CN216442001U - Mechanical arm - Google Patents

Abstract

The application discloses manipulator, including fixture, actuating mechanism and base, actuating mechanism swing joint base respectively, and drive connection fixture, actuating mechanism can follow actuating mechanism along the motion of first direction for the base, fixture can follow actuating mechanism along the motion of first direction, actuating mechanism can drive fixture along the motion of second direction, movable pipeline section can be held in order to dock fixed pipeline section by fixture, first direction and second direction are crossing, and unanimous with the butt joint direction of movable pipeline section, the manipulator can be controlled movable pipeline section and move in order to carry out the alignment towards the second direction like this, and control movable pipeline section and move in order to accomplish the butt joint towards first direction after the alignment is accomplished, this kind of design of manipulator can replace manual operation, reduce intensity of labour, and simplify the step of pipe section connection.

Description

Mechanical arm

Technical Field

The application relates to the technical field of mechanical equipment, in particular to a manipulator.

Background

The tank car is a common transportation device, is commonly used for the transportation of fluid powder materials such as petroleum, silicon powder and the like, and has the advantages of large load and high transportation stability. During the operation of loading or unloading materials to or from a tank car, it is usually necessary to butt the supply pipe against the onboard pipe of the tank car to complete the relevant operation.

However, in the related art, the weight of the feeding pipe is large, and more than two persons are required to perform the operation, for example, one person is responsible for aligning and fixing the feeding pipe and the vehicle-mounted pipe, and the other person is responsible for connecting the feeding pipe and the vehicle-mounted pipe by bolts and the like. It can be seen that the way of realizing the pipe connection by manual operation is complicated, the labor intensity is high, and the working efficiency is low.

SUMMERY OF THE UTILITY MODEL

The invention provides a manipulator, which aims to solve the problems of high labor intensity and low working efficiency caused by manual installation and pipe butt joint.

The utility model provides a manipulator, includes fixture, actuating mechanism and base, actuating mechanism swing joint base respectively to and the drive connection fixture, actuating mechanism can be for the base along first direction motion, fixture can follow actuating mechanism along first direction motion, actuating mechanism can drive fixture along the second direction motion, movable pipeline section can be by fixture centre gripping in order to dock fixed pipeline section, first direction is crossing with the second direction, and with the butt joint direction unanimity of movable pipeline section.

Further, the manipulator still includes the tie-beam, the double-phase offside of tie-beam sets up first rotation portion and second rotation portion respectively, fixture passes through actuating mechanism and rotationally connects first rotation portion, the base is rotationally connected to the second rotation portion, the first pivot of first rotation portion and the second pivot of second rotation portion are all unanimous with the second direction, at actuating mechanism around first pivot rotation, and/or, under the tie-beam around the pivoted condition of second pivot, fixture can follow the motion of third direction, first direction, second direction and third direction are two liang crossing.

Furthermore, the driving mechanism comprises a first mounting seat, a telescopic push rod and a first rotating rod, the first mounting seat is movably connected with the base, and the first rotating rod is respectively and rotatably connected with the first mounting seat and the clamping mechanism; the telescopic push rod is respectively and rotatably connected with the first rotating rod and the first mounting seat; the connecting position of the first rotating rod and the clamping mechanism, the connecting position of the first rotating rod and the telescopic push rod and the connecting position of the first rotating rod and the first mounting seat are sequentially arranged along the length direction of the first rotating rod; the telescopic push rod and the first rotating rod are respectively connected to different positions of the first mounting seat; the telescopic push rod can perform telescopic motion so as to drive the clamping mechanism to move along the second direction along with the first rotating rod.

Further, the driving mechanism further comprises a second rotating rod which is respectively and rotatably connected with the clamping mechanism and the first mounting seat.

Furthermore, the number of the telescopic push rods is two, and the two telescopic push rods are symmetrically arranged on two sides of the first rotating rod.

Further, the clamping mechanism comprises a second mounting seat and a clamping sleeve, the second mounting seat is connected with the driving mechanism, and the clamping sleeve is connected with the second mounting seat.

Furthermore, the second mounting seat comprises a mounting sleeve and a third rotating shaft, the mounting sleeve is connected with the driving mechanism, and the third rotating shaft is rotatably arranged on the mounting sleeve; the jacket is rotatably connected with the mounting sleeve through a third rotating shaft, and the axial direction of the third rotating shaft is consistent with the second direction.

Further, the clamping mechanism further comprises a handle, and the handle is arranged on the second mounting seat or the jacket.

Further, the jacket comprises a first arc-shaped clamping ring and a second arc-shaped clamping ring, the two ends of the first arc-shaped clamping ring are respectively a first rotating end and a first connecting side, the two ends of the second arc-shaped clamping ring are respectively a second rotating end and a second connecting side, the first arc-shaped clamping ring is connected with the second mounting seat, the second arc-shaped clamping ring is rotatably connected with the first arc-shaped clamping ring through the second rotating end and the first rotating end, the second connecting side can be connected with or separated from the first connecting side under the condition that the second arc-shaped clamping ring rotates, and the first arc-shaped clamping ring and the second arc-shaped clamping ring enclose a whole ring capable of clamping the movable pipe section under the condition that the second connecting side is connected with the first connecting side.

Furthermore, the clamping mechanism also comprises a tensioning bolt and a tensioning nut, a stop block is arranged on the first connecting side, and a stop groove is formed in the stop block; the tensioning bolt is rotatably connected with the second connecting side and is in threaded connection with the tensioning nut, under the condition that the first arc-shaped clamping ring and the second arc-shaped clamping ring enclose a whole ring, the tensioning bolt can rotate to the stop groove, so that the tensioning nut is located on one side, away from the second arc-shaped clamping ring, of the stop block, and the first connecting side is connected with the second connecting side through the stop block, the tensioning nut and the tensioning bolt.

The invention has the following beneficial effects:

the manipulator of this application design includes fixture, actuating mechanism and base, actuating mechanism swing joint base respectively to and drive connection fixture, actuating mechanism can follow the first direction motion for the base, fixture can follow actuating mechanism along the first direction motion, actuating mechanism can drive fixture along the second direction motion, the activity pipeline section can be held in order to dock fixed pipeline section by fixture, first direction is crossing with the second direction, and unanimous with the butt joint direction of activity pipeline section.

Under the design, an operator can control the movable pipe section to move towards the second direction through the manipulator to perform alignment, and control the movable pipe section to move towards the first direction after the alignment is completed to complete the butt joint. It can be seen that the manual operation is replaced by the mechanical arm, so that the labor intensity is reduced, and the step of connecting the pipe sections is simplified.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a front view of a robot disclosed in a first embodiment of the present application;

FIG. 2 is a top view of a robot disclosed in the first embodiment of the present application;

FIG. 3 is a view showing a structure of a holding mechanism according to a first embodiment of the present application;

FIG. 4 is a view showing a structure of a drive mechanism disclosed in the first embodiment of the present application;

FIG. 5 is a view showing a structure of a coupling beam according to the first embodiment of the present application;

FIG. 6 is a schematic view of a robot applied to docking of tank car pipelines according to a first embodiment of the present application.

Description of reference numerals:

x-first direction, Y-second direction, Z-third direction,

100-a clamping mechanism,

110-a second mounting seat, 111-a mounting sleeve, 112-a third rotating shaft,

120-jacket, 121-first arc-shaped clamping ring, 122-second arc-shaped clamping ring,

131-tensioning bolt, 132-tensioning nut, 133-stop block,

140-a handle,

200-a driving mechanism,

210-a first installation seat, 220-a telescopic push rod, 230-a first rotating rod, 240-a second rotating rod,

300-connecting beam,

310-a first rotating part, 320-a second rotating part, 302-a second beam, 301-a first beam,

400-base, a,

500-mechanical arm, 600-movable pipe section, 700-fixed pipe section and 800-tank car.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Referring to fig. 1 to 6, the present application discloses a robot capable of performing a butt joint between two different pipe sections. The robot may include achucking mechanism 100, adriving mechanism 200, and abase 400. Thebase 400 is a bearing base and a mounting base of the robot arm, so that other components can be mounted, and is generally disposed on the ground or on a platform. Theclamping mechanism 100 is used for clamping and fixing pipe sections to be butted, and thedriving mechanism 200 provides power for the manipulator to realize the movement of the manipulator.

Specifically, thedrive mechanism 200 may be separately articulated to thebase 400 and drivingly connect theclamping mechanism 100. Thedriving mechanism 200 is movable in a first direction X with respect to thebase 400, and thechucking mechanism 100 is movable in the first direction X with thedriving mechanism 200. Thedriving mechanism 200 may drive thechucking mechanism 100 to move in the second direction Y.

The first direction X intersects the second direction Y and is the same as the butt joint direction of the movable pipe segments, that is, the first direction X may be a direction in which the two pipe segments approach each other to be butt jointed, and the second direction Y may be an alignment direction before butt joint of the pipe segments, for example, the second direction Y is a direction perpendicular to the bottom surface and is a direction of the height of thedriving mechanism 200 from the ground.

Such that the movable pipe section can be gripped by thegripping mechanism 100 for docking with a fixed pipe section, as exemplified below by the docking of afixed pipe section 700 on atanker truck 800, for operation of the robot:

thetank car 800 travels to a station where the pipe segments can be docked, such as by therobot 500, and holds thepipe segment 700 in place toward therobot 500. Where thefixed pipe section 700 is the onboard pipe on thetank car 800.

Themovable pipe section 600 is loaded into theclamping mechanism 100 to be clamped and fixed by theclamping mechanism 100.

Thedriving mechanism 200 is started to enable theclamping mechanism 100 to drive themovable pipe section 600 to move towards the second direction Y, namely, the height of theclamping mechanism 100 perpendicular to the ground is adjusted; at the same time, thehandle 140 may be operated to make theclamping mechanism 100 move themovable tube segment 600 in the third direction Z and/or rotate in the plane perpendicular to the second direction Y, and themovable tube segment 600 may perform the position alignment of themovable tube segment 600 by the movement in the three degrees of freedom.

After the alignment of themovable pipe section 600 is completed, themovable pipe section 600 is aligned with thefixed pipe section 700, and thedriving mechanism 200 is operated to move in the first direction X to move themovable pipe section 600 and thefixed pipe section 700 toward each other. Generally, the connection side of themovable pipe section 600 and the connection side of thefixed pipe section 700 are provided with connection flanges, and after the two are brought close to and in contact with each other, an operator may connect the two flanges by means of a bolt connection or the like, thereby completing the butt joint between themovable pipe section 600 and thefixed pipe section 700.

It can be seen that the arrangement of the manipulator can replace the mode of manually operating the pipe joint in the related art, thus reducing the labor intensity and simplifying the pipe joint steps.

Further, as shown in fig. 1 and 2, the robot arm may further include aconnection beam 300. The connectingbeam 300 may allow thedrive mechanism 200 to better extend outward. Specifically, the connectingbeam 300 is provided at opposite sides thereof with a firstrotating portion 310 and a secondrotating portion 320, respectively, theclamping mechanism 100 is rotatably connected to the firstrotating portion 310 by thedriving mechanism 200, and the secondrotating portion 320 is rotatably connected to thebase 400.

The first rotation axis of thefirst rotation part 310 and the second rotation axis of thesecond rotation part 320 are both aligned with the second direction Y. In the case where thedriving mechanism 200 rotates about the first rotation axis, and/or theconnection beam 300 rotates about the second rotation axis, thechucking mechanism 100 may move in the third direction Z. The first direction X, the second direction Y and the third direction Z are intersected in pairs.

In particular, two perpendicular three-dimensional coordinate systems can be seen in a first direction X, which can be understood as the direction in which the pipe sections are docked, for example, the direction parallel to the ground, a second direction Y, which can be understood as one alignment direction perpendicular to the ground, and a third direction Z, which can be understood as the other alignment direction intersecting the first direction X and parallel to the ground.

As can be seen from fig. 1 and fig. 2, no matter thedriving mechanism 200 rotates around the firstrotating portion 310 or the connectingbeam 300 rotates around the secondrotating portion 320, theclamping mechanism 100 moves toward or away from thebase 400, and theclamping mechanism 100 can move toward the third direction Z by the way of the meandering of the robot, so as to drive the clampedmovable tube 600 to move toward the third direction Z.

Therefore, the alignment movement of themovable pipe section 600 not only has the movement towards the second direction Y, but also includes the movement towards the third direction Z, so that the movement mode is more abundant, and the butt joint between themovable pipe section 600 and the fixedpipe section 700 is easier to realize.

Further, for the specific structure of the firstrotating part 310 and the secondrotating part 320, both the firstrotating part 310 and the secondrotating part 320 may be provided as bearings, and thedriving mechanism 200 and the base 400 may be provided with adaptive rotating shafts to be in rotating fit with the bearings, so as to achieve smooth rotation. Of course, the firstrotating portion 310 and the secondrotating portion 320 may also be configured as a rotating motor, and the like, so that the related rotation is driven by the rotating motor, and manual operation is not needed, which is more time-saving and labor-saving.

Further, theconnection beam 300 may be a telescopic beam, and includes asecond beam body 302 and afirst beam body 301. The firstrotating part 310 is disposed on a first side of thefirst beam 301, the secondrotating part 320 is disposed on a first side of thesecond beam 302, and a second side of thefirst beam 301 is movably connected to a second side of thesecond beam 302.

Thefirst beam 301 can move along the length direction of thesecond beam 302 to adjust the distance between the firstrotating portion 310 and the secondrotating portion 320, so that theclamping mechanism 100 can move towards the third direction Z more conveniently, and themovable pipe section 600 can be aligned more conveniently.

Further, thedriving mechanism 200 may include a first mountingseat 210, atelescopic push rod 220, and afirst rotation rod 230. Wherein the first mountingseat 210 is movably connected to thebase 400, for example, the first mountingseat 210 is indirectly connected to the base 400 through the connectingbeam 300, or the first mountingseat 210 is directly movably disposed on thebase 400. The firstrotating rod 230 is rotatably connected to the first mountingseat 210 and theclamping mechanism 100, respectively; thetelescopic push rod 220 is rotatably connected to the firstrotating rod 230 and the first mountingseat 210, respectively.

The connection position of the firstrotating rod 230 and theclamping mechanism 100, the connection position of the firstrotating rod 230 and thetelescopic push rod 220, and the connection position of the firstrotating rod 230 and the first mountingseat 210 are sequentially arranged along the length direction of the firstrotating rod 230. Thetelescopic push rod 220 and the firstrotating rod 230 are respectively connected to different positions of the first mountingseat 210.

Thus, theretractable push rod 220 can perform a retractable movement to drive theclamping mechanism 100 to move along the second direction Y along with the firstrotating rod 230. Specifically, when thetelescopic push rod 220 performs telescopic motion, the firstrotating rod 230 is driven to rotate relative to the first mountingseat 210, and then theclamping mechanism 100 is driven to move along with the firstrotating rod 230, so that the position of themovable pipe section 600 along with theclamping mechanism 100 in the second direction Y is changed, and the alignment of themovable pipe section 600 in the second direction Y is completed. Thedriving mechanism 200 provided in this manner can easily drive thechucking mechanism 100.

Further, thedriving mechanism 200 may further include a secondrotating lever 240. The secondrotating rod 240 rotatably connects theclamping mechanism 100 and the first mountingseat 210, respectively. The secondrotating rod 240 may be kept parallel to the firstrotating rod 230 to serve as an auxiliary support, thereby ensuring the stability of thedriving mechanism 200 for driving theclamping mechanism 100.

Further, the number of thetelescopic push rods 220 may be two, and the twotelescopic push rods 220 are symmetrically disposed at two sides of the firstrotating rod 230, so that a larger and more stable driving force can be generated, and the stability of driving theclamping mechanism 100 can be ensured.

Further, for the specific structure of theclamping mechanism 100, theclamping mechanism 100 may be configured as a clamping jaw or a clamping plate, etc. to achieve clamping fixation of themovable pipe segment 600. This application sets upfixture 100 and includessecond mount pad 110 andjacket 120, and whereinsecond mount pad 110 is connectedactuating mechanism 200, andjacket 120 connectssecond mount pad 110, andjacket 120 can realize the whole parcel toactivity pipeline section 600 periphery, and the clamping effect is better.

Further, for the connection mode of thejacket 120 and the second mountingseat 110, a fixed connection or an integrated setting mode can be adopted for realization, thejacket 120 and the second mountingseat 110 are detachably connected in the application, for example, a connection lug is arranged on thejacket 120 in a protruding manner, the threaded connection with the second mountingseat 110 is realized in a bolt penetrating manner, or the clamping of a clamping groove is buckled, and the like, thejacket 120 can be conveniently disassembled, assembled and replaced, and the manipulator can be conveniently maintained.

Further, thesecond mounting base 110 may include a mounting sleeve 111 and athird rotation shaft 112. The mounting sleeve 111 is connected with thedriving mechanism 200, and the thirdrotating shaft 112 is rotatably arranged on the mounting sleeve 111. Thejacket 120 is rotatably connected to the mounting sleeve 111 by a thirdrotating shaft 112, and the axial direction of the thirdrotating shaft 112 is the same as the second direction Y.

The arrangement mode can enable the clampingsleeve 120 to rotate around the thirdrotating shaft 112, so that the clampedmovable pipe section 600 can rotate on the plane perpendicular to the second direction Y, and therefore the alignment mode of themovable pipe section 600 can be enriched.

Further, theclamping mechanism 100 also includes ahandle 140. Thehandle 140 is disposed on thesecond mounting base 110 or the clampingsleeve 120, and this arrangement can facilitate the alignment movement. Taking thehandle 140 disposed on thejacket 120 as an example, an operator can hold thehandle 140 by hand, and pull and drag themovable tube 600 to move toward the second direction Y, move toward the third direction Z, rotate on a plane perpendicular to the second direction Y, or combine the motions in the directions of at least two degrees of freedom to align themovable tube 600, so that thehandle 140 can improve the controllability of the manipulator.

Further, thecollet 120 may include a first arc-shapedclamp ring 121 and a second arc-shapedclamp ring 122. The two ends of the first arc-shapedclamping ring 121 are respectively a first rotating end and a first connecting side, and the two ends of the second arc-shapedclamping ring 122 are respectively a second rotating end and a second connecting side.

The first arc-shapedclamping ring 121 is connected to the second mountingseat 110, and the second rotating end is rotatably connected to the first rotating end, so that the second arc-shapedclamping ring 122 is rotatably connected to the first arc-shapedclamping ring 121 through the second rotating end and the first rotating end.

Thus, the second connection side can be connected to or disconnected from the first connection side with the rotation of the second arctype clamp ring 122. In the case where the second connection side is connected to the first connection side, the first and second arcuate clamp rings 121 and 122 enclose a complete ring that can clamp themovable pipe section 600. The clamping or the releasing of the clamping of themovable pipe section 600 can be realized rapidly by the mode, and the manipulator is easier to operate.

Furthermore, for the specific connection mode of the second connection side and the first connection side, the two connection modes can adopt clamping of the buckle clamping groove, magnetic connection and the like. Theclamping mechanism 100 of the present application further includes atension bolt 131 and atension nut 132. The first connection side is provided with astopper 133, and thestopper 133 is provided with a stopper groove. Thetension bolt 131 is rotatably coupled to the second coupling side and threadedly coupled to thetension nut 132.

Thus, in the case where the first and second arc-shaped clamp rings 121 and 122 enclose a complete ring, thetension bolt 131 can be rotated into the stop groove such that thetension nut 132 is located on the side of the stop block 133 facing away from the second arc-shapedclamp ring 122.

In this case, by tightening thetensioning nut 132 to move thetensioning nut 132 to the side close to thestop block 133, thetensioning nut 132 can be brought into tight contact with the surface of the stop block 133 by means of thetensioning bolt 131, so that thetensioning bolt 131, thetensioning nut 132 and the stop block 133 are secured in a tensioned manner, and the first connection side is connected to the second connection side by means of thestop block 133, thetensioning nut 132 and thetensioning bolt 131 under the effect of the force transmission, so that the clamping of themovable pipe section 600 by the clampingcollet 120 is achieved.

When the clamping of themovable pipe section 600 needs to be released, the tighteningnut 132 is loosened, so that the tighteningnut 132 moves to the side away from thestop block 133, and thus the tightening of the tighteningbolt 131 can be released, the tighteningbolt 131 can be separated from thestop block 133, the first connecting side of the first arc-shapedclamping ring 121 can be separated from the second connecting side of the second arc-shapedclamping ring 122, and the clampingsleeve 120 can be separated from themovable pipe section 600.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims (10)

1. A manipulator, its characterized in that: comprises a clamping mechanism (100), a driving mechanism (200) and a base (400),

the driving mechanism (200) is respectively movably connected with the base (400) and is in driving connection with the clamping mechanism (100),

the drive mechanism (200) being movable in a first direction relative to the base (400), the gripper mechanism (100) being movable with the drive mechanism (200) in the first direction,

the driving mechanism (200) can drive the clamping mechanism (100) to move along a second direction,

the movable pipe section can be clamped by the clamping mechanism (100) to be butted with the fixed pipe section, and the first direction intersects with the second direction and is consistent with the butting direction of the movable pipe section.

2. The robot hand according to claim 1, wherein: the manipulator further comprises a connecting beam (300), a first rotating part (310) and a second rotating part (320) are respectively arranged on two opposite sides of the connecting beam (300),

the clamping mechanism (100) is rotatably connected with the first rotating part (310) through the driving mechanism (200),

the second rotating part (320) is rotatably connected to the base (400),

a first rotation axis of the first rotation part (310) and a second rotation axis of the second rotation part (320) are both coincident with the second direction,

the clamping mechanism (100) is movable in a third direction in case the drive mechanism (200) is rotated about the first axis of rotation and/or the connection beam (300) is rotated about the second axis of rotation,

the first direction, the second direction and the third direction intersect in pairs.

3. The robot hand according to claim 1, wherein: the driving mechanism (200) comprises a first mounting seat (210), a telescopic push rod (220) and a first rotating rod (230),

the first installation seat (210) is movably connected with the base (400), and the first rotating rod (230) is respectively and rotatably connected with the first installation seat (210) and the clamping mechanism (100); the telescopic push rod (220) is respectively and rotatably connected with the first rotating rod (230) and the first mounting seat (210);

the connecting position of the first rotating rod (230) and the clamping mechanism (100), the connecting position of the first rotating rod (230) and the telescopic push rod (220), and the connecting position of the first rotating rod (230) and the first mounting seat (210) are sequentially arranged along the length direction of the first rotating rod (230); the telescopic push rod (220) and the first rotating rod (230) are respectively connected to different positions of the first mounting seat (210);

the telescopic push rod (220) can perform telescopic motion so as to drive the clamping mechanism (100) to move along the second direction along with the first rotating rod (230).

4. The robot hand according to claim 3, wherein: the driving mechanism (200) further comprises a second rotating rod (240), and the second rotating rod (240) is respectively and rotatably connected with the clamping mechanism (100) and the first installation seat (210).

5. The robot hand according to claim 3, wherein: the number of the telescopic push rods (220) is two, and the telescopic push rods (220) are symmetrically arranged on two sides of the first rotating rod (230).

6. The robot hand according to claim 1, wherein: the clamping mechanism (100) comprises a second mounting seat (110) and a clamping sleeve (120),

the second mounting seat (110) is connected with the driving mechanism (200), and the jacket (120) is connected with the second mounting seat (110).

7. The robot hand of claim 6, wherein: the second mounting seat (110) comprises a mounting sleeve (111) and a third rotating shaft (112), the mounting sleeve (111) is connected with the driving mechanism (200), and the third rotating shaft (112) is rotatably arranged on the mounting sleeve (111);

the clamping sleeve (120) is rotatably connected with the mounting sleeve (111) through the third rotating shaft (112), and the axial direction of the third rotating shaft (112) is consistent with the second direction.

8. The robot hand of claim 6, wherein: the clamping mechanism (100) further comprises a handle (140), and the handle (140) is arranged on the second mounting seat (110) or the jacket (120).

9. The robot hand of claim 6, wherein: the jacket (120) comprises a first arc-shaped clamping ring (121) and a second arc-shaped clamping ring (122),

the two ends of the first arc-shaped clamping ring (121) are respectively a first rotating end and a first connecting side, the two ends of the second arc-shaped clamping ring (122) are respectively a second rotating end and a second connecting side,

the first arc-shaped clamping ring (121) is connected with the second mounting seat (110), the second arc-shaped clamping ring (122) is rotatably connected with the first arc-shaped clamping ring (121) through the second rotating end and the first rotating end,

the second connection side can be connected or disconnected with the first connection side in case the second arc-shaped clamp ring (122) is rotated,

the first arcuate clamping ring (121) and the second arcuate clamping ring (122) enclose a complete ring that can clamp the movable pipe section with the second connection side connected to the first connection side.

10. The robot hand of claim 9, wherein: the clamping mechanism (100) further comprises a tensioning bolt (131) and a tensioning nut (132),

the first connecting side is provided with a stop block (133), and the stop block (133) is provided with a stop groove;

the tensioning screw (131) being rotatably connected to the second connection side and being screwed to the tensioning nut (132),

in the case that the first arc-shaped clamping ring (121) and the second arc-shaped clamping ring (122) enclose the complete ring, the tensioning bolt (131) can be rotated into the stop groove, so that the tensioning nut (132) is located on the side of the stop block (133) facing away from the second arc-shaped clamping ring (122), and the first connection side is connected to the second connection side via the stop block (133), the tensioning nut (132) and the tensioning bolt (131).

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