Rope-driven continuous mechanical arm

Abstract

The invention discloses a rope-driven continuous mechanical arm, and relates to the technical field of mechanical arms. Comprising a rotating device, a deformation assembly, a driving assembly and an actuator; the deformation assembly is installed on the rotating device and comprises a plurality of shear fork structure deformation units which are sequentially connected and stacked end to end and can be opened and closed. The driving assembly is fixedly installed on the rotating device and comprises a driving module and a rope, and the rope extends from the end, close to the base, of the deformation assembly to the end, away from the base, of the deformation assembly and is fixed to the end, away from the base, of the deformation assembly. The driving assembly drives the rope to be wound and unwound so that the deformation assembly can be driven to be opened and closed. The actuator is fixedly connected to the end, away from the base, of the deformation assembly. The technical problems that an existing mechanical arm is limited in degree of freedom, small in working space and not flexible enough are solved.

Description

Technical Field

[0001] This invention relates to the technical field of robotic arms, and more particularly to a cable-driven continuous robotic arm. Background Technology

[0002] In recent years, the vigorous development of engineering science and technology in my country has led to the widespread application of various industrial and special robots in fields such as vehicles, aviation, and chemicals. As a typical example, robotic arms have played an important role in achieving automation.

[0003] Traditional continuous robotic arms are usually composed of multiple rigid parts connected in series. They have high rigidity and are not flexible enough, making them unsuitable for use in complex spaces with many obstacles, such as the interior of aircraft engines and aircraft fuel tanks.

[0004] Therefore, how to construct a continuous robotic arm that can solve the technical problems of limited degrees of freedom, small working space and lack of flexibility of existing rigid continuous robotic arms is an urgent technical problem to be solved in the field of robotic arms.

[0005] Application content

[0006] Based on this, the present invention provides a rope-driven continuous robotic arm to solve the technical problems of limited degrees of freedom, small working space and lack of flexibility of existing rigid robotic arms.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A cable-driven continuous robotic arm, the robotic arm comprising: A rotating device capable of driving the components connected to it to rotate; A deformable component is installed on the rotating device. The deformable component includes multiple scissor structure deformable units that are connected end to end and can be opened and closed. A drive assembly is fixedly installed on the rotating device. The drive assembly includes a drive module and a rope. The rope extends from one end of the deformable assembly near the rotating device to the end of the deformable assembly away from the base and is fixed to the end of the deformable assembly away from the base. The drive assembly drives the rope to retract and extend, which can drive the deformable assembly to open and close. And an actuator, fixedly connected to the end of the deformable assembly away from the base.

[0008] In some embodiments of the robotic arm, the rotating device includes a base and a rotating assembly. The base has a hollow structure, the deformable assembly is mounted on the base, the driving assembly is fixedly mounted on the inner bottom of the base, and the output end of the rotating assembly is connected to the side of the base away from the deformable assembly and can drive the base to rotate.

[0009] In some embodiments of the robotic arm, each of the scissor structure deformation units is provided with a channel for the rope to pass through, and the rope passes through each of the channels of each of the scissor structure deformation units in sequence.

[0010] In some embodiments of the robotic arm, each of the scissor structure deformation units has four mounting seats that are arranged in a rectangle by connecting rods. The four mounting seats are the four ends of the scissor structure deformation unit. Each mounting seat in each scissor structure deformation unit corresponds to one other, and each mounting seat has an outer cutout on its outer side to form the channel. The number of ropes is four, and the four ropes are threaded through the mounting brackets on each side.

[0011] In some embodiments of the robotic arm, the mounting base is further provided with a first axis and a second axis passing through the outer cutout, one of the first axis and the second axis being close to the base and the other being close to the actuator, the orthographic projections of the first axis and the second axis toward the base having an overlapping area, and the rope passing between the first axis and the second axis.

[0012] In some embodiments of the robotic arm, each scissor structure deformation unit further includes two telescopic modules. The inner side of the mounting base is provided with an inner cutout. Three sets of connecting holes are provided at the inner cutout along the opening and closing direction of the scissor structure deformation unit. The set of connecting holes near the base and the set of connecting holes near the actuator are used to rotatably connect the scissor rod in the scissor structure deformation unit. The middle set of connecting holes is used to rotatably connect the telescopic module. The two connecting rods and the two telescopic modules in one scissor structure deformation unit form a rectangle.

[0013] In some embodiments of the robotic arm, the telescopic module includes a support rod, a sleeve, an elastic element, and a pin. The support rod extends into the sleeve, and a sliding hole is formed on the side wall of the sleeve along its extension direction. The elastic element is sleeved on the sleeve, and the pin passes through the end of the support rod that extends into the sleeve and is fixed to the support rod. The pin passes through the sliding hole and is fixed to the elastic element, so that the elastic element can be compressed or stretched during the telescopic process of the support rod and the sleeve moving closer or further apart.

[0014] In some embodiments of the robotic arm, the drive module includes two drive units located on opposite sides of the base. Each drive unit includes a drive element and two winding wheels. One drive element drives the two winding wheels to rotate, and one end of the rope is fixedly connected to the winding wheels.

[0015] In some embodiments of the robotic arm, the robotic arm further includes an elastic component disposed in the deformable component, one end of the elastic component being fixedly connected to the base and the other end being fixedly connected to the actuator.

[0016] In some embodiments of the robotic arm, the actuator includes a connecting seat, a turntable module, and a gripper module. The connecting seat is fixedly connected to the deformable assembly. The turntable module is fixedly installed on the side of the connecting seat opposite to the deformable assembly. The gripper module is fixedly installed on the output end of the turntable module so that it can rotate under the drive of the turntable module. The gripper module has an opening and closing action so as to be able to grip objects.

[0017] Implementing the embodiments of the present invention will have the following beneficial effects: The aforementioned continuous robotic arm offers a flexible technical advantage. The robotic arm comprises a deformable component and a drive component. The deformable component has a telescopic function and sufficient rigidity. The drive component includes a drive module and a rope, controlling the telescopic movement of the deformable component via a wire-driven mechanism. This balances flexibility and rigidity, thereby improving the overall flexibility of the robotic arm and solving the technical problems of limited degrees of freedom, small workspace, and insufficient flexibility inherent in existing rigid robotic arms. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without exceeding the scope of protection claimed by the present invention.

[0019] Figure 1 This is a schematic diagram of the robotic arm in one embodiment; Figure 2 for Figure 1 Axonometric view of a portion of the robotic arm structure shown; Figure 3 This is a schematic diagram of the connection structure between the mounting base and the connecting rod in one embodiment; Figure 4 This is a schematic diagram of the connection structure between the rope and the mounting base in one embodiment; Figure 5 This is a schematic diagram of the structure of the telescopic module in one embodiment; Figure 6 This is a schematic diagram of the connection structure between the base and the drive component in one embodiment; Figure 7 for Figure 1 Schematic diagram of the rotating assembly; Figure 8 for Figure 1 A schematic diagram of the actuator.

[0020] in: 1. Rotating assembly; 11. Housing; 12. Rotating structure; 2. Base; 3. Deformation assembly; 31. Scissor lift deformation unit; 311. Mounting base; 3111. Outer cutout; 3112. First shaft; 3113. Second shaft; 3114. Third shaft; 3115. Inner cutout; 3116. Connecting hole; 312. Connecting rod; 313. Telescopic module; 3131. Support rod; 3132. Sleeve; 3133. Elastic element; 3134. Pin; 314. Scissor lift rod; 32. Base body; 4. Drive assembly; 41. Drive unit; 411. Drive element; 412. Winding reel; 42. Rope; 5. Flexible components; 6. Actuator; 61. Connector; 62. Turntable module; 63. Gripper module. Detailed Implementation

[0021] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0022] The following disclosure provides many different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0023] The specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings and examples, so as to better understand the solution of the present invention and its advantages in various aspects. However, the specific embodiments and examples described below are for illustrative purposes only and are not intended to limit the present invention.

[0024] It should be emphasized and explained here that the various connection methods involved in this invention can be arbitrary unless otherwise specified. For example, fixed connection can be achieved by bolts and nuts for detachable fixing, welding or integral molding, etc. Sliding connection can be achieved by groove-like or guide rail-like structures of various shapes, and rotating connection can be achieved by hinges, shafts, etc. Any existing method that can achieve the corresponding connection relationship is acceptable.

[0025] The following is combined Figure 1-8 The robotic arm involved in this invention will be further explained and described.

[0026] A rope-driven continuous robotic arm includes a rotating device, a deformable assembly 3, a drive assembly 4, and an actuator 6. The rotating device can drive the connected components to rotate. The deformable assembly 3 is mounted on the rotating device and includes multiple scissor-shaped deformable units 31 that are sequentially connected end-to-end and can be opened and closed. The drive assembly 4 is fixedly mounted on the rotating device and includes a drive module and a rope 42. The rope 42 extends from one end of the deformable assembly 3 near the rotating device to the other end of the deformable assembly 3 away from the base 2 and is fixed to the other end of the deformable assembly 3 away from the base 2. The drive assembly 4 drives the rope 42 to open and close, thereby causing the deformable assembly 3 to open and close. The actuator 6 is fixedly connected to the end of the deformable assembly 3 away from the base 2.

[0027] In this embodiment, there is a deformable component 3 and a drive component 4. The deformable component 3 has a telescopic function and sufficient rigidity. The drive component 4 includes a drive module and a rope 42. The telescopic function of the deformable component 3 is controlled by the wire drive of the rope 42. This balances flexibility and rigidity, thereby improving the overall flexibility of the robotic arm and solving the technical problems of limited degrees of freedom, small working space and lack of flexibility of existing rigid robotic arms.

[0028] In addition, the robotic arm of the present invention can be as follows: Figure 1 As shown, it can be used vertically, but it can also be used horizontally. For ease of description, unless otherwise specified, the vertical orientation shown in the diagram will be used as the basis for explanation.

[0029] In one embodiment of a robotic arm, the rotating device includes a base 2 and a rotating assembly 1. The base 2 has a hollow structure, a deformable assembly 3 is mounted on the base 2, and a driving assembly 4 is fixedly mounted on the inner bottom of the base. The output end of the rotating assembly 1 is connected to the side of the base 2 away from the deformable assembly 3 and can drive the base 2 to rotate.

[0030] In this embodiment, the rotating component 1 can drive the base 2 to rotate, thus facilitating the overall rotation of the base 2, the deformable component 3, and the actuator 6. Specifically, the rotating component 1 can be provided with a housing 11 to enclose the base 2, and a rotating structure 12 is provided at the bottom of the housing 11.

[0031] In one embodiment of a robotic arm, each scissor structure deformation unit 31 is provided with a channel for a rope 42 to pass through, and the rope 42 passes through each channel of each scissor structure deformation unit 31 in sequence.

[0032] In this embodiment, by setting multiple scissor structure deformation units 31, the overall length of the robotic arm can be extended. The specific number can be selected according to actual needs. Furthermore, by passing the rope 42 through each scissor structure deformation unit 31 in sequence, the rope 42 can be hidden in the deformation component 3, while making it easier for the rope 42 to drive the overall scissor structure deformation unit 31 to move. Since it extends along each scissor structure deformation unit 31, there is no included angle, thus avoiding lateral pull.

[0033] In one embodiment of the robotic arm, each scissor-lift deformation unit 31 has four mounting seats 311 arranged in a rectangle by connecting rods 312. The four mounting seats 311 are the four endpoints of the scissor-lift deformation unit 31, and each mounting seat 311 in each scissor-lift deformation unit 31 corresponds to one another. Each mounting seat 311 has an outer cutout 3111 on its outer side to form a channel. There are four ropes 42, which are threaded through each mounting seat 311 on each side.

[0034] In this embodiment, combined with Figure 2 In the vertical direction, the deformable component 3 forms a cuboid, while the mounting base 311 forms four side edges. By passing the rope 42 through the mounting base 311 on each of the four side edges, it can better fit the shape of the deformable component 3 and drive the opening and closing of the deformable component 3 along the side edges of the deformable component 3.

[0035] In addition, in conjunction with the previous embodiments, it should be noted that the connection between the scissor structure deformation units 31 can be in various ways. For example, it can be connected by rotation through the scissor bar 314, or it can be connected by adding matching holes on the mounting base 311 for shaft insertion. When using the scissor bar 314, one set of scissor bars 314 corresponds to two scissor structure deformation units 31. Taking the planar structure as an example, the two scissor bars 314 that cross each other in an X shape have four ends. The two upper ends are rotatably connected to the two mounting bases 311 of the upper scissor structure deformation unit 31, and the two lower ends are rotatably connected to the two mounting bases 311 of the lower scissor structure deformation unit 31. When connecting via mounting bases 311, each of the four ends of a set of scissor bars 314 in the planar structure needs to be connected to the four mounting bases 311 of a scissor structure deformation unit 31. Therefore, when connecting via mounting bases 311, one scissor structure deformation unit 31 requires eight mounting bases 311. However, this embodiment only sets four mounting bases 311, which are rotatably connected via scissor bars 314. Compared with the method of stacking mounting bases 311, this simplifies the structural composition and makes it more flexible. In addition, the deformation component 3 can also be provided with two seats 32 at the bottom and top. The two seats 32 are used to fixably connect to the base 2 and the actuator 6, respectively, and are also rotatably connected to the bottom four ends and the top four ends of the scissor bars 314.

[0036] In one embodiment of the robotic arm, the mounting base 311 is further provided with a first axis 3112 and a second axis 3113 passing through the outer cutout 3111. One of the first axis 3112 and the second axis 3113 is close to the base 2, and the other is close to the actuator 6. The orthographic projections of the first axis 3112 and the second axis 3113 toward the base 2 have an overlapping area, and the rope 42 passes between the first axis 3112 and the second axis 3113.

[0037] In this embodiment, as Figure 3 and 4 As shown, the first axis 3112 and the second axis 3113 are spaced apart in both the vertical and horizontal directions, that is, they are diagonally opposite each other, and their vertical projections toward the base 2 have an overlapping area. In other words, the horizontal distance between the axes of the first axis 3112 and the second axis 3113 is less than the sum of the radii of the first axis 3112 and the second axis 3113. Thus, after the rope 42 passes through, pulling the rope 42 will transmit force to each scissor structure deformation unit 31, and this winding method can also tighten the rope 42.

[0038] Preferably, the mounting base 311 is further provided with a third shaft 3114 passing through the outer cutout 3111. The first shaft 3112 is located between the second shaft 3113 and the third shaft 3114, forming a triangle. The rope 42 passes through the middle of the second shaft 3113 and the third shaft 3114. By setting the third shaft 3114, it can play a certain role in blocking and guiding the rope 42. Preferably, sleeves can also be fitted on the first shaft 3112, the second shaft 3113 and the third shaft 3114 to further reduce friction.

[0039] In one embodiment of a robotic arm, each scissor structure deformation unit 31 further includes two telescopic modules 313. The inner side of the mounting base 311 is provided with an inner cutout 3115. Three sets of connecting holes 3116 are provided at the inner cutout 3115 along the opening and closing direction of the scissor structure deformation unit 31. The set of connecting holes 3116 near the base 2 and the set of connecting holes 3116 near the actuator 6 are used to rotatably connect the scissor rod 314 in the scissor structure deformation unit 31. The middle set of connecting holes 3116 is used to rotatably connect the telescopic module 313. The two connecting rods 312 and the two telescopic modules 313 in one scissor structure deformation unit 31 form a rectangle.

[0040] In this embodiment, the telescopic module 313 and the scissor bar 314 are located on one side. During the opening and closing process of the scissor structure deformation unit 31, referencing Figure 1 The horizontal extension and retraction of the scissor structure deformation unit 31 can be converted into vertical extension and retraction. The two mounting seats 311 will move closer or further apart, which will also drive the extension and retraction of the telescopic module 313. By setting the telescopic module 313, it is beneficial to improve the opening and closing stability of the scissor structure deformation unit 31.

[0041] In addition, by placing the telescopic module 313 in the middle of the upper and lower scissor arms 314, stability can be further improved.

[0042] In one embodiment of a robotic arm, the telescopic module 313 includes a support rod 3131, a sleeve 3132, an elastic element 3133, and a pin 3134. The support rod 3131 extends into the sleeve 3132. A sliding hole is provided on the side wall of the sleeve 3132 along its extension direction. The elastic element 3133 is sleeved on the sleeve 3132. The pin 3134 passes through the end of the support rod 3131 that extends into the sleeve 3132 and is fixed to the support rod 3131. The pin 3134 passes through the sliding hole and is fixed to the elastic element 3133, so that the elastic element 3133 can be compressed or stretched during the telescopic process of the support rod 3131 and the sleeve 3132 moving closer or further apart.

[0043] In this embodiment, specifically, the end of the support rod 3131 furthest from the sleeve 3132 is rotatably connected to the connecting hole 3116 via a pivot, and the end of the sleeve 3132 furthest from the support rod 3131 is also rotatably connected to the connecting hole 3116 via a pivot. During the extension and retraction process of the support rod 3131 and the sleeve 3132 moving closer or further apart, the elastic element 3133 can be compressed or stretched. Thus, the elasticity of the elastic element 3133 can make the opening and closing action of the overall scissor structure deformation unit 31 and deformation assembly 3 more stable and smooth, and can also reduce the closing time. The elastic element 3133 can be a spring.

[0044] In one embodiment of the robotic arm, the drive module includes two drive units 41, which are located on both sides of the base 2. Each drive unit 41 includes a drive element 411 and two winding wheels 412. One drive element 411 drives the two winding wheels 412 to rotate, and one end of the rope 42 is fixedly connected to the winding wheel 412.

[0045] In this embodiment, two drive units 41 are provided, which are located on both sides of the base 2 and correspond to the connecting rods 312 on both sides. By providing two drive units 41, each drive unit 41 corresponds to two ropes 42 through the winding wheel 412. In this way, during the driving process, the two drive elements 411 can be driven synchronously or separately, so that the whole robotic arm bends to the left or right, increasing the bending state of the robotic arm and making the robotic arm more flexible and versatile.

[0046] Specifically, the drive element 411 can be a brushless geared motor. More specifically, the motor can drive two winding wheels 412 through a single motor shaft, or it can drive both winding wheels 412 simultaneously through a transmission structure such as a worm gear. The worm gear transmission structure allows for better and more convenient arrangement of the winding wheels 412.

[0047] On the other hand, the base 2 can be a box structure or a hollow clamp structure, with the top surface facilitating the installation of the deformation component 3 and the interior facilitating the installation of the drive module.

[0048] In one embodiment of a robotic arm, the robotic arm further includes an elastic component 5, which is disposed in the deformable component 3. One end of the elastic component 5 is fixedly connected to the base 2, and the other end is fixedly connected to the actuator 6.

[0049] In this embodiment, specifically, the elastic component 5 can be a spring or an elastic structural component. By setting the elastic component 5, it plays the role of supporting the entire opening and closing process of the deformable component 3 and supporting the actuator 6 during the opening and closing process of the deformable component 3.

[0050] In one embodiment of a robotic arm, the actuator 6 includes a connecting seat 61, a turntable module 62, and a gripper module 63. The connecting seat 61 is fixedly connected to the deformable component 3. The turntable module 62 is fixedly installed on the side of the connecting seat 61 facing away from the deformable component 3. The gripper module 63 is fixedly installed on the output end of the turntable module 62 so that it can rotate under the drive of the turntable module 62. The gripper module 63 has an opening and closing action so that it can grip objects.

[0051] In this embodiment, specifically, the connecting seat 61 can be a block-shaped structural component, and the turntable module 62 can be a module with a drive rotation function, such as a combination of a motor and a turntable. By setting the turntable module 62, the gripper module 63 can be easily driven to rotate, thereby making the robotic arm more flexible. The gripper module 63 can be a pneumatic finger, a two-finger gripper, a three-gripper gripper, or other types of gripper modules 63. Of course, the actuator 6 itself can also be other structures, such as a lifting structure on a forklift or a vacuum suction cup.

[0052] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A rope-driven continuous robotic arm, characterized in that: The robotic arm includes: A rotating device capable of driving the components connected to it to rotate; A deformable component is installed on the rotating device. The deformable component includes multiple scissor structure deformable units that are connected end to end and can be opened and closed. A drive assembly is fixedly installed on the rotating device. The drive assembly includes a drive module and a rope. The rope extends from one end of the deformable assembly near the rotating device to the end of the deformable assembly away from the base and is fixed to the end of the deformable assembly away from the base. The drive assembly drives the rope to retract and extend, which can drive the deformable assembly to open and close. And an actuator, fixedly connected to the end of the deformable assembly away from the base.

2. The robotic arm as described in claim 1, characterized in that: The rotating device includes a base and a rotating assembly. The base has a hollow structure. The deformable assembly is mounted on the base. The driving assembly is fixedly mounted on the inner bottom of the base. The output end of the rotating assembly is connected to the side of the base away from the deformable assembly and can drive the base to rotate.

3. The robotic arm as described in claim 2, characterized in that: Each of the scissor structure deformation units is provided with a channel for the rope to pass through, and the rope passes through each of the channels of each of the scissor structure deformation units in sequence.

4. The robotic arm as described in claim 3, characterized in that: Each of the scissor structure deformation units has four mounting seats that are arranged in a rectangle by connecting rods. The four mounting seats are the four ends of the scissor structure deformation unit. Each mounting seat in each scissor structure deformation unit corresponds to one other. Each mounting seat has an outer cutout on its outer side to form the channel. The number of ropes is four, and the four ropes are threaded through the mounting brackets on each side.

5. The robotic arm as described in claim 4, characterized in that: The mounting base is also provided with a first shaft and a second shaft passing through the outer cutout. One of the first shaft and the second shaft is close to the base, and the other is close to the actuator. The orthographic projections of the first shaft and the second shaft toward the base have an overlapping area, and the rope passes between the first shaft and the second shaft.

6. The robotic arm as described in claim 4, characterized in that: Each of the scissor structure deformation units further includes two telescopic modules. The inner side of the mounting base is provided with an inner cutout. Three sets of connecting holes are provided at the inner cutout along the opening and closing direction of the scissor structure deformation unit. The set of connecting holes near the base and the set of connecting holes near the actuator are used to rotatably connect the scissor rod in the scissor structure deformation unit. The middle set of connecting holes is used to rotatably connect the telescopic module. The two connecting rods and the two telescopic modules in one scissor structure deformation unit form a rectangle.

7. The robotic arm as described in claim 6, characterized in that: The telescopic module includes a support rod, a sleeve, an elastic element, and a pin. The support rod extends into the sleeve, and a sliding hole is formed on the side wall of the sleeve along its extension direction. The elastic element is sleeved on the sleeve, and the pin passes through the end of the support rod that extends into the sleeve and is fixed to the support rod. The pin passes through the sliding hole and is fixed to the elastic element, so that the elastic element can be compressed or stretched during the telescopic process of the support rod and the sleeve moving closer or further apart.

8. The robotic arm as described in claim 1, characterized in that: The drive module includes two drive units, which are located on both sides of the base. Each drive unit includes a drive element and two winding wheels. One drive element drives the two winding wheels to rotate. One end of the rope is fixedly connected to the winding wheels.

9. The robotic arm as described in claim 4, characterized in that: The robotic arm also includes an elastic component, which is disposed in the deformable component. One end of the elastic component is fixedly connected to the base, and the other end is fixedly connected to the actuator.

10. The robotic arm as described in claim 1, characterized in that: The actuator includes a connecting seat, a turntable module, and a gripper module. The connecting seat is fixedly connected to the deformable component. The turntable module is fixedly installed on the side of the connecting seat away from the deformable component. The gripper module is fixedly installed on the output end of the turntable module so that it can rotate under the drive of the turntable module. The gripper module has an opening and closing action so that it can grip objects.

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