Underwater moving and phagocytic capturing robot with variable form

Abstract

The shape-variable underwater moving and swallowing capturing robot comprises a chassis deformation mechanism and a plurality of branch structures arranged on the chassis deformation mechanism, and each branch structure comprises an upper wheel set mechanism, a steel plate web belt main body mechanism and a lower wheel set mechanism; the steel plate webbed belt body mechanism comprises a webbed belt and a plurality of elastic clamping pieces arranged on the webbed belt, the upper wheel set mechanism is provided with an upper wheel support and an upper webbed belt wheel, the lower wheel set driving mechanism comprises a lower wheel support and a lower webbed belt wheel, the webbed belt can move around the upper webbed belt wheel and the lower webbed belt wheel, and the elastic clamping pieces are arranged on the webbed belt. The chassis deformation mechanism is connected with the lower wheel support and comprises a branch base, a deformation driving motor and a deformation connecting rod, the output end of the deformation driving motor is connected with the deformation connecting rod, the deformation connecting rod is connected with the branch base, and the deformation driving motor drives the deformation connecting rod to act. And the branch bases are adjusted to be in different postures.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater capture devices, and in particular to a shape-changeable underwater moving and engulfing capture robot. Background Art

[0002] With the development and utilization of global marine resources, the demand for underwater detection and operations is growing. Marine resource exploration, environmental monitoring, pipeline and cable laying, marine scientific research, and underwater rescue have all put forward urgent demands for underwater robots. Traditional underwater operations mainly rely on divers, but due to the complex and changeable underwater environment, the efficiency and safety of divers are difficult to guarantee. Therefore, more and more research institutions and enterprises have begun to develop and apply underwater robots to improve the efficiency and safety of underwater operations.

[0003] According to the mission requirements, underwater environment and the structural characteristics of the robot, the existing underwater robots can be divided into the following categories, namely: autonomous underwater vehicles that can realize autonomous navigation and decision-making capabilities, and can realize long-distance and long-time autonomous operations, mainly used for marine environment detection, marine resource exploration, seabed topography mapping, etc.; connected to the control station through cables, remotely controlled by the operator in real time, with high-precision control capabilities, can be used for underwater repairs, salvage operations, seabed exploration and other tasks that require real-time operation; multifunctional underwater robots equipped with a variety of sensors and tools and with multi-tasking processing capabilities, can perform a variety of tasks in complex underwater environments, such as pipeline inspection, equipment maintenance, etc.; and bionic underwater robots that imitate the appearance and movement of aquatic organisms and have high concealment and flexibility, can be used in scientific research, environmental monitoring, military counter-terrorism and other fields.

[0004] Although the underwater robot technology started late, it has been rapidly promoted and applied since its development due to its huge application potential and wide demand. At present, although the application scope and operation capability of underwater robots are constantly expanding, there are still certain technical bottlenecks in the adaptability and multi-task processing capabilities in complex environments. Therefore, it is of great practical significance to design an intelligent underwater robot that is suitable for a variety of underwater environments and can perform a variety of tasks. Summary of the invention

[0005] According to the technical problems raised above, a shape-changing underwater moving and engulfing capture robot is provided, which can combine the moving and capturing functions together. The invention has novel structure, flexible action, simple structure, wide application range and strong environmental adaptability.

[0006] The technical means adopted by the present invention are as follows:

[0007] A shape-changing underwater mobile and engulfing capture robot comprises a chassis deformation mechanism and a plurality of branch structures arranged on the chassis deformation mechanism, the branch structure comprises an upper wheel group mechanism, a steel plate web belt main body mechanism and a lower wheel group mechanism, the steel plate web belt main body mechanism comprises a web belt and a plurality of elastic clamping plates arranged on the web belt, the upper wheel group mechanism is provided with an upper wheel bracket and an upper web belt pulley, the lower wheel group driving mechanism comprises a lower wheel bracket and a lower web belt pulley, the web belt can move around the upper web belt pulley and the lower web belt pulley, the chassis deformation mechanism is connected to the lower wheel bracket, the chassis deformation mechanism comprises a branch base, a deformation driving motor and a deformation connecting rod, the output end of the deformation driving motor is connected to the deformation connecting rod, the deformation connecting rod is connected to the branch base, based on the deformation driving motor driving the deformation connecting rod to move, the branch base is adjusted to different postures.

[0008] Furthermore, in the upper wheel assembly mechanism, the upper half of the upper wheel bracket is a hollowed-out double fork arm structure for installing the upper web pulley, and a through hole for installing a flat-head rivet is provided on one side of the double fork arm. The flat-head rivet is installed on the through hole as a rotating shaft, and a slot for installing a miniature deep groove ball bearing is also provided at the through hole. A number of cylindrical protrusions are evenly distributed on the circumference of the upper web pulley, and the upper web pulley is installed on the flat-head rivet.

[0009] Furthermore, in the lower wheel assembly mechanism, the lower half of the lower wheel bracket is a hollowed-out double fork arm structure for installing the lower web pulley, and a through hole for installing a flat-head rivet is provided on one side of the double fork arm. The flat-head rivet is installed on the through hole as a rotating shaft, and a slot for installing a miniature deep groove ball bearing is also provided at the through hole. A number of cylindrical protrusions are evenly distributed on the circumference of the lower web pulley, and the lower web pulley is installed on the flat-head rivet. The bottom of the lower wheel bracket has a matching mounting hole for matching the chassis deformation mechanism.

[0010] Furthermore, the number of the branch structures is 6, and in the moving state, they present a three-by-three symmetrical distribution symmetrical about the midline. After the deformation motor is activated, the whole is deformed into a regular hexagonal structure.

[0011] Furthermore, the main body of the steel plate web belt includes a steel sheet arranged in a vertical direction, and the upper wheel group mechanism and the lower wheel group mechanism are respectively provided with square slots for connecting with the steel sheet, and a middle roller group is arranged in the middle of the steel sheet, and the middle roller group includes a middle roller bracket and a roller, and the roller can contact with the web belt.

[0012] Furthermore, the front end of the elastic clamping piece is a congruent triangle, the specification of which matches the specification of the deformed regular hexagon divided into six parts, and the rear end of the elastic clamping piece is a structure with a smooth transition to the webbed strap.

[0013] Furthermore, the branch bases at both ends are equipped with deformation drive motors, which are connected to the active deformation connecting rod through gears, the active deformation connecting rod is connected to the passive connecting rod, and a pin is provided between two adjacent branch bases on the same side.

[0014] Compared with the prior art, the present invention has the following advantages:

[0015] 1. Grasping affinity: The webbed strap of the present invention adopts soft silicone rubber material, which can provide excellent affinity when capturing underwater creatures or fragile objects, ensure the integrity of the captured objects, and is suitable for grasping tasks in complex environments.

[0016] 2. Simple structure: The present invention is composed of fewer parts, simple in design, easy to manufacture and maintain, and easy to install. It is suitable for large-scale production and application, and reduces maintenance costs.

[0017] 3. Efficient mobility: Through the deformation structure of the webbed straps and branches, the robot can flexibly change its shape to adapt to different underwater movement methods, and use the difference in internal and external water flow rates to achieve efficient propulsion.

[0018] 4. Strong capture ability: Through the deformation of the elastic clamping piece, the robot can engulf objects slightly larger than its own diameter. At the same time, its elastic tightening force can tightly adsorb the robot to the surface of larger objects to achieve stable capture.

[0019] 5. Modular design: The independent modular design of the six branches enables the robot to be flexibly assembled according to actual needs and adapt to different operation modes in different tasks, enhancing its versatility and environmental adaptability.

[0020] 6. Waterproof and durable: It adopts waterproof reduction motor and the external structure uses waterproof seal to ensure that the robot has good durability and reliability during long-term underwater operation and adapts to complex underwater working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the morphable underwater mobile and engulfing capture robot in the engulfing state according to the present invention;

[0023] Figure 2It is a schematic axonometric diagram of the structure of the upper wheel assembly of the morphable underwater mobile and engulfing capture robot according to the present invention;

[0024] Figure 3 It is a side view of the main part of the steel web belt of the morphable underwater moving and engulfing capturing robot according to the present invention;

[0025] Figure 4 It is a schematic axonometric diagram of the structure of the lower wheel assembly of the morphologically changeable underwater mobile and engulfing capture robot according to the present invention;

[0026] Figure 5 It is a schematic diagram of the overall deformed chassis portion of the morphologically variable underwater mobile and engulfing capture robot in the engulfing state according to the present invention.

[0027] Figure 6 It is a schematic diagram of the overall deformable chassis of the morphable underwater mobile and engulfing capture robot in the non-engulfing state according to the present invention.

[0028] Figure 7 It is a three-dimensional schematic diagram of the overall structure of the morphable underwater mobile and engulfing capture robot in a non-engulfing state according to the present invention;

[0029] In the figure: 1-upper wheel assembly mechanism, 2-steel plate web belt main body mechanism, 3-lower wheel assembly mechanism, 4-chassis deformation mechanism, 11-upper wheel bracket, 12-flat head rivet, 13-miniature deep groove ball bearing, 15-upper web pulley, 21-silicon rubber web belt, 22-elastic clamping piece, 23-roller bracket, 24-roller, 31-lower roller bracket, 32-flat head rivet, 33-miniature deep groove ball bearing, 34-lower web pulley, 41-single branch base, 42-deformation drive motor, 43-passive deformation connecting rod, 44-active deformation connecting rod, 45-belt drive motor, 46-rotating pin. DETAILED DESCRIPTION

[0030] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. 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.

[0032] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0033] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, the numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0034] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0035] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0036] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0037] like Figures 1 to 7 As shown, an embodiment of the present invention discloses a shape-changeable underwater mobile and engulfing capture robot, including a chassis deformation mechanism 4 and a plurality of branch structures arranged on the chassis deformation mechanism, the branch structure including an upper wheel group mechanism 1, a steel plate web belt main body mechanism 2 and a lower wheel group mechanism, the steel plate web belt main body mechanism includes a web belt 21 and a plurality of elastic clamping plates 22 arranged on the web belt, the upper wheel group mechanism is provided with an upper wheel bracket 11 and an upper web belt pulley 15, the lower wheel group driving mechanism includes a lower wheel bracket 31 and a lower web belt pulley 34, the web belt is driven by a belt driving motor 45, and can move around the upper web belt pulley and the lower web belt pulley. Specifically, the belt drive motor 45 is fixedly mounted on the chassis deformation mechanism, and its output end is connected to the lower wheel assembly mechanism through a synchronous pulley and a synchronous belt, thereby completing the driving of the web belt. The chassis deformation mechanism is connected to the lower wheel bracket, and the chassis deformation mechanism includes a branch base, a deformation drive motor and a deformation connecting rod. The output end of the deformation drive motor is connected to the deformation connecting rod, and the deformation connecting rod is connected to the branch base. Based on the deformation drive motor driving the deformation connecting rod, the branch base is adjusted to different postures. In this embodiment, an elastic clamping sheet made of 65Mn and 1.2mm thick is used. The elasticity of the steel sheet makes the device extremely adaptable to irregular shapes, and can swallow underwater objects with a diameter slightly larger than the diameter of the device; the compression force generated by its potential energy after deformation can also be used to adsorb the device on larger objects.

[0038] The six branches are connected by an overall deformable chassis and can be folded in different ways and angles.

[0039] Furthermore, in the upper wheel assembly mechanism, the upper half of the upper wheel bracket is a hollowed-out double fork arm structure for installing the upper web pulley. A through hole for installing a flat-head rivet 12 is provided on one side of the double fork arm. The flat-head rivet is installed on the through hole as a rotating shaft. A slot for installing a miniature deep groove ball bearing 13 is also provided at the through hole. A number of cylindrical protrusions are evenly distributed on the circumference of the upper web pulley to prevent the silicone rubber web belt from slipping. The upper web pulley is installed on the flat-head rivet. The flat-head rivet and the miniature deep groove ball bearing are transitionally matched to ensure the stability of rotation. The flat head of the rivet is used to limit the axial movement of the bearing and the pulley. The miniature deep groove ball bearing can effectively reduce the friction of the rotating shaft and limit the radial movement of the flat-head rivet as the shaft, thereby providing a good transmission effect for the silicone rubber web belt.

[0040] Furthermore, in the lower wheel assembly mechanism, the lower half of the lower wheel bracket is a hollowed-out double fork arm structure for mounting the lower web pulley, one side of the double fork arm is provided with a through hole for mounting a flat head rivet 32, the flat head rivet is mounted on the through hole as a rotating shaft, a slot for mounting a miniature deep groove ball bearing 33 is also provided at the through hole, a plurality of cylindrical protrusions are evenly distributed on the circumference of the lower web pulley, the lower web pulley is mounted on the flat head rivet, and the bottom of the lower wheel bracket has a matching mounting hole for matching the chassis deformation mechanism. The flat head rivet is transitionally matched with the miniature deep groove ball bearing to ensure rotation stability, and the flat head of the flat head rivet is used to limit the position of the miniature deep groove ball bearing.

[0041] Furthermore, the number of the branch structures is 6, and in the moving state, they are symmetrically distributed in a three-by-three manner with the midline as the symmetry. After the deformation motor is activated, the whole is deformed into a regular hexagonal structure. Each branch mechanism includes two single-branch bases 41, and the upper part of the single-branch base is connected to the lower wheel assembly mechanism. The single-branch base has a certain height, so that the combined branch mechanism can form a rectangular space through the web belt, ensuring the structural stability in the deformation and moving state.

[0042] Furthermore, the main body of the steel plate web belt includes a steel sheet arranged in a vertical direction, and the upper wheel group mechanism and the lower wheel group mechanism are respectively provided with square notches for connecting with the steel sheet, and a middle roller group is provided in the middle of the steel sheet, and the roller group is fixed on the steel sheet through the hole in the middle of the steel sheet, and the middle roller group includes a middle roller bracket 23 and a roller 24, and the roller can contact with the web belt. The silicone rubber web belt of each branch is supported by the steel sheet and driven by a waterproof motor to achieve paddling and capturing actions. When the robot captures a larger object, the steel plate bends, and the web belt cannot actively bend to fit the steel plate. At this time, the middle roller group is used to prevent the web belt from directly rubbing against the steel plate and falling off, so as to ensure the smooth operation of the web belt. The two ends and the middle of the steel sheet are respectively provided with fixing holes, and the upper wheel group mechanism, the lower wheel group mechanism, and the middle roller group are connected through the above-mentioned fixing holes.

[0043] The elastic clamping piece is specifically a webbed claw arranged vertically and at equal intervals. The shape of the webbed claw is designed with reference to the webbed feet of amphibians to achieve an efficient paddling effect. The webbed strap is made of soft silicone rubber. Taking a three-by-three arrangement as an example, when the device is in a moving state, the webbed claw close to the inside is pressed by the webbed claw of the object and will bend. The front end of the elastic clamping piece is a congruent triangle, and its specifications match the specifications of the deformed regular hexagon divided into six parts. The rear end of the elastic clamping piece is a structure that smoothly transitions to the webbed strap. When the robot captures a larger object, the elastic clamping piece can undergo corresponding deformation to adapt to the size of the object, and wrap and adsorb the object through elastic force.

[0044] Furthermore, the branch bases at both ends are equipped with deformation drive motors. The deformation drive motor 42 drives the active deformation link 44 through gears to form a four-bar linkage with the passive link 43 and the two connected branch bases. Each deformation base is partially different due to the different positions after deformation into a mobile state. In the mobile state, it is arranged in a "three-three" manner, that is, the three branches are in line, and the two groups of three branches are symmetrical in center. The branches in the group are connected by an axle pin 46, and the two groups are connected by a four-bar linkage. Specifically, the four-bar linkage structure is driven by the deformation motor to complete the transition from a mutually parallel position relationship to two positions with an angle of 120°. The deformation link is a right-angle structure and one end of it is hinged to a single branch base 41.

[0045] When the six branches are arranged in a "three-three" symmetrical pattern, the webbed claws connected to the robot's internal webbed straps (i.e., the webbed claws near the inside) are deformed and compressed, and cannot produce the same paddling ability as the webbed claws connected to the external webbed straps, thereby forming a difference in water flow velocity inside and outside, and achieving underwater movement. When the six branches are arranged in a regular hexagon and the webbed straps are turned inward at the same time, the robot can capture objects continuously. The deformation of the elastic clamping sheet enables the robot to swallow objects slightly larger than its own diameter, and to cling to and adsorb large-sized objects through the elasticity of the steel sheet.

[0046] The underwater movement and swallowing process of the morphable underwater movement capture robot is as follows: the robot is first in a moving state, that is, the branches are in a "three-three" symmetrical arrangement, at this time, the web-like protrusions of the silicone rubber web belt 21 in the robot's internal space are compressed, and at this time, the paddling ability of the web inside the robot space and the web outside the robot space are different, and the robot can achieve forward and backward movement; when arriving at the target position, the deformation motor 42 is turned on, and the robot is deformed into a regular hexagon as a whole. The web belt drive motor is turned on, and the silicone rubber web belt 21 is turned inward to achieve swallowing of the front object.

[0047] The waterproof reduction motor adopted by the present invention is covered with a waterproof shell on the outside, and the wiring part is sealed by waterproof glue. The structure is simple and easy to implement, which ensures the reliability of the equipment working underwater for a long time.

[0048] Preferably, the external structure of the robot, such as the upper wheel bracket, the lower wheel bracket and the deformable base, are all designed with rounded corners to ensure safety when in contact with the user. The webbed strap is made of soft silicone rubber, which can maintain its integrity when capturing underwater creatures or other fragile objects.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A shape-changing underwater mobile and engulfing capture robot, characterized in that: The invention comprises a chassis deformation mechanism and several branch structures arranged on the chassis deformation mechanism, the branch structure comprises an upper wheel group mechanism, a steel plate web belt main body mechanism and a lower wheel group mechanism, the steel plate web belt main body mechanism comprises a web belt and several elastic clamping plates arranged on the web belt, the upper wheel group mechanism is provided with an upper wheel bracket and an upper web belt pulley, the lower wheel group driving mechanism comprises a lower wheel bracket and a lower web belt pulley, the web belt can move around the upper web belt pulley and the lower web belt pulley, the chassis deformation mechanism is connected to the lower wheel bracket, the chassis deformation mechanism comprises a branch base, a deformation driving motor and a deformation connecting rod, the output end of the deformation driving motor is connected to the deformation connecting rod, the deformation connecting rod is connected to the branch base, and the branch base is adjusted to different postures based on the deformation driving motor driving the deformation connecting rod to move.

2. The shape-changing underwater moving and engulfing capture robot according to claim 1, characterized in that: In the upper wheel assembly mechanism, the upper half of the upper wheel bracket is a hollowed-out double fork arm structure for installing the upper web pulley, and a through hole for installing a flat-head rivet is provided on one side of the double fork arm. The flat-head rivet is installed on the through hole as a rotating shaft, and a slot for installing a miniature deep groove ball bearing is also provided at the through hole. A number of cylindrical protrusions are evenly distributed on the circumference of the upper web pulley, and the upper web pulley is installed on the flat-head rivet.

3. The shape-changing underwater moving and engulfing capture robot according to claim 1, characterized in that: In the lower wheel assembly mechanism, the lower half of the lower wheel bracket is a hollowed-out double fork arm structure for installing the lower web pulley, and a through hole for installing a flat-head rivet is provided on one side of the double fork arm. The flat-head rivet is installed on the through hole as a rotating shaft, and a slot for installing a miniature deep groove ball bearing is also provided at the through hole. A number of cylindrical protrusions are evenly distributed on the circumference of the lower web pulley, and the lower web pulley is installed on the flat-head rivet. The bottom of the lower wheel bracket has a matching mounting hole for matching the chassis deformation mechanism.

4. The shape-changing underwater moving and engulfing capture robot according to claim 1, characterized in that: The number of the branch structures is 6, and in the moving state, they present a three-by-three symmetrical distribution with the midline as the symmetry. After the deformation motor is activated, the whole is deformed into a regular hexagonal structure.

5. The shape-changing underwater moving and engulfing capture robot according to claim 1, characterized in that: The main body of the steel plate web belt includes a steel sheet arranged in a vertical direction, and the upper wheel group mechanism and the lower wheel group mechanism are respectively provided with square notches for connecting with the steel sheet, and a middle roller group is arranged in the middle of the steel sheet, and the middle roller group includes a middle roller bracket and a roller, and the roller can contact with the web belt.

6. The shape-changing underwater moving and engulfing capture robot according to claim 1, characterized in that: The front end of the elastic clamping piece is a congruent triangle, and its specifications match the specifications of the deformed regular hexagon divided into six parts. The rear end of the elastic clamping piece is a structure that smoothly transitions to the webbed strap.

7. The shape-changing underwater moving and engulfing capture robot according to claim 1, characterized in that: The branch bases at both ends are equipped with deformation drive motors, which are connected to the active deformation connecting rod through gears, the active deformation connecting rod is connected to the passive connecting rod, and a pin is arranged between two adjacent branch bases on the same side.

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