An electrical automation test bench

Abstract

The application discloses an electrical automation test platform and belongs to the technical field of electrical automation testing. To solve the problem that the existing electrical detection is mostly operated in a semi-manual mode, which requires certain clothing for the operator and avoids the influence of human body static electricity on the electrical structure, the application provides an electrical automation test platform. In the process of testing, the operator only needs to stand on one side of the horizontal counter and control the mechanical arm above the platform and the array imaging module through the control unit. Then, the array imaging module at the top of the two ends of the insulation debugging board is started to scan the electrical structure of the insulation debugging board. The scanned pattern is fed back by the display screen, and then the probe structure is clamped by the mechanical arm to detect and debug the electrical structure. In the whole testing process, the human body does not contact the test structure in advance, and the accurate and efficient testing effect can be ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electrical automation testing, in particular to an electrical automation test bench. BACKGROUND

[0002] Electrical detection is generally electrical fire safety detection. Electrical fire safety detection is a full range of quantitative monitoring of electrical facilities by using international advanced high-tech instruments and equipment and combining traditional inspection methods according to modern physical phenomena such as thermal radiation, acoustic emission and electromagnetic emission of electrical facilities in the operation process. Under the supervision and guidance of the fire department, international advanced high-tech is used to detect electrical facilities in all directions according to physical phenomena such as thermal radiation, acoustic emission and electromagnetic emission, so as to more comprehensively, scientifically and accurately reflect the existence, danger degree and accurate position of electrical fire. And timely propose rectification measures to achieve the purpose of eliminating hidden dangers and avoiding fire. Electrification has always been a symbol of progress and development of human society. With the strong development momentum of China's economy, various electrical equipment is increasingly entering various fields of national economy and people's life. At the same time, fires caused by electrical reasons are also on the rise. According to statistics of the fire department, the number of fires caused by electrical reasons in cities ranks first among all types of fire accidents.

[0003] However, the existing electrical detection mostly adopts a semi-manual operation mode, but such an operation mode has certain requirements for the clothing of the human body, which needs to avoid the influence of human body static electricity on the electrical structure, which not only leads to differences in detection data, but also causes part damage; therefore, it does not meet the existing demand, and for this purpose, the present application provides an electrical automation test bench. SUMMARY

[0004] The present application aims to provide an electrical automation test bench, which has completely automated operation and prevents, human operation and mechanical completion of the entire detection process, avoids the occurrence of numerical error and part damage problems, and can solve the problems in the prior art.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme: an electrical automation test bench, comprising a test bench main body, the test bench main body comprises a power supply cabinet and a horizontal counter, and the power supply cabinet and the horizontal counter are arranged in an integrated structure, the surface of one side of the horizontal counter is provided with a control unit, and the control unit is electrically connected with the horizontal counter, the top of the horizontal counter is provided with an element test platform, and the element test platform and the horizontal counter are arranged in an integrated structure, the top of the element test platform is provided with a test groove, the inside of the test groove is provided with an insulating debugging board, and the insulating debugging board is connected with the element test platform through screws, both ends of the insulating debugging board are provided with array imaging modules, one side of the top of the test groove is provided with an electric control suspension rail, and the upper side of the electric control suspension rail is provided with a control mechanical arm.

[0006] Preferably, the outer surface of the insulating debugging board is provided with columnar partitions, the columnar partitions are fixedly connected with the insulating debugging board, and placing grooves are arranged between the columnar partitions.

[0007] Preferably, the top of the converging top shaft is provided with a plurality of circuit test probes. The circuit test probes are connected with the converging top shaft through clamping grooves. One end of the circuit test probe is provided with a stretchable wire harness, and the other end of the stretchable wire harness is provided with a stretchable sleeve opening. The stretchable wire harness is slidably connected with the converging top shaft through the stretchable sleeve opening.

[0008] Preferably, both ends of the array imaging module are provided with horizontal sliding shafts, and the array imaging module is slidably connected with the test groove through the horizontal sliding shafts. The bottom of the array imaging module is provided with two high-definition camera modules. A light supplementing lamp is arranged between the high-definition camera modules, and the light supplementing lamp and the high-definition camera modules are electrically connected with the array imaging module.

[0009] Preferably, the bottom of the control mechanical arm is provided with a rotating shaft column, and the bottom of the rotating shaft column is provided with a sliding seat shaft. The rotating shaft column is rotatably connected with the sliding seat shaft, and the sliding seat shaft is slidably connected with the electric control suspension rail. The upper side of the rotating shaft column is provided with a main rocker arm, and the main rocker arm is rotatably connected with the rotating shaft column. The inside of the main rocker arm is provided with a transmission motor, and the transmission motor is electrically connected with the main rocker arm.

[0010] Preferably, one side of the rotating shaft column is provided with a signal receiving box, and the signal receiving box is electrically connected with the rotating shaft column. The upper side of the main rocker arm is provided with an auxiliary rocker arm, and the auxiliary rocker arm is rotatably connected with the main rocker arm. The other end of the auxiliary rocker arm is provided with an auxiliary arm adapter, and the auxiliary arm adapter is rotatably connected with the auxiliary rocker arm through a rotating shaft.

[0011] Preferably, the other end of the auxiliary arm adapter is provided with a simulation joint clamp. One side of the auxiliary arm adapter is provided with a visual hanging plate, and the visual hanging plate is connected with the auxiliary arm adapter through screws. The outer side of the visual hanging plate is provided with a visual sensing module, and the visual sensing module is combinedly connected with the visual hanging plate.

[0012] Preferably, the inner side of the other end of the auxiliary arm adapter is provided with a micro-rotation movable arm, and the micro-rotation movable arm is rotatably connected with the auxiliary arm adapter. The other end of the micro-rotation movable arm is provided with a clamp adapter shaft, and the clamp adapter shaft is rotatably connected with the micro-rotation movable arm.

[0013] Preferably, one end of the simulation joint clamp is provided with a clamp sleeve shaft, the clamp sleeve shaft is connected with the clamp adapter shaft through bolts, the simulation joint clamp comprises a multi-joint mechanical paw, and the multi-joint mechanical paw has two.

[0014] Preferably, the multi-joint mechanical paw comprises a front end joint, a middle end joint and a terminal joint, the front end joint is rotatably connected with the middle end joint, and the terminal joint is rotatably connected with the middle end joint.

[0015] Compared with the prior art, the simulation joint clamp has the beneficial effects that:

[0016] 1、The present application, in the process of testing, the staff only need to stand on one side of the horizontal counter through the control unit to control the regulating mechanical arm and array imaging module above the table body, and the detected value will be displayed on the display screen above the control unit, the top of the horizontal counter is provided with an element test platform, the top of the element test platform is provided with a test groove, the inside of the test groove is provided with an insulating debugging board, both ends of the insulating debugging board are provided with array imaging modules, one side of the top of the test groove is provided with an electric control suspension rail, and the top of the electric control suspension rail is provided with a regulating mechanical arm, before testing, the staff puts the electronic device on the insulating debugging board inside the element test platform, then starts the array imaging modules above both ends of the insulating debugging board to scan the electrical structure of the insulating debugging board, the scanned pattern is fed back to the display screen, and then the regulating mechanical arm clamps the probe structure to detect and debug the electrical structure, the human body does not contact the test structure during the whole test process, and accurate and efficient test effect can be ensured.

[0017] 2、The present application, the top of each array imaging module is provided with a group of circuit test probe structures, one group of the two groups of circuit test probes is responsible for discharging, and the other group is responsible for power supply, each group of circuit test probes has three, and the circuit test probe is fixed above the array imaging module by means of the converging top shaft, and the maximum voltage provided by each circuit test probe for discharging is different, the regulating mechanical arm selects the corresponding circuit test probe according to the current electrical structure during the test, then the circuit test probe is pulled out, the two groups of mechanical arm structures clamp a group of circuit test probes for discharging and a group of circuit test probes for power supply, and then the probe is contacted with the live wire on the electrical structure through the moving mechanical arm, so that the test operation is realized.

[0018] 3、The visual sensing module is located at the front end of the whole regulating mechanical arm upper half section, when the switching auxiliary arm and the micro-rotation movable arm and the simulation joint clamp are moved, the visual sensing module can obtain the operation visual angle of the above structure, so that in the process of mechanical arm holding probe test, the system can obtain the operation picture in real time through the visual sensing module, so as to avoid the misoperation, improve the test precision and efficiency, and the simulation joint clamp has three joint structures, which is similar to the hand structure of human body, and can realize fine operation through the cooperation and adjustment between joints. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is the overall front view of the application;

[0020] Figure 2 It is the element test platform structure schematic view of the application;

[0021] Figure 3 It is the array imaging module structure schematic view of the application;

[0022] Figure 4 It is the regulating mechanical arm structure schematic view of the application;

[0023] Figure 5 It is the switching auxiliary arm structure schematic view of the application;

[0024] Figure 6 It is the multi-joint mechanical claw structure schematic view of the application.

[0025] In the figure: 1, test table main body; 2, power cabinet; 3, horizontal counter; 4, control unit; 5, element test platform; 6, test groove; 7, electric control suspension rail; 8, regulating mechanical arm; 9, array imaging module; 10, insulation debugging board; 11, placing groove; 12, separate partition; 13, horizontal sliding shaft; 14, converging top shaft; 15, circuit test probe; 16, stretching wire harness; 17, stretching sleeve; 18, rotating shaft column; 19, signal receiving box; 20, sliding seat shaft; 21, main rocker arm; 22, auxiliary rocker arm; 23, switching auxiliary arm; 24, simulation joint clamp; 25, transmission motor; 26, visual hanging plate; 27, visual sensing module; 28, micro-rotation movable arm; 29, clamp switching shaft; 30, clamp sleeve shaft; 31, multi-joint mechanical claw; 32, high-definition camera module; 33, light supplement lamp; 34, front joint; 35, middle joint; 36, end joint. DETAILED DESCRIPTION

[0026] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0027] Please refer to Figure 1 The present application provides an embodiment: an electrical automation test bench, comprising a test bench body 1, the test bench body 1 comprising a power cabinet 2 and a horizontal counter 3, and the power cabinet 2 and the horizontal counter 3 are arranged as an integrated structure, the surface of one side of the horizontal counter 3 is provided with a control unit 4, and the control unit 4 is electrically connected with the horizontal counter 3, and in the process of testing, the staff only needs to stand on one side of the horizontal counter 3 to control the regulation mechanical arm 8 and the array imaging module 9 above the bench body through the control unit 4, and the detected value will be displayed by the display screen above the control unit 4, the top of the horizontal counter 3 is provided with an element test platform 5, and the element test platform 5 and the horizontal counter 3 are arranged as an integrated structure, the top of the element test platform 5 is provided with a test slot 6, the inside of the test slot 6 is provided with an insulating debugging board 10, and the insulating debugging board 10 is connected with the element test platform 5 through screws, both ends of the insulating debugging board 10 are provided with array imaging modules 9, one side of the top of the test slot 6 is provided with an electric control suspension rail 7, and the top of the electric control suspension rail 7 is provided with a regulation mechanical arm 8, before testing, the staff puts the electronic device on the insulating debugging board 10 inside the element test platform 5, then starts the array imaging modules 9 above both ends of the insulating debugging board 10 to scan the electrical structure of the insulating debugging board 10, the scanned pattern will be fed back by the display screen, and then the regulation mechanical arm 8 will clamp the probe structure to detect and debug the electrical structure.

[0028] Please refer to Figures 2-3, the outer surface of the insulating debugging board 10 is provided with a column partition 12, and the column partition 12 is fixedly connected with the insulating debugging board 10, and the column partition 12 is provided with a placing groove 11, and the placing groove 11 is multiple, the top of the array imaging module 9 is provided with a converging top shaft 14, and the converging top shaft 14 is arranged in an integral structure with the array imaging module 9, the top of the converging top shaft 14 is provided with a circuit test probe 15, and the circuit test probe 15 is multiple, the circuit test probe 15 is connected with the converging top shaft 14 through a clamping groove, one end of the circuit test probe 15 is provided with a stretch harness 16, and the other end of the stretch harness 16 is provided with a stretch sleeve 17, the stretch harness 16 is slidably connected with the converging top shaft 14 through the stretch sleeve 17, the top of each array imaging module 9 is provided with a group of circuit test probe 15 structures, and one group of the two groups of circuit test probes 15 is responsible for discharging, and the other group is responsible for connecting electricity, each group of circuit test probes 15 has three, and the circuit test probe 15 is fixed above the array imaging module 9 by means of the converging top shaft 14, and each circuit test probe 15 used for discharging can provide different maximum voltages, in the process of testing, the control mechanical arm 8 can select the corresponding circuit test probe 15 according to the current electrical structure, then the circuit test probe 15 is pulled out, and the two groups of mechanical arm structures are used to clamp a group of circuit test probes 15 for discharging and a group of circuit test probes 15 for connecting electricity, then the probe is contacted with the electric structure through the moving mechanical arm to realize the test operation, the array imaging module 9 is provided with a horizontal sliding shaft 13 at both ends, and the array imaging module 9 is slidably connected with the test groove 6 through the horizontal sliding shaft 13, the bottom of the array imaging module 9 is provided with a high-definition camera module 32, and the high-definition camera module 32 is two, the high-definition camera module 32 is provided with a light supplementing lamp 33, and the light supplementing lamp 33 and the high-definition camera module 32 are electrically connected with the array imaging module 9, the light supplementing lamp 33 provides light illumination, helps the high-definition camera module 32 to obtain clear picture data, and the system misjudges.

[0029] Please refer to Figures 4-6The bottom of the regulating mechanical arm 8 is provided with a rotating shaft column 18, and the bottom of the rotating shaft column 18 is provided with a sliding seat shaft 20, the rotating shaft column 18 is rotationally connected with the sliding seat shaft 20, and the sliding seat shaft 20 is slidingly connected with the electric control suspension rail 7, the upper side of the rotating shaft column 18 is provided with a main rocker arm 21, and the main rocker arm 21 is rotationally connected with the rotating shaft column 18, the inside of the main rocker arm 21 is provided with a transmission motor 25, and the transmission motor 25 is electrically connected with the main rocker arm 21, one side of the rotating shaft column 18 is provided with a signal receiving box 19, and the signal receiving box 19 is electrically connected with the rotating shaft column 18, the upper side of the main rocker arm 21 is provided with an auxiliary rocker arm 22, and the auxiliary rocker arm 22 is rotationally connected with the main rocker arm 21, the other end of the auxiliary rocker arm 22 is provided with an adapter auxiliary arm 23, and the adapter auxiliary arm 23 is rotationally connected with the auxiliary rocker arm 22 through a rotating shaft, the other end of the adapter auxiliary arm 23 is provided with a simulation joint clamp 24, one side of the adapter auxiliary arm 23 is provided with a visual hanging plate 26, and the visual hanging plate 26 is connected with the adapter auxiliary arm 23 through a screw, the outside of the visual hanging plate 26 is provided with a visual sensing module 27, and the visual sensing module 27 is combinedly connected with the visual hanging plate 26, the visual sensing module 27 is located at the front end of the upper half of the whole regulating mechanical arm 8, when the adapter auxiliary arm 23, the micro-rotation movable arm 28 and the simulation joint clamp 24 are moved at the front end, the visual sensing module 27 can obtain the operation angle of view of the above structure, so that in the process of mechanical arm holding probe test, the system can obtain the operation picture in real time through the visual sensing module 27, so as to avoid the misoperation, improve the test precision and efficiency, the inside of the other end of the adapter auxiliary arm 23 is provided with a micro-rotation movable arm 28, and the micro-rotation movable arm 28 is rotationally connected with the adapter auxiliary arm 23, the other end of the micro-rotation movable arm 28 is provided with a clamp adapter shaft 29, and the clamp adapter shaft 29 is rotationally connected with the micro-rotation movable arm 28, one end of the simulation joint clamp 24 is provided with a clamp sleeve shaft 30, and the clamp sleeve shaft 30 is connected with the clamp adapter shaft 29 through a bolt, the simulation joint clamp 24 comprises a multi-joint mechanical gripper 31, and the multi-joint mechanical gripper 31 has two, the multi-joint mechanical gripper 31 is rotationally connected with the clamp sleeve shaft 30, the multi-joint mechanical gripper 31 comprises a front end joint 34, a middle end joint 35 and a terminal end joint 36, the front end joint 34 is rotationally connected with the middle end joint 35, and the terminal end joint 36 is rotationally connected with the middle end joint 35, the simulation joint clamp 24 has three groups of joint structures, which are similar to the hand structure of human body, and can realize fine operation through the cooperation and adjustment between the joints.

[0030] In summary, during the test, the staff only needs to stand on one side of the horizontal counter 3 to control the array imaging module 9 and the regulating mechanical arm 8 above the table body through the control unit 4. The detected value is displayed on the display screen above the control unit 4. The element test platform 5 is arranged on the top of the horizontal counter 3. The top of the element test platform 5 is provided with a test slot 6. The inside of the test slot 6 is provided with an insulating debugging board 10. The two ends of the insulating debugging board 10 are provided with array imaging modules 9. One side of the top of the test slot 6 is provided with an electric control suspension rail 7. The top of the electric control suspension rail 7 is provided with a regulating mechanical arm 8. Before the test, the staff puts the electronic device on the insulating debugging board 10 inside the element test platform 5. Then the array imaging modules 9 above the two ends of the insulating debugging board 10 are started to scan the electrical structure of the insulating debugging board 10. The scanned pattern is fed back by the display screen. Then the regulating mechanical arm 8 clamps the probe structure to detect and debug the electrical structure. Each array imaging module 9 is provided with a group of circuit test probes 15. One group is responsible for discharging and the other group is responsible for connecting electricity. Each group of circuit test probes 15 has three, and the circuit test probes 15 are fixed above the array imaging module 9 by means of the converging top shaft 14. At the same time, each circuit test probe 15 for discharging can provide different maximum voltages. During the test, the regulating mechanical arm 8 selects the corresponding circuit test probe 15 according to the current electrical structure. Then the circuit test probe 15 is pulled out. Two groups of mechanical arms are used to clamp a group of circuit test probes 15 for discharging and a group of circuit test probes 15 for connecting electricity. Then the probe is contacted with the live wire on the electrical structure by moving the mechanical arm to realize the test operation. The bottom of the regulating mechanical arm 8 is provided with a rotating shaft column 18 and a sliding seat shaft 20. The rotating shaft column 18 is rotatably connected with the sliding seat shaft 20. The sliding seat shaft 20 is slidably connected with the electric control suspension rail 7. The main rocker arm 21 is arranged above the rotating shaft column 18. The signal receiving box 19 is arranged on one side of the rotating shaft column 18 to receive and feed back the signal. The auxiliary rocker arm 22 is arranged above the main rocker arm 21. The auxiliary rocker arm 22 is provided with an auxiliary arm 23 and a simulation joint clamp 24 at the other end. The visual sensing module 27 is located at the front end of the upper half of the regulating mechanical arm 8. When the auxiliary arm 23, the micro-rotation movable arm 28 and the simulation joint clamp 24 at the front end move, the visual sensing module 27 can obtain the operation view angle of the above structure. In this way, during the mechanical arm hand-held probe test, the system can obtain the operation picture in real time through the visual sensing module 27, so as to avoid the misoperation and improve the test precision and efficiency. The simulation joint clamp 24 is composed of a multi-joint mechanical claw 31. The simulation joint clamp 24 has three joint structures. It is similar to the hand structure of human body and can realize fine operation through the cooperation and adjustment of the joints.

[0031] It has to be noted that, in the present document, the terms "first", "second", etc. merely serve to identify a subject or action, without necessarily requiring or implying any such actual relationship or order between such subjects or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0032] While embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, combinations, and variations of the embodiments can be undertaken without departing from the spirit and scope of the present application, which is defined by the appended claims and their equivalents.

Claims

1. An electrical automation test bench, comprising a test bench body (1), characterized in that: The main body (1) of the test bench includes a power cabinet (2) and a horizontal cabinet (3), and the power cabinet (2) and the horizontal cabinet (3) are integrated into one structure. A control unit (4) is provided on one side of the horizontal cabinet (3), and the control unit (4) is electrically connected to the horizontal cabinet (3). A component test platform (5) is provided on the top of the horizontal cabinet (3), and the component test platform (5) and the horizontal cabinet (3) are integrated into one structure. A test slot (6) is provided on the top of the component test platform (5). An insulating debugging board (10) is provided inside the test slot (6), and the insulating debugging board (10) is connected to the component test platform (5) by screws. An array imaging module (9) is provided at both ends of the insulating debugging board (10). An electrically controlled suspension rail (7) is provided on one side of the top of the test slot (6), and a control robotic arm (8) is provided above the electrically controlled suspension rail (7). The outer surface of the insulating debugging board (10) is provided with a partition (12), and the partition (12) is fixedly connected to the insulating debugging board (10). There are multiple placement slots (11) between the partitions (12). The top of the array imaging module (9) is provided with a beam-gathering top shaft (14), and the beam-gathering top shaft (14) and the array imaging module (9) are set as an integrated structure. The top of the gathering top shaft (14) is provided with a circuit test probe (15), and there are multiple circuit test probes (15). The circuit test probe (15) is connected to the gathering top shaft (14) through a slot. One end of the circuit test probe (15) is provided with a tension wire harness (16), and the other end of the tension wire harness (16) is provided with a tension sleeve (17). The tension wire harness (16) is slidably connected to the gathering top shaft (14) through the tension sleeve (17). Both ends of the array imaging module (9) are provided with horizontal sliding shafts (13), and the array imaging module (9) is slidably connected to the test slot (6) through the horizontal sliding shafts (13). A high-definition camera module (32) is provided at the bottom of the array imaging module (9), and there are two high-definition camera modules (32). A fill light (33) is provided between the high-definition camera modules (32), and the fill light (33) and the high-definition camera module (32) are electrically connected to the array imaging module (9). The bottom of the control robot arm (8) is provided with a rotating shaft column (18), and the bottom of the rotating shaft column (18) is provided with a sliding seat shaft (20). The rotating shaft column (18) and the sliding seat shaft (20) are rotatably connected, and the sliding seat shaft (20) is slidably connected to the electrically controlled suspension rail (7). The top of the rotating shaft column (18) is provided with a main rocker arm (21), and the main rocker arm (21) is rotatably connected to the rotating shaft column (18). The inside of the main rocker arm (21) is provided with a drive motor (25), and the drive motor (25) is electrically connected to the main rocker arm (21). A signal receiving box (19) is provided on one side of the rotating shaft (18), and the signal receiving box (19) is electrically connected to the rotating shaft (18). An auxiliary rocker arm (22) is provided above the main rocker arm (21), and the auxiliary rocker arm (22) is rotatably connected to the main rocker arm (21). A connecting auxiliary arm (23) is provided at the other end of the auxiliary rocker arm (22), and the connecting auxiliary arm (23) is rotatably connected to the auxiliary rocker arm (22) through a rotating shaft. The other end of the adapter arm (23) is provided with a simulated joint clamp (24). A visual mounting plate (26) is provided on one side of the adapter arm (23), and the visual mounting plate (26) is connected to the adapter arm (23) by screws. A visual sensing module (27) is provided on the outside of the visual mounting plate (26), and the visual sensing module (27) is combined and connected with the visual mounting plate (26). A micro-rotating movable arm (28) is provided on the inner side of the other end of the adapter arm (23), and the micro-rotating movable arm (28) is rotatably connected to the adapter arm (23). A clamping adapter shaft (29) is provided on the other end of the micro-rotating movable arm (28), and the clamping adapter shaft (29) is rotatably connected to the micro-rotating movable arm (28). One end of the simulated joint fixture (24) is provided with a fixture sleeve shaft (30), and the fixture sleeve shaft (30) is connected to the fixture adapter shaft (29) by bolts. The simulated joint fixture (24) includes a multi-joint mechanical claw (31), and there are two multi-joint mechanical claws (31). The multi-joint mechanical claws (31) are rotatably connected to the fixture sleeve shaft (30).

2. The electrical automation test bench according to claim 1, characterized in that: The multi-joint mechanical claw (31) includes a front joint (34), a middle joint (35) and a rear joint (36). The front joint (34) is rotatably connected to the middle joint (35), and the rear joint (36) is rotatably connected to the middle joint (35).

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