Connecting rod mechanism, joint module and bending method

Abstract

The invention relates to a connecting rod mechanism, a joint module and a bending method. The driving assembly comprises a driving piece and an output shaft connected with the driving piece. The connecting piece is arranged on the output shaft in a sleeving mode and rotationally connected with the output shaft. The mechanical claw is rotationally connected with the connecting piece. The reset piece is wound around the output shaft and the rotating joint of the mechanical claw and the connecting piece, and at least one end is connected with the mechanical claw. According to the mechanical gripper, through cooperation of mechanical transmission of the driving assembly and the reset piece, rigid-flexible switching and variable-rigidity adjustment of the connecting rod mechanism are achieved, and the mechanical gripper has good operation flexibility and safety when making contact with a workpiece. In addition, energy accumulated after deformation of the reset piece is rapidly released, the mechanical claw is driven to rapidly reset by relying on the rebound stress of the reset piece, reset lag or clamping is effectively prevented, and the operation circulation efficiency is improved. In addition, the whole connecting rod mechanism does not need a complex hydraulic or electromagnetic control system, is compact in structure and small in occupied space, and can be conveniently integrated into various robot devices.

Description

Technical Field

[0001] This disclosure relates to the field of robotic arm technology, and in particular to a linkage mechanism, joint module and bending method. Background Technology

[0002] With the widespread use of robots in industrial production and service industries, especially with the increasingly frequent interaction between robots and humans, the requirements for the performance of robot linkages are also increasing. Generally, most traditional robot linkages are rigid. Due to their rigidity, they are difficult to effectively absorb impact energy during high-speed operation or in the event of an accident, which can easily lead to equipment damage and personal injury.

[0003] In addition, although some use flexible links, flexible links generally have problems such as poor load-bearing capacity, complex structure and low reliability, making it difficult to achieve a balance between efficiency and safety. Summary of the Invention

[0004] This disclosure provides a linkage mechanism, a joint module, and a bending method to address the shortcomings of related technologies.

[0005] According to a first aspect of the present disclosure, a linkage mechanism is provided, comprising: A drive assembly, including a drive element and an output shaft connected to the drive element; A connector is sleeved on the output shaft and rotatably connected to the output shaft; The mechanical gripper is rotatably connected to the connecting member; and A reset member is wound around the output shaft and the rotatable connection between the mechanical claw and the connecting member, and at least one end is connected to the mechanical claw.

[0006] Optionally, the drive assembly further includes two mounting platforms, and the two ends of the output shaft are respectively rotatably connected to the two mounting platforms; The drive component is mounted on any of the mounting platforms.

[0007] Optionally, the drive assembly further includes a large gear, a small gear, and a main shaft; the output end of the drive component is connected to the large gear for transmission, and the large gear meshes with the small gear; the small gear is fixedly sleeved on the output shaft; one end of the main shaft is fixedly connected to the large gear, and the other end of the main shaft is rotatably connected to another mounting platform.

[0008] Optionally, the mechanical gripper includes an upper gripper and a lower gripper arranged opposite to each other, the upper gripper and the lower gripper being rotatably connected to the connecting member respectively; wherein, one end of the reset member is fixedly connected to the upper gripper and the other end is fixedly connected to the lower gripper.

[0009] Optionally, it also includes a torsion spring, the torsion spring comprising a spring body and a first leg and a second leg connected to the spring body; the spring body is sleeved at the rotatable connection between the mechanical claw and the connector, the first leg abuts against the mechanical claw, and the second leg abuts against the connector.

[0010] Optionally, the resetting element is a tendon ligament.

[0011] According to a second aspect of the present disclosure, a joint module is provided, including the linkage mechanism described in the first aspect, wherein the elastic steel plate is fixedly connected to the mechanical claw and is located on the side opposite to the output shaft.

[0012] Optionally, it also includes a fixing frame; the fixing frame is provided with a through groove, and the elastic steel plate and the output shaft pass through the through groove; the connector is fixed on the inner wall of the through groove.

[0013] Optionally, there are two sets of elastic steel plates and two sets of output shafts, with the elastic steel plates and output shafts arranged in a one-to-one correspondence; the two sets of elastic steel plates are arranged opposite each other and spaced apart.

[0014] According to a third aspect of the present disclosure, a bending method is provided, applied to the joint module described in the second aspect, specifically including the following steps: Step 1: Start the drive unit, which drives the reset unit to rotate via the output shaft; Step 2: The reset component retracts and pulls the mechanical claw toward the connecting component; Step 3: The mechanical claw retracts, causing the elastic steel plate fixedly connected to it to bend until a preset bending angle is reached. Then, the driving component stops and locks the output shaft, thereby realizing the bending of the linkage mechanism.

[0015] The technical solutions provided in the embodiments may include the following beneficial effects: As can be seen from the above embodiments, when the linkage mechanism is working, the driving component drives the output shaft to rotate. The rotation of the output shaft forces the reset component wound around it to contract, and the mechanical claw connected to the reset component further retracts towards the connecting component, that is, the mechanical claw also contracts synchronously. This realizes the switching between rigidity and flexibility and the adjustment of variable stiffness in the linkage mechanism, giving the mechanical claw good operational flexibility and safety when contacting the workpiece. In addition, the energy accumulated by the reset component after deformation is quickly released, and the mechanical claw is quickly reset by relying on its own rebound stress, effectively preventing reset lag or jamming, and improving the efficiency of the work cycle. Furthermore, the entire linkage mechanism does not require a complex hydraulic or electromagnetic control system, has a compact structure, occupies little space, and is easy to integrate into various robot devices.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0018] Figure 1 This is a schematic diagram of the joint module in an unbent state, as shown in an exemplary embodiment of this application.

[0019] Figure 2 This is a schematic diagram of the joint module in a bent state, as shown in an exemplary embodiment of this application.

[0020] Figure 3 yes Figure 1 A partial schematic diagram.

[0021] Figure 4 yes Figure 1 A partial schematic diagram from another perspective.

[0022] Figure 5 yes Figure 2 A partial schematic diagram.

[0023] Figure label: 10-Drive assembly; 11-Drive component; 12-Output shaft; 13-Mounting platform; 14-Large gear; 15-Pinary gear; 16-Spindle; 20-Connector; 30-Mechanical gripper; 31-Upper gripper; 32-Lower gripper; 40 - Reset component; 50 - Torsion spring; 51 - Spring body; 52 - First support leg; 53 - Second support leg; 60-Elastic steel plate; 70 - Fixed frame; 71 - Through groove. Detailed Implementation

[0024] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0025] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0026] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0027] Reference Figures 1-3 As shown, this application discloses a variable stiffness linkage mechanism, which includes a drive assembly 10, a connector 20, a mechanical gripper 30, and a reset member 40. The drive assembly 10 includes a drive member 11 and an output shaft 12 connected to the drive member 11. The connector 20 is sleeved on the output shaft 12 and rotatably connected to the output shaft 12. The mechanical gripper 30 is rotatably connected to the connector 20. The reset member 40 is wound around the rotatable connection between the output shaft 12 and the mechanical gripper 30 and the connector 20, and at least one end is connected to the mechanical gripper 30.

[0028] Thus, when the linkage mechanism is working, the drive member 11 drives the output shaft 12 to rotate. The rotation of the output shaft 12 will force the reset member 40 wound around it to retract, and the mechanical claw 30 connected to the reset member 40 will retract towards the connecting member 20, that is, the mechanical claw 30 also retracts synchronously.

[0029] The above process enables the linkage mechanism to switch between rigidity and flexibility, and adjust its stiffness, giving the robotic gripper 30 good operational flexibility and safety when contacting the workpiece. The energy stored in the reset component 40 after deformation is rapidly released, and its own rebound stress drives the robotic gripper 30 to quickly reset, effectively preventing reset lag or jamming and improving work cycle efficiency. Furthermore, the entire linkage mechanism does not require a complex hydraulic or electromagnetic control system, has a compact structure, occupies little space, and is easy to integrate into various robotic devices.

[0030] It should be noted that the driving component 11 mentioned here can be a motor, such as a servo motor, stepper motor, DC motor, hydraulic motor, pneumatic motor or other power components that can output rotary motion. The specific type can be selected according to the load requirements, control accuracy and response speed of the actual application scenario to ensure the controllable bending of the elastic steel plate 60, which meets the requirements of high-precision operation specifications and fits the needs of most operation scenarios.

[0031] In one embodiment, the connecting member 20 is a spring coupling. The spring coupling is sleeved on the output shaft 12 and has an elastic element inside. The reset member 40 is wound around the groove or winding part of the spring coupling. In this way, the elastic deformation of the spring coupling absorbs the impact and vibration during the transmission process, making the retraction and unfolding of the reset member 40 smoother and more stable. At the same time, it can also play a buffering protection role in overload, preventing the reset member 40 from breaking due to sudden impact, thereby improving the smoothness, reliability and service life of the transmission.

[0032] In one embodiment, the drive assembly 10 further includes two mounting platforms 13, with both ends of the output shaft 12 rotatably connected to the two mounting platforms 13 respectively. The drive component 11 is mounted on either mounting platform 13. This avoids the swaying or vibration problems that may occur when the output shaft 12 is mounted on only one side, significantly improving the stability of the output shaft 12 during rotation, and thus improving the repeatability and positioning accuracy of the bending action of the mechanical gripper 30.

[0033] Meanwhile, the structure with supports at both ends helps to distribute the force, reduce the load on a single mounting platform 13, and extend the service life of the linkage mechanism, making it particularly suitable for scenarios requiring high-frequency bending and resetting operations.

[0034] In another embodiment, the drive assembly 10 may also have only one mounting platform 13, with the drive component 11 directly mounted on the mounting platform 13, and the other end of the output shaft 12 suspended or limited by other auxiliary structures, which is suitable for occasions with limited space, small load or relatively low precision requirements.

[0035] In one embodiment, the drive assembly 10 further includes a large gear 14, a small gear 15, and a main shaft 16. The output end of the drive component 11 is connected to the large gear 14 for transmission, and the large gear 14 meshes with the small gear 15. The small gear 15 is fixedly sleeved on the output shaft 12, and both ends of the output shaft 12 are rotatably connected to two mounting platforms 13 respectively. One end of the main shaft 16 is fixedly connected to the large gear 14, and the other end of the main shaft 16 is rotatably connected to another mounting platform 13.

[0036] Specifically, when the linkage mechanism is working, its output end drives the large gear 14 to rotate. The large gear 14 meshes with the small gear 15 fixedly sleeved on the output shaft 12, driving the small gear 15 to rotate synchronously, thereby driving the output shaft 12 to rotate around its axis. When the output shaft 12 rotates, the reset member 40 wound around it is retracted, thereby driving the mechanical claw 30 to perform a bending action.

[0037] like Figure 4 As shown, when the linkage mechanism needs to bend, the drive component 11 starts in the forward direction, and the output end drives the large gear 14 to rotate in the forward direction. The large gear 14 drives the small gear 15 and the output shaft 12 to rotate in the forward direction. At this time, the reset component 40 wound on the output shaft 12 is gradually contracted, and the mechanical claw 30 is driven to bend under the action of the reset torque of the torsion spring 50 and the rebound stress of the elastic steel plate 60.

[0038] When the drive unit 11 stops rotating, the output end of the drive unit 11 automatically locks, so that the large gear 14, the small gear 15 and the output shaft 12 maintain the current angular position, thereby maintaining the bending posture of the mechanical claw 30 and preventing accidental displacement due to the springback of the reset unit 40 or external force interference.

[0039] Furthermore, the large gear 14 is rotatably connected to another mounting platform 13 via the main shaft 16. The main shaft 16 rotates synchronously with the large gear 14 and provides auxiliary support to ensure that the large gear 14 remains stable during meshing and reduces sway. This structure, through the double-end support design of the main shaft 16 and the output shaft 12, makes the entire transmission system more evenly stressed, operates more smoothly, and improves transmission accuracy and the reliability of the mechanism.

[0040] like Figure 5 As shown, when the linkage mechanism needs to be reset, the drive component 11 starts in reverse, and its output end drives the large gear 14 to rotate in reverse. The large gear 14 drives the small gear 15 and the output shaft 12 to rotate in reverse. At this time, the reset component 40 wound on the output shaft 12 is gradually released, and the drive mechanical claw 30 opens outward under the reset torque of the torsion spring 50 and the rebound stress of the elastic steel plate 60, realizing rapid reset. Figure 4 The state shown.

[0041] In one embodiment, the mechanical gripper 30 includes an upper gripper 31 and a lower gripper 32 disposed opposite to each other, and the upper gripper 31 and the lower gripper 32 are rotatably connected to the connecting member 20. One end of the reset member 40 is fixedly connected to the upper gripper 31, and the other end is fixedly connected to the lower gripper 32.

[0042] Thus, the reset actions of the upper jaw 31 and the lower jaw 32 are coupled together by the reset component 40. When the output shaft 12 bends, the reset component 40 is simultaneously stretched, synchronously pulling the mechanical jaw 30 to bend. During reset, the reset component 40 releases energy, synchronously driving the upper jaw 31 and the lower jaw 32 to open outward, achieving a fast and balanced reset action, avoiding lag or jamming of the jaw reset on one side, and improving the synchronicity and reliability of the reset.

[0043] In another embodiment, the mechanical gripper 30 may consist only of the upper gripper 31, with one end of the reset member 40 fixedly connected to the upper gripper 31 and the other end fixedly connected to the connector 20. In this case, the reset member 40 directly drives a single gripper to complete the reset, resulting in a simpler structure suitable for light-load or space-constrained scenarios. Alternatively, it may consist only of the lower gripper 32; the specific implementation is not limited here.

[0044] In another embodiment, the upper jaw 31 and the lower jaw 32 can be composed of multiple sub-jaws connected in series or in parallel, with a rotatable connection between adjacent sub-jaws, so that the entire jaw assembly can adaptively adjust the clamping angle according to the shape of the workpiece, thereby achieving stable envelopment and gripping of irregular or non-standard workpieces.

[0045] In one embodiment, the linkage mechanism further includes a torsion spring 50, which includes a spring body 51 and a first leg 52 and a second leg 53 connected to the spring body 51. The spring body 51 is sleeved at the rotatable connection between the mechanical claw 30 and the connecting member 20, the first leg 52 abuts against the mechanical claw 30, and the second leg 53 abuts against the connecting member 20. In this embodiment, multiple sub-claws are also rotatably connected to each other via the torsion spring 50.

[0046] When the output shaft 12 rotates and drives the mechanical claw 30 to bend relative to the connecting member 20 through the reset member 40, the rotation of the mechanical claw 30 will compress the first support leg 52, causing the spring body 51 of the torsion spring 50 to undergo torsional deformation and store elastic potential energy. When the drive member 11 rotates in the opposite direction, the torsion spring 50 releases the stored potential energy, and the first support leg 52 pushes the mechanical claw 30 to rotate in the opposite direction, thereby assisting the mechanical claw 30 to quickly reset.

[0047] This application provides direct reset torque through torsion spring 50, forming a dual reset guarantee with reset component 40. This not only significantly improves the reset response speed and reliability and prevents reset failure due to loosening or jamming of reset component 40, but also, because torsion spring 50 is sleeved at the rotating connection, the structure is compact and does not occupy extra space, and the reset torque transmission is more efficient. At the same time, the preload of torsion spring 50 is adjustable, which can adapt to different loads and reset speed requirements, thereby enhancing the adaptability of the mechanism to working conditions.

[0048] In one embodiment, the reset member 40 is a tendon rope. One end of the tendon rope is fixedly connected to the top of the mechanical claw 30, and the other end is wound around the output shaft 12. The tendon rope is laid through the rotational connection between the mechanical claw 30 and the connector 20. The tendon rope is wound and unwound by the forward and reverse rotation of the output shaft 12, thereby driving the mechanical claw 30 to bend or reset.

[0049] Thus, by utilizing the flexible transmission characteristics of the tendon rope, synchronous driving of multiple joints over long distances can be achieved. This allows for flexible layout, minimal space occupation, and the tendon rope itself is lightweight and high-strength, helping to reduce the overall inertia of the linkage mechanism and improve response speed. Simultaneously, by adjusting the tension of the tendon rope, the bending angle and clamping force of the mechanical gripper 30 can be precisely controlled, further enhancing the controllability and adaptability of the linkage mechanism.

[0050] In another embodiment, the reset element 40 can also be a component with elastic reset function, such as an elastic rope, a spring sheet, or a shape memory alloy wire. For example, when using an elastic rope, reset can be achieved directly by its own elastic contraction, without the need for an additional winding structure. When using a spring sheet, one end of the spring sheet can be fixed to the mechanical gripper 30, and the other end can be fixed to the connector 20 or the output shaft 12, achieving drive and reset through the bending deformation and rebound of the spring sheet. When using a shape memory alloy wire, its expansion and contraction can be controlled by temperature changes, achieving precise control of drive and reset.

[0051] This application also discloses a joint module, which includes an elastic steel plate 60 and the aforementioned linkage mechanism. The elastic steel plate 60 is fixedly connected to the mechanical claw 30 and is located on the side opposite to the output shaft 12. As the main load-bearing and deformation element, the elastic steel plate 60 bends synchronously with the mechanical claw 30 to achieve rigid-flexible coupling transmission. This ensures flexible contact during bending and provides a rebound force during resetting, thereby enhancing the reliability of resetting.

[0052] The joint module also includes a fixing frame 70, which is located between two mounting platforms 13. The fixing frame 70 has a through groove 71 through which the elastic steel plate 60 and the output shaft 12 pass, and the connector 20 is fixed to the inner wall of the through groove 71. In this way, the elastic steel plate 60, the output shaft 12 and the connector 20 are integrated into one unit by the fixing frame 70, which not only provides a stable mounting base for each component, but also effectively protects the internal transmission structure from external interference.

[0053] In one embodiment, two sets of elastic steel plates 60 and two sets of output shafts 12 are provided, with the elastic steel plates 60 and output shafts 12 arranged in a one-to-one correspondence, and the two sets of elastic steel plates 60 are arranged opposite each other and spaced apart. In this way, the symmetrical layout makes the force on both sides of the joint module uniform when bending, the movement is more stable, and it can withstand a larger load, which is suitable for operation scenarios that require bidirectional bending or symmetrical clamping.

[0054] In this embodiment, three connectors 20 are provided on each output shaft 12, and the three connectors 20 are spaced apart along the length of the output shaft 12. The multi-point connection enables the mechanical gripper 30 to obtain uniform support and driving force transmission on the output shaft 12, which can achieve more precise bending curve control, avoid stress concentration caused by single-point force, and enhance the adaptability of the mechanism to long stroke or large-range bending.

[0055] It should be noted that the specific number of connectors 20 can be flexibly adjusted according to actual load requirements, space dimensions and bending accuracy requirements, so as to obtain better transmission performance and control effect while ensuring a compact structure. Therefore, no restrictions are imposed here.

[0056] In this embodiment, the joint module has a simple structure, low energy consumption, and easy maintenance. It can be widely used in scenarios that require link bending operations, such as automobile assembly, material handling, and precision machining. It is especially suitable for the actual needs of variable stiffness in human-machine collaborative robots.

[0057] This application also discloses a bending method for a linkage mechanism, applied to the aforementioned joint module, which specifically includes the following steps: Step 1: Start the drive unit 11. The drive unit 11 drives the reset unit 40 to rotate through the output shaft 12.

[0058] Specifically, after the drive unit 11 is started, its output end drives the large gear 14 to rotate. The large gear 14 meshes with the small gear 15 fixedly sleeved on the output shaft 12, driving the output shaft 12 to rotate smoothly around its axis. The two ends of the output shaft 12 are supported by the mounting platform 13 to ensure the stability of the rotation process.

[0059] Step 2: The reset component 40 retracts and pulls the mechanical claw 30 toward the connecting component 20.

[0060] Specifically, the reset member 40 is gradually tightened by rotation, and the tendon rope pulls the top of the mechanical claw 30 along a preset path, causing the mechanical claw 30 to bend inward around its rotational connection with the connector 20. At this time, the torsion spring 50 sleeved at the rotational connection is twisted due to the rotation of the mechanical claw 30 and begins to store elastic potential energy.

[0061] Step 3: The mechanical claw 30 retracts and drives the elastic steel plate 60 fixedly connected to it to bend until the preset bending angle is reached. Then the drive component 11 stops and locks the output shaft 12, realizing the bending of the linkage mechanism.

[0062] Specifically, when multiple sets of mechanical grippers 30 retract synchronously, they cause the elastic steel plate 60 to gradually bend and deform from a straight state, storing rebound stress within the elastic steel plate 60. When the bending angle reaches a preset value, the drive component 11 stops rotating and automatically locks the output shaft 12, maintaining the current angular position of the large gear 14, small gear 15, and output shaft 12. The mechanical grippers 30 and the elastic steel plate 60 maintain their bent posture for subsequent operations. At this time, both the torsion spring 50 and the elastic steel plate 60 are in an energy storage state, preparing for subsequent reset.

[0063] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0064] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A variable stiffness linkage characterized by, It includes: The drive assembly (10) includes a drive element (11) and an output shaft (12) connected to the drive element (11). A connector (20) is sleeved on the output shaft (12) and rotatably connected to the output shaft (12); The mechanical gripper (30) is rotatably connected to the connector (20); and A reset member (40) is wound around the output shaft (12) and the rotatable connection between the mechanical claw (30) and the connector (20), and at least one end is connected to the mechanical claw (30).

2. The linkage mechanism according to claim 1, characterized in that, The drive assembly (10) also includes two mounting platforms (13), and the two ends of the output shaft (12) are rotatably connected to the two mounting platforms (13) respectively; The drive unit (11) is mounted on any of the mounting platforms (13).

3. The linkage mechanism according to claim 2, characterized in that, The drive assembly (10) further includes a large gear (14), a small gear (15), and a main shaft (16); the output end of the drive component (11) is connected to the large gear (14) for transmission, and the large gear (14) meshes with the small gear (15); the small gear (15) is fixedly sleeved on the output shaft (12); one end of the main shaft (16) is fixedly connected to the large gear (14), and the other end of the main shaft (16) is rotatably connected to another mounting platform (13).

4. The linkage mechanism according to claim 1, characterized in that, The mechanical gripper (30) includes an upper gripper (31) and a lower gripper (32) arranged opposite to each other. The upper gripper (31) and the lower gripper (32) are rotatably connected to the connector (20). One end of the reset member (40) is fixedly connected to the upper gripper (31), and the other end is fixedly connected to the lower gripper (32).

5. The linkage mechanism according to claim 1, characterized in that, It also includes a torsion spring (50), which includes a spring body (51) and a first leg (52) and a second leg (53) connected to the spring body (51); the spring body (51) is sleeved at the rotatable connection between the mechanical claw (30) and the connector (20), the first leg (52) abuts against the mechanical claw (30), and the second leg (53) abuts against the connector (20).

6. The linkage mechanism according to any one of claims 1-5, characterized in that, The reset component (40) is a tendon ligament.

7. An articulating module, comprising: It includes a flexible steel plate (60) and a linkage mechanism as described in any one of claims 1-6, wherein the flexible steel plate (60) is fixedly connected to the mechanical claw (30) and is located on the side opposite to the output shaft (12).

8. The joint module according to claim 7, characterized in that, It also includes a fixing frame (70); the fixing frame (70) is provided with a through groove (71), the elastic steel plate (60) and the output shaft (12) pass through the through groove (71); the connector (20) is fixed on the inner wall of the through groove (71).

9. The joint module according to claim 7, characterized in that, Two sets of elastic steel plates (60) and two sets of output shafts (12) are provided. The elastic steel plates (60) and the output shafts (12) are arranged in a one-to-one correspondence. The two sets of elastic steel plates (60) are arranged opposite each other and at intervals.

10. A method of bending a linkage mechanism, characterized by, Applied to the joint module as described in any one of claims 7-9, the method specifically includes the following steps: Step 1: Start the drive unit (11), and the drive unit (11) drives the reset unit (40) to rotate through the output shaft (12); Step 2: The reset component (40) retracts and pulls the mechanical claw (30) toward the connecting component (20); Step 3: The mechanical claw (30) retracts and drives the elastic steel plate (60) fixedly connected to it to bend until the preset bending angle is reached. Then the driving component (11) stops and locks the output shaft (12) to realize the bending of the linkage mechanism.

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