A high-precision hybrid robot for on-wing maintenance of aircraft engines

Abstract

The present invention discloses a high-precision hybrid robot for on-wing maintenance of aircraft engines, including a detection and maintenance mechanism, a parallel attitude adjustment mechanism and a mobile trolley, wherein the detection and maintenance mechanism includes a driving mechanism, a mechanical arm segment and an actuator, and the parallel attitude adjustment mechanism includes a moving platform, a second branch chain and a plurality of first branches, and a fixed platform, and an adjustment mechanism for adjusting the position of the detection and maintenance mechanism is arranged on the moving platform, and the adjustment mechanism includes a second slider, a rear support, an auxiliary support, a first coupling, a first motor, a first lead screw, a front support and a light bar. The present invention adopts a method of combining a parallel attitude adjustment mechanism with a detection and maintenance mechanism, so that the parallel attitude adjustment mechanism has the advantages of high precision and fast response speed, and the detection and maintenance mechanism has the advantages of strong flexibility, and can realize the operation tasks in the complex internal environment of the aircraft engine, and the mobile trolley is used to make the action more convenient, and the efficiency of performing multiple tasks in sequence is higher.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a high-precision hybrid robot for on-wing maintenance of aircraft engines. Background Art

[0002] As the heart of an aircraft, the aircraft engine has a complex structure and requires high quality in later operation and maintenance. Currently, engine maintenance is mainly done manually. The internal structure of the engine is complex, and manual maintenance is difficult. The engine needs to be removed from the wing, which results in a long maintenance cycle and high costs.

[0003] With the development of bionic technology, research on continuous robots has been increasing. Continuous robots are smaller in size and more flexible in movement than traditional rigid robots, which makes them have obvious advantages in space-constrained environments and suitable for aircraft engine maintenance operations. However, the current working range of continuous robots is limited. Continuous robots need to be installed in a suitable position in advance, which is cumbersome and has a single installation posture, and cannot meet the complex engine maintenance tasks well. Summary of the invention

[0004] The purpose of the present invention is to provide a high-precision aircraft engine on-wing maintenance hybrid robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a high-precision aircraft engine on-wing maintenance hybrid robot, comprising a detection and maintenance mechanism, a parallel attitude adjustment mechanism and a mobile trolley, the detection and maintenance mechanism comprising a driving mechanism, a mechanical arm segment and an actuator, the parallel attitude adjustment mechanism comprising a moving platform, a second branch chain and a plurality of first branches, and a fixed platform, the first branch chain, the second branch chain and the moving platform are connected by a ball joint, the first branch chain is distributed in a triangular shape on the moving platform, the first branch chain can perform telescopic movement, the second branch chain is located at the tail of the moving platform, the second branch chain has a horizontal moving pair and a vertical moving pair, the moving platform synchronously realizes vertical lifting and horizontal movement in cooperation with the first branch chain and the second branch chain, as well as three rotation functions around the x-axis, y-axis and z-axis respectively, the moving platform is provided with an adjustment mechanism for adjusting the position of the detection and maintenance mechanism, the adjustment mechanism comprises a second slider, a rear support, an auxiliary support, a first coupling, a first motor, a first lead screw, a front support and a light bar, and a base is provided on the second slider.

[0006] Preferably, the robotic arm segment is composed of multiple single-joint arm segments connected in series, each of the single-joint arm segments is composed of multiple joint links connected in series and connected to three driving ropes, one end of the single-joint arm segment is connected to the driving mechanism, and the other end is connected to the actuator, and each of the joint links is supported and connected by NITI alloy.

[0007] Preferably, the three first branch chains have the same structure, the first branch chain includes a telescopic rod, a Hooke's joint, a first ball joint, a Hooke's joint support, and a second motor, the fixed platform is connected to the Hooke's joint support, one end of the telescopic rod is connected to the Hooke's joint, and the other end is connected to the first ball joint, and the second motor is fixed to one side of the telescopic rod.

[0008] Preferably, the moving platform includes a hollow beam, three first ball joint bases with identical structures, a second ball joint base, two fixed rails and four first sliders. The hollow beam is composed of a cross beam and a longitudinal beam, and has a square hole inside. The three first ball joint bases are fixed to the fourth and fifth cross beams of the hollow beam. The three first ball joint bases are distributed in a triangular shape on the fourth and fifth cross beams of the hollow beam. The second ball joint base is fixed to the end of the fixed platform. The driving mechanism of the detection and maintenance mechanism is connected to the base. Two first sliders are connected to both sides of the front and rear ends of the bottom of the base, and the second slider is connected to the center of the bottom surface. The two fixed rails are installed on both sides of the moving platform, and two first sliders are connected to each fixed rail.

[0009] Preferably, the rear support is installed at the end of the eighth crossbeam, the auxiliary support is installed at the front end of the eighth crossbeam, the front support is installed at the front end of the first crossbeam, the first lead screw passes through the auxiliary support, through the center hole of the front support, and is connected to one end of the first coupling, the optical rod passes through the holes on both sides of the rear support, the auxiliary support and the front support, the center hole of the second slider is connected to the first lead screw through a threaded connection, the optical rod passes through the holes on both sides of the second slider, and the first motor is fixed on the rear support and connected to the other end of the first coupling.

[0010] Preferably, the second branch chain includes a transverse slider, a limit rod, a transverse slide, a longitudinal slider, a longitudinal slide, a third motor, a second connecting plate, a second ball joint, a longitudinal screw, a transverse screw and a fourth motor. The longitudinal slide is fixed to the fixed platform through the second connecting plate, the longitudinal screw and the longitudinal slider are threaded together, the third motor is connected to the longitudinal screw, both ends of the transverse slide are connected to the longitudinal slider, the transverse slider is connected to the transverse screw, one end of the transverse screw is connected to the fourth motor, the limit rod is fixed to the transverse slider, the second ball joint is fixed to the limit rod, the second ball joint base on the fixed platform is connected to the second ball joint on the second branch chain, and the first ball joint base on the moving platform is connected to the first ball joint.

[0011] Preferably, the mobile vehicle comprises a frame, wheels and H legs, four H legs with the same structure are installed on both sides of the fixed platform at equal intervals front and back, wheels are installed on the front and rear sides of the frame, and the fixed platform is installed on the frame.

[0012] Preferably, the driving mechanism includes a first connecting plate, a second connecting plate, a third connecting plate, a third coupling, a fifth motor, a guide rod, a third slider, a third lead screw, a fourth connecting plate, a connecting piece and a pillar, the first connecting plate, the second connecting plate and the third connecting plate are fixed to the connecting piece in sequence, one end of the pillar is fixed to the first connecting plate, and the other end is fixed to the fourth connecting plate, the third lead screw passes through the first connecting plate and the second connecting plate, one end is connected to the coupling, the guide rod passes through the second connecting plate, and both ends are respectively fixed to the first connecting plate and the second connecting plate, the fifth motor is fixed to the third connecting plate, the third slider passes through the guide rod and meshes with the third lead screw, one end of the driving rope is fixed to the third slider, passes through the first connecting plate, the fourth connecting plate and the joint connecting rod, and the end is fixed to the end joint connecting rod, the NITI alloy support passes through the guide hole of the joint connecting rod, one end is fixed to the fourth connecting plate, and the other end is connected to the end joint connecting rod, and the first connecting plate and the third connecting plate are fixed to the base.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. The present invention combines a parallel attitude adjustment mechanism with a detection and maintenance mechanism, which not only has the advantages of high precision and fast response speed of the parallel attitude adjustment mechanism, but also has the advantages of strong flexibility of the detection and maintenance mechanism, and can realize the operation tasks in the complex internal environment of the aircraft engine;

[0015] 2. The present invention also utilizes a mobile vehicle, which makes movement more convenient and enables execution of multiple tasks in sequence more efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of a high-precision hybrid robot for on-wing maintenance of aircraft engines according to the present invention;

[0017] Figure 2 It is a schematic diagram of the structure of the mechanical arm section of the detection and maintenance mechanism in the present invention.

[0018] Figure 3 It is a schematic diagram of the structure of a single-joint arm segment of the robotic arm segment in the present invention.

[0019] Figure 4 It is a schematic diagram of the structure of the dynamic platform of the parallel capital adjustment mechanism in the present invention.

[0020] Figure 5 It is a schematic diagram of the first branch structure of the parallel capital adjustment mechanism in the present invention.

[0021] Figure 6 This is a schematic diagram of the second branch structure of the parallel capital adjustment mechanism in the present invention;

[0022] Figure 7 It is a schematic diagram of the driving mechanism structure in the present invention.

[0023] In the figure: 1. detection and maintenance mechanism; 11. actuator; 12. mechanical arm segment; 121. single joint arm segment; 124. NITI alloy support; 125. joint connecting rod; 13. driving mechanism; 111. first connecting plate; 112. second connecting plate; 113. third connecting plate; 114. third coupling; 115. fifth motor; 116. guide rod; 117. third slider; 118. third lead screw; 119. fourth connecting plate; 130. connecting piece; 131. support; 136. driving rope; 2. parallel posture adjustment mechanism; 21. moving platform; 211. hollow beam; 212. first ball joint base; 213. second ball joint base; 214. fixed rail; 215. first slider; 22. second branch chain; 221. transverse slider; 222, limit rod; 223, transverse slide; 224, longitudinal slider; 225, longitudinal slide; 226, third motor; 227, second connecting plate; 228, second ball joint; 229, longitudinal screw; 240, transverse screw; 241, fourth motor; 23, first branch chain; 231, telescopic rod; 232, Hook's hinge; 233, first ball joint; 234, Hook's hinge support; 235, second motor; 24, fixed platform; 3, mobile vehicle; 31, vehicle body; 311, support platform; 32, wheels; 33, H-leg; 4, adjustment mechanism; 41, second slider; 42, rear support; 43, auxiliary support; 44, first coupling; 45, first motor; 46, first screw; 47, front support; 48, light bar; 5, base. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] See also Figure 1-7The present invention provides a technical solution: a high-precision aircraft engine on-wing maintenance hybrid robot, comprising a detection and maintenance mechanism 1, a parallel attitude adjustment mechanism 2 and a mobile car 3, the detection and maintenance mechanism 1 comprises a driving mechanism 13, a mechanical arm segment 12 and an actuator 11, the parallel attitude adjustment mechanism 2 comprises a moving platform 21, a second branch chain 22, and a plurality of first branch chains 23, and a fixed platform 24, the first branch chain 23, the second branch chain 22 and the moving platform 21 are connected by a ball joint, the first branch chain 23 is distributed in a triangular shape on the moving platform (21), the first branch chain 23 can perform telescopic movement, the second branch chain 22 is located at the tail of the moving platform 21, and the second branch chain 22 has a horizontal moving pair and a vertical moving pair. The movable platform (21) realizes vertical lifting and horizontal movement synchronously in the cooperation of the first branch chain 23 and the second branch chain 22, as well as three rotation functions around the x-axis, y-axis and z-axis respectively. The movable platform 21 is provided with an adjustment mechanism 4 for adjusting the position of the detection and maintenance mechanism 1. The adjustment mechanism 4 includes a second slider 41, a rear support 42, an auxiliary support 43, a first coupling 44, a first motor 45, a first lead screw 46, a front support 47 and a light bar 48. The second slider 41 is provided with a base 5. The actuator 11 is replaced by a cylinder, which represents a graphic collector. The actuator 11 can be configured according to specific working conditions. It has no specific structure and its main function is to identify, diagnose and repair fault points.

[0026] The robot arm segment 12 is composed of a plurality of single-joint arm segments 121 connected in series, each of which is composed of a plurality of joint links 125 connected in series and connected to three driving ropes 136. One end of the single-joint arm segment 121 is connected to the driving mechanism 13, and the other end is connected to the actuator 11. Each joint link 125 is connected by a NITI alloy support 124.

[0027] The three first branches 23 have the same structure. The first branch chain 23 includes a telescopic rod 231, a Hook's hinge 232, a first ball joint 233, a Hook's hinge support 234, and a second motor 235. The fixed platform 24 is connected to the Hook's hinge support 234. One end of the telescopic rod 231 is connected to the Hook's hinge 232, and the other end is connected to the first ball joint 233. The second motor 235 is fixed to one side of the telescopic rod 231.

[0028] The moving platform 21 includes a hollow beam 211, three first ball-joint bases 212 of the same structure, a second ball-joint base 213, two fixed rails 214 and four first sliders 215. The hollow beam 211 is composed of a cross beam and a longitudinal beam, and has a square hole inside. The three first ball-joint bases 212 are fixed to the fourth and fifth cross beams of the hollow beam 211. The three first ball-joint bases 212 are distributed in a triangular shape on the fourth and fifth cross beams of the hollow beam 211. The second ball-joint base 213 is fixed to the end of the fixed platform 21. The driving mechanism 13 of the inspection and maintenance mechanism 1 is connected to the base 5. Two first sliders 215 are connected to both sides of the front end and the rear end of the bottom of the base 5, and the second slider 41 is connected to the center of the bottom surface. Two fixed rails 214 are installed on both sides of the moving platform 21, and two first sliders 215 are connected to each fixed rail 214.

[0029] The rear support 42 is installed at the end of the eighth crossbeam, the auxiliary support 43 is installed at the front end of the eighth crossbeam, the front support 47 is installed at the front end of the first crossbeam, the first lead screw 46 passes through the auxiliary support 43 and the center hole of the front support 47, and is connected to one end of the first coupling 44, the optical rod 48 passes through the holes on both sides of the rear support 42, the auxiliary support 43 and the front support 47, the center hole of the second slider 41 is connected to the first lead screw 46 by threaded connection, the optical rod 48 passes through the holes on both sides of the second slider 41, and the first motor 45 is fixed on the rear support 42 and connected to the other end of the first coupling 44;

[0030] The second branch chain 22 includes a transverse slider 221, a limit rod 222, a transverse slide 223, a longitudinal slider 224, a longitudinal slide 225, a third motor 226, a second connecting plate 227, a second ball joint 228, a longitudinal screw 229, a transverse screw 240 and a fourth motor 241. The longitudinal slide 225 is fixed to the fixed platform 24 through the second connecting plate 227, the longitudinal screw 229 is threadedly matched with the longitudinal slider 224, and the third motor 226 is connected to the longitudinal screw The two ends of the transverse slideway 223 are connected to the longitudinal slider 224, the transverse slider 221 is connected to the transverse lead screw 240, one end of the transverse lead screw 240 is connected to the fourth motor 241, the limit rod 222 is fixed on the transverse slider 221, the second ball joint 228 is fixed on the limit rod 222, the second ball joint base 213 on the fixed platform 21 is connected to the second ball joint 228 on the second branch chain 22, and the first ball joint base 212 on the moving platform 21 is connected to the first ball joint 233;

[0031] The mobile vehicle 3 includes a frame 31, wheels 32 and H legs 33. Four H legs 33 with the same structure are installed at equal intervals on both sides of the fixed platform 24. The wheels 32 are installed on the front and rear sides of the frame 31, and the fixed platform 24 is installed on the frame 31.

[0032] The driving mechanism 13 includes a first connecting plate 111, a second connecting plate 112, a third connecting plate 113, a third coupling 114, a fifth motor 115, a guide rod 116, a third slider 117, a third lead screw 118, a fourth connecting plate 119, a connecting piece 130 and a support 131. The first connecting plate 111, the second connecting plate 112 and the third connecting plate 113 are fixed to the connecting piece 130 in sequence. One end of the support 131 is fixed to the first connecting plate 111 and the other end is fixed to the fourth connecting plate 119. The third lead screw 118 passes through the first connecting plate 111 and the second connecting plate 112, and one end is connected to the coupling 114. The guide rod 116 passes through the second connecting plate 112 and the third lead screw 118. The connecting plate 112 has two ends respectively fixed to the first connecting plate 111 and the second connecting plate 112, the fifth motor 115 is fixed to the third connecting plate 113, the third slider 117 passes through the guide rod 116 and engages with the third lead screw 118, one end of the driving rope 136 is fixed to the third slider 117, passes through the first connecting plate 111, the fourth connecting plate 119 and the joint link 125, and the end is fixed to the end joint link 125, the NITI alloy support 124 passes through the guide hole of the joint link 125, one end is fixed to the fourth connecting plate 119, and the other end is connected to the end joint link 125, the first connecting plate 111 and the third connecting plate 113 are fixed to the base 5.

[0033] Working principle: When the invention is in use, the mobile vehicle 3 delivers the entire hybrid robot to a designated maintenance area, and then opens the H-leg 33 to support the entire hybrid robot. The parallel capital adjustment mechanism 2 selects three telescopic rods 231, two longitudinal screws 229 and one transverse screw 240 as active pairs, which can realize the five degrees of freedom of the moving platform 21; the first branch chain 23 is extended and retracted, and cooperates with the second branch chain 22 to move up and down to realize the movement of the moving platform 21 in the z-axis direction; the first branch chain 23 cooperates with the second branch chain 22 to move horizontally to realize the y-axis movement and z-axis rotation; the first branch chain 23 moves, and the second branch chain 22 remains stationary to realize the rotation around the x-axis and the y-axis; the first screw 46 is used as the active pair, and the second slider 41 cooperates with the first screw 46 to move back and forth to realize the feeding movement of the continuous mechanism 1, and drives the driving rope 136 through the driving mechanism 13 to realize the bending freedom of each single-joint arm segment, and at the same time cooperates with the feeding movement to complete the working task; the hybrid robot has the advantages of high working precision, strong adaptability, and convenient movement, and can well adapt to the detection and operation tasks of the complex space inside the engine.

[0034] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A high-precision aircraft engine on-wing maintenance hybrid robot, comprising a detection and maintenance mechanism (1), a parallel attitude adjustment mechanism (2) and a mobile vehicle (3), characterized in that: The detection and maintenance mechanism (1) comprises a driving mechanism (13), a mechanical arm segment (12) and an actuator (11); the parallel posture adjustment mechanism (2) comprises a moving platform (21), a second branch chain (22), a plurality of first branch chains (23) and a fixed platform (24); the first branch chain (23), the second branch chain (22) and the moving platform (21) are connected by ball joints; the first branch chains (23) are distributed in a triangular shape on the moving platform (21); the first branch chains (23) can perform telescopic movement; the second branch chains (22) are located at the tail of the moving platform (21); the second branch chains (22) have a horizontal moving pair and a vertical moving pair. The movable pair, the movable platform (21) synchronously realizes vertical lifting and horizontal movement in cooperation with the first branch chain (23) and the second branch chain (22), as well as three rotation functions around the x-axis, y-axis and z-axis respectively. The movable platform (21) is provided with an adjustment mechanism (4) for adjusting the position of the detection and maintenance mechanism (1). The adjustment mechanism (4) includes a second slider (41), a rear support (42), an auxiliary support (43), a first coupling (44), a first motor (45), a first lead screw (46), a front support (47) and a light bar (48). The second slider (41) is provided with a base (5).

2. The high-precision aircraft engine on-wing maintenance hybrid robot according to claim 1, characterized in that: The mechanical arm segment (12) is composed of a plurality of single-joint arm segments (121) connected in series, each of the single-joint arm segments (121) is composed of a plurality of joint connecting rods (125) connected in series, and is connected to three driving ropes (136), one end of the single-joint arm segment (121) is connected to a driving mechanism (13), and the other end is connected to an actuator (11), and each of the joint connecting rods (125) is connected by a NITI alloy support (124).

3. The high-precision on-wing maintenance hybrid robot for aircraft engines according to claim 2, characterized in that: The three first branches (23) have the same structure. The first branch chain (23) comprises a telescopic rod (231), a Hooke's joint (232), a first ball joint (233), a Hooke's joint support (234), and a second motor (235). The fixed platform (24) is connected to the Hooke's joint support (234). One end of the telescopic rod (231) is connected to the Hooke's joint (232), and the other end is connected to the first ball joint (233). The second motor (235) is fixed to one side of the telescopic rod (231).

4. The high-precision on-wing maintenance hybrid robot for aircraft engines according to claim 3, characterized in that: The movable platform (21) comprises a hollow beam (211), three first ball-joint bases (212) of the same structure, a second ball-joint base (213), two fixed rails (214) and four first sliding blocks (215); the hollow beam (211) is composed of a cross beam and a longitudinal beam, and has a square hole inside; the three first ball-joint bases (212) are fixed to the fourth and fifth cross beams of the hollow beam (211); the three first ball-joint bases (212) are fixed to the fourth and fifth cross beams of the hollow beam (211); The five crossbeams are distributed in a triangular shape, the second ball joint base (213) is fixed at the end of the moving platform (21), the driving mechanism (13) of the detection and maintenance mechanism (1) is connected to the base (5), two first sliders (215) are connected to the front and rear ends of the bottom of the base (5), and the center of the bottom surface is connected to the second slider (41), and the two fixed rails (214) are installed on both sides of the moving platform (21), and each fixed rail (214) is connected to two first sliders (215).

5. The high-precision on-wing maintenance hybrid robot for aircraft engines according to claim 4, characterized in that: The rear support (42) is installed at the end of the eighth crossbeam, the auxiliary support (43) is installed at the front end of the eighth crossbeam, the front support (47) is installed at the front end of the first crossbeam, the first lead screw (46) passes through the auxiliary support (43) and the center hole of the front support (47), and is connected to one end of the first coupling (44), the optical rod (48) passes through the side holes of the rear support (42), the auxiliary support (43) and the front support (47), the center hole of the second slider (41) is connected to the first lead screw (46) by threaded connection, the optical rod (48) passes through the side holes of the second slider (41), and the first motor (45) is fixed on the rear support (42) and is connected to the other end of the first coupling (44).

6. The high-precision on-wing maintenance hybrid robot for aircraft engines according to claim 5, characterized in that: The second branch chain (22) comprises a transverse slider (221), a limit rod (222), a transverse slideway (223), a longitudinal slider (224), a longitudinal slideway (225), a third motor (226), a second connecting plate (227), a second ball joint (228), a longitudinal lead screw (229), a transverse lead screw (240) and a fourth motor (241); the longitudinal slideway (225) is fixed to the fixed platform (24) via the second connecting plate (227); the longitudinal lead screw (229) and the longitudinal slider (224) are threadedly matched; the third motor (226) is connected to the longitudinal lead screw ( 229), the two ends of the transverse slideway (223) are connected to the longitudinal slider (224), the transverse slider (221) is connected to the transverse lead screw (240), one end of the transverse lead screw (240) is connected to the fourth motor (241), the limit rod (222) is fixed on the transverse slider (221), the second ball joint (228) is fixed on the limit rod (222), the second ball joint base (213) on the moving platform (21) is connected to the second ball joint (228) on the second branch chain (22), and the first ball joint base (212) on the moving platform (21) is connected to the first ball joint (233).

7. The high-precision on-wing maintenance hybrid robot for aircraft engines according to claim 6, characterized in that: The mobile vehicle (3) comprises a vehicle frame (31), wheels (32) and H-shaped legs (33). Four H-shaped legs (33) with the same structure are installed at equal intervals on both sides of the fixed platform (24) in the front and rear directions. The wheels (32) are installed on both sides of the vehicle frame (31), and the fixed platform (24) is installed on the vehicle frame (31).

8. The high-precision hybrid robot for on-wing maintenance of aircraft engines according to claim 7, characterized in that: The driving mechanism (13) comprises a first connecting plate (111), a second connecting plate (112), a third connecting plate (113), a third coupling (114), a fifth motor (115), a guide rod (116), a third slider (117), a third lead screw (118), a fourth connecting plate (119), a connecting piece (130) and a support (131); the first connecting plate (111), the second connecting plate (112) and the third connecting plate (113) are fixed to the connecting piece (130) in sequence; one end of the support (131) is fixed to the first connecting plate (111) and the other end is fixed to the fourth connecting plate (119); the third lead screw (118) passes through the first connecting plate (111) and the second connecting plate (112), and one end is connected to the coupling (114); the guide rod (116) passes through the third connecting plate (111) and the second connecting plate (112); The fifth motor (115) is fixed to the third connecting plate (113), the third slider (117) passes through the guide rod (116) and meshes with the third lead screw (118), one end of the driving rope (136) is fixed to the third slider (117), passes through the first connecting plate (111), the fourth connecting plate (119) and the joint connecting rod (125), and the end is fixed to the end joint connecting rod (125), the NITI alloy support (124) passes through the guide hole of the joint connecting rod (125), one end is fixed to the fourth connecting plate (119), and the other end is connected to the end joint connecting rod (125), the first connecting plate (111) and the third connecting plate (113) are fixed to the base (5).

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