the entire mechanical finger 3 to assume a "grasping" posture and surround the outside of the test tube; When the mechanical finger 3 bends and grasps, the distance between adjacent arc-shaped mounting blocks 52 changes, the connecting sleeve 531 in the connecting component 53 deforms and elongates, and the supporting component 54 starts to work. The supporting block 541 is fixedly installed on the side surfaces of two adjacent arc-shaped mounting blocks 52. As the distance between the arc-shaped mounting blocks 52 changes, the guiding roller 544 moves in the guiding groove 533, and the divergence angle of the telescopic strip 543 also starts to increase, thereby continuously providing the supporting force between two adjacent arc-shaped mounting blocks 52; The arc-shaped mounting blocks 52 are located outside the test tube. The fixing blocks 564 in the fixing component 56 present an annular surrounding shape on the side surface of the test tube, and the anti-slip stripes 565 provide friction to ensure the grasping stability. When the test tube moves, the sliding ring block 561 slides accordingly to ensure dynamic balance. The limiting block 572 ensures that the relative positions on the planes of the multiple fixing components 56 remain unchanged in the limiting groove 555. The movable sliding ball 571 can move in the adjusting groove block 554 to achieve adaptive adjustment; The installation protrusion 542 can also move within the movable groove 521 to ensure that when the test tube moves, the entire adjusting component 55 can move back and forth to ensure the stability when the test tube moves.

[0060] For those of ordinary skill in the art, various modifications to the present disclosure will be obvious, and the general principles defined herein can be applied to other variations without departing from the scope of the present disclosure. Therefore, the present disclosure is not limited to the examples and designs described herein, but should be accorded the widest scope consistent with the principles and novel features disclosed herein. Although one or more exemplary embodiments of the present disclosure have been described with reference to the accompanying drawings, those of ordinary skill in the art will understand that various changes in form and detail may be made therein without departing from the spirit and scope of the present disclosure as defined by the appended claims.

Claims

1. A multi-degree-of-freedom pipe-grasping bionic manipulator, characterized in that: It comprises a mechanical arm (1), a rotating component (2), a mechanical finger (3), a bending component (4) and a pipe grasping mechanism (5); The mechanical arm (1) is installed in an assembly line that needs to grasp a pipe, and the rotating component (2) is installed at the front end of the mechanical arm (1). The rotating component (2) can control the mechanical finger (3) to rotate so as to achieve different degrees of bending; The mechanical finger (3) is mounted on the side of the rotating component (2), and the bending component (4) is mounted on the periphery of the rotating component (2) and on the back of the mechanical finger (3). The bending component (4) can control the degree of bending of the mechanical finger (3) to meet different pipe grasping requirements. The tube grasping mechanism (5) is installed inside the mechanical finger (3); the tube grasping mechanism (5) realizes the support function of the mechanical finger (3) at different bending degrees through the connecting component (53), and is provided with an adjusting component (55) and a fixing component (56) to realize stable grasping of test tubes of different sizes and materials, and to fix the position and state of the test tube when the grasping mechanism moves; The pipe grasping mechanism (5) comprises a driving cylinder (51), an arc-shaped mounting block (52), a connecting component (53), a supporting component (54), an adjusting component (55), a fixing component (56) and a movable component (57). The driving cylinder (51) is installed inside the mechanical finger (3), the arc-shaped mounting block (52) is installed at the output end of the driving mechanism, the connecting component (53) is installed at both ends of the connecting component (53), the supporting component (54) is installed inside the connecting component (53), the adjusting component (55) is installed on the side of the arc-shaped mounting block (52), the fixing component (56) is installed inside the fixing component (55), and the movable component (57) is installed inside the fixing component (56).

2. The multi-degree-of-freedom pipe-grasping bionic manipulator according to claim 1, characterized in that: The rotating assembly (2) comprises a rotating mounting ring (21), a rotating ball (22) and a rotating mounting plate (23); The rotating mounting ring (21) is mounted on the front end of the mechanical arm (1), the rotating ball (22) is mounted inside the rotating mounting ring (21), and the rotating mounting plate (23) is mounted on the side of the rotating ball (22).

3. The multi-degree-of-freedom pipe-grasping bionic manipulator according to claim 1, characterized in that: The bending assembly (4) comprises a mounting frame (41), a micro cylinder (42) and a telescopic rod (43); The mounting frame (41) is mounted on the rotating assembly (2) and the mechanical finger (3), the micro cylinder (42) is mounted on the mounting frame (41), and the telescopic rod (43) is mounted inside the micro cylinder (42).

4. The multi-degree-of-freedom pipe-grasping bionic manipulator according to claim 1, characterized in that: A movable groove (521) is provided inside the arc-shaped mounting block (52), a telescopic groove (522) is provided outside the movable groove (521), and a radius value of the movable groove (521) is set to be 1.2-1.5 times that of the telescopic groove (522).

5. The multi-degree-of-freedom pipe-grasping bionic manipulator according to claim 1, characterized in that: The connection assembly (53) comprises a connection sleeve (531), a deformation opening (532) and a guide groove (533); The connecting sleeve (531) is installed on the side of the arc-shaped installation block (52); the connecting sleeve (531) is made of rubber material; the deformation opening (532) is provided on the side of the connecting sleeve (531); and the guide groove (533) is provided on the bottom surface inside the connecting sleeve (531).

6. The multi-degree-of-freedom pipe-grasping bionic manipulator according to claim 1, characterized in that: The support assembly (54) comprises a support block (541), a mounting protrusion (542), a telescopic strip (543) and a guide roller (544); The support block (541) is installed inside the connection assembly (53), the installation protrusion (542) is installed on the side of the support block (541), the telescopic bars (543) are installed in a linear array on the side of the support block (541), the telescopic bars (543) are arranged in an X shape, and a guide roller (544) is arranged below the telescopic bars (543).

7. The multi-degree-of-freedom pipe-grasping bionic manipulator according to claim 1, characterized in that: The adjustment component (55) comprises an adjustment sleeve (551), a limiting ring (552), a support spring (553), an adjustment slot block (554) and a limiting slot (555); The adjusting sleeve (551) is mounted inside the arc-shaped mounting block (52), the limiting ring (552) is mounted outside the adjusting sleeve (551), the supporting spring (553) is arranged inside the adjusting sleeve (551), the adjusting slot block (554) is mounted on the adjusting sleeve (551), and the limiting slot (555) is provided on the side of the hollow portion inside the adjusting slot block (554).

8. The multi-degree-of-freedom pipe-grasping bionic manipulator according to claim 1, characterized in that: The fixing assembly (56) comprises a sliding ring block (561), a wear-resistant rolling groove (562), a clamping groove (563), a fixing block (564) and an anti-slip stripe (565); The sliding ring block (561) is installed inside the adjustment component (55); the wear-resistant rolling groove (562) is provided on the inner surface of the sliding ring block (561); the clamping groove (563) is provided on both sides of the wear-resistant rolling groove (562); the fixed block (564) is installed outside the sliding ring block (561); the fixed block (564) is configured as a semi-enclosed structure; the fixed block (564) is configured to be made of elastic material; and the anti-slip stripes (565) are provided on the surface of the fixed block (564).

9. The multi-degree-of-freedom pipe-grasping bionic manipulator according to claim 1, characterized in that: The fixing assembly (56) comprises a movable sliding ball (571), a limiting block (572), a wear-resistant rolling ball (573) and a clamping ring (574); The movable sliding ball (571) is installed inside the adjustment assembly (55), the limit block (572) is installed on the surface of the movable sliding ball (571), the wear-resistant rolling ball (573) is installed on the surface of the movable sliding ball (571), and the clamping ring (574) is installed on both sides of the wear-resistant rolling ball (573).

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