CN218104216U - Deformable mechanical arm - Google Patents

Abstract

The utility model relates to the technical field of mechanical arms, and discloses a deformable mechanical arm, which comprises a mechanical arm body and a picking head, wherein the picking head comprises a mounting frame, the front side of the mounting frame is provided with a groove, the opening of the groove extends to the edge of the mounting frame, a rotating shaft is installed in the groove in a rotating way, the rotating shaft is connected with a first scissors driving mechanism, and a second scissors driving mechanism is fixed in the rotating shaft; the gripper is arranged on the front side of the mounting rack; the gripper driving mechanism is in transmission connection with the grippers so as to drive the grippers to rotate and retract or unfold; the scissors are inserted into the rotating shaft from the front side of the mounting rack and are in transmission connection with the second scissors driving mechanism; the first scissors driving mechanism can drive the rotating shaft to rotate back and forth so that the scissors are placed in the groove or rotate out of the groove; the second scissors driving mechanism can drive the scissors arms of the scissors to rotate back and forth so as to open or close the scissors. The utility model discloses can use tongs or scissors according to picking the operation demand, need not to change picking head, improve the operating efficiency.

Description

Deformable mechanical arm

Technical Field

The utility model relates to an arm technical field especially relates to a flexible arm.

Background

The fruit picking season is strong, the operation time is short, and the fruit falls off and is wasted if the fruit is not picked in time in the fruit maturation period, so that economic loss is caused. The fruit picking is mainly manual picking, which consumes a great deal of labor. With the development of science and technology, some automatic picking mechanical equipment is gradually applied, but in the fruit picking process, not only the fruits need to be picked, but also branches and leaves around the fruits need to be trimmed. The existing fruit picking mechanical arm generally adopts an independent picking head, and after branches and leaves are trimmed, the picking head can be replaced by a hand grip capable of picking fruits, so that the mechanical arm needs to frequently replace the picking head on the mechanical arm in the picking operation process, and the operation efficiency is lower.

SUMMERY OF THE UTILITY MODEL

In view of the above problem, the utility model aims at providing a flexible arm to solve current fruit picking arm and pick the operation in-process, need change the picking head on the arm, the lower problem of operating efficiency.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

deformable mechanical arm, including arm body and picking head, picking head includes:

the rear side of the mounting rack is rotatably mounted at one end of the mechanical arm body, a groove with an opening extending to the edge of the mounting rack is formed in the front side of the mounting rack, a rotating shaft is rotatably mounted in the groove and connected with a first scissors driving mechanism, and a second scissors driving mechanism is fixed in the rotating shaft;

the hand grip is arranged on the front side of the mounting rack;

the gripper driving mechanism is in transmission connection with the grippers so as to drive the grippers to rotate and retract or unfold;

the scissors are inserted into the rotating shaft from the front side of the mounting rack and are in transmission connection with the second scissors driving mechanism;

the first scissors driving mechanism can drive the rotating shaft to rotate back and forth so that the scissors are placed in the groove or rotate outside the groove; the second scissors driving mechanism can drive the scissors arms of the scissors to rotate back and forth so as to open or close the scissors.

Preferably, the scissors comprise a first scissors arm and a second scissors arm, the second scissors driving mechanism comprises a first motor and a second motor, and the first motor and the second motor are respectively installed in the rotating shaft; one end of the first scissor arm inserted into the rotating shaft is fixedly provided with a first transmission gear, and the first transmission gear is connected with the first motor; and a second transmission gear is fixed at one end of the second scissor arm inserted into the rotating shaft and is connected with the second motor.

Preferably, a rotating ring is rotatably mounted on the front side of the mounting frame and is arranged on the outer peripheral side of the rotating shaft, a notch for the scissors to pass through is further formed in the rotating ring, a rotation driving mechanism for driving the rotating ring to rotate is mounted on the mounting frame, and the gripper is mounted on the rotating ring.

Preferably, the gripper comprises a plurality of gripper arms which are circumferentially arranged at intervals on the front side of the rotating ring; the gripper driving mechanism comprises a plurality of driving motors, the driving motors are installed on the rotating ring, arm rotating shafts are vertically installed at the end parts of the gripper arms, and each arm rotating shaft is connected with one driving motor.

Preferably, a boss is fixed on the rotating shaft, the boss is hollow and communicated with the inside of the rotating shaft, an opening is formed in the front side of the boss, and the scissors are inserted into the boss from the opening.

Preferably, the deformable mechanical arm further comprises a base, a turntable is rotatably mounted in the base, the turntable is connected with a turntable driving mechanism used for driving the turntable to rotate, and the mechanical arm body is rotatably mounted on the turntable.

Preferably, the robot arm body includes:

the first mechanical arm is arranged on the turntable through a first rotating shaft;

the first mechanical arm driving motor is arranged on the turntable and is in transmission connection with the first rotating shaft;

the second mechanical arm is arranged on the first mechanical arm through a second rotating shaft;

and the second mechanical arm driving motor is installed on the first mechanical arm and is in transmission connection with the second rotating shaft.

Preferably, an axial direction of the rotation shaft is arranged in parallel with a groove width direction of the groove.

Preferably, a camera device is installed on the upper side of the mounting frame.

Preferably, the transformable mechanical arm further comprises a controller, and the gripper driving mechanism, the first scissors driving mechanism and the second scissors driving mechanism are respectively electrically connected with the controller.

The embodiment of the utility model provides a deformable arm compares with prior art, and its beneficial effect lies in:

the deformable mechanical arm provided by the embodiment of the utility model drives the gripper to rotate and contract or expand through the gripper driving mechanism; the rotating shaft is driven by the first scissors driving mechanism to rotate back and forth, so that the scissors can be placed in the groove or rotate out of the groove; the second scissors driving mechanism drives the scissors arms to rotate back and forth, so that the scissors can be opened or closed. When branches and leaves need to be trimmed, the gripper driving mechanism drives the gripper to rotate and contract, the first scissors driving mechanism drives the rotating shaft to rotate, so that the scissors rotate out of the groove, and then the second scissors driving mechanism drives the scissors to open and close to trim the branches and leaves; after the branches and leaves are pruned, the scissors are driven to fold through the second scissors driving mechanism, the rotating shaft is driven to rotate through the first scissors driving mechanism, the scissors are enabled to rotate and arranged in the groove, then the gripper is driven to rotate and unfold through the gripper driving mechanism, and the fruits are picked. The utility model discloses in, both install the tongs on the picking head, install the scissors again, can use the tongs to snatch the fruit according to picking the operation demand, or use the scissors to prune branch and leaf, need not to change the picking head to improve the operating efficiency.

Drawings

Fig. 1 is a schematic structural diagram of a deformable mechanical arm according to an embodiment of the present invention;

FIG. 2 is a schematic view of the embodiment of the present invention showing the opened state of the scissors;

FIG. 3 is a first schematic view illustrating a state where scissors are disposed in the groove according to an embodiment of the present invention;

FIG. 4 is a schematic view of a second state in which scissors are placed in the groove according to an embodiment of the present invention;

FIG. 5 is a schematic view of the transmission of the rotating shaft in the embodiment of the present invention;

FIG. 6 is a schematic view of the transmission of the embodiment of the present invention in the open state of the scissors;

FIG. 7 is a schematic transmission diagram of the embodiment of the present invention in the state of the scissors being closed;

in the figure, 1, a mechanical arm body; 11. a first robot arm; 12. a second robot arm; 2. picking heads; 21. a mounting frame; 211. a groove; 212. a rotating shaft; 2121. gear teeth; 2122. a fifth transmission gear; 213. a boss; 214. a rotating ring; 22. scissors; 221. a first scissor arm; 222. a second scissor arm; 223. a first drive gear; 224. a second transmission gear; 225. a third transmission gear; 226. a fourth transmission gear; 23. a gripper; 231. grabbing an arm; 2311. a first support arm; 2312. a second support arm; 232. an arm rotating shaft; 3. a base; 4. a turntable; 41. a fixed table; 5. a turntable driving mechanism; 6. an image pickup device.

Detailed Description

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The following detailed description of the embodiments of the present invention is made with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

As shown in fig. 1-7, the deformable mechanical arm of the embodiment of the present invention includes a mechanical arm body 1 and a picking head 2 mounted on the mechanical arm body 1, where the picking head 2 includes a mounting frame 21, a hand grip 23, a hand grip driving mechanism and scissors 22, where the rear side of the mounting frame 21 is rotatably mounted at one end of the mechanical arm body 1, the front side of the mounting frame 21 is provided with a groove 211 having an opening extending to the edge of the mounting frame 21, a rotating shaft 212 is rotatably mounted in the groove 211, the rotating shaft 212 is connected to a first scissors driving mechanism, and a second scissors driving mechanism is fixed in the rotating shaft 212; the hand grip 23 is mounted on the front side of the mounting rack 21; the gripper driving mechanism is in transmission connection with the gripper 23 to drive the gripper 23 to rotate and retract or expand; the scissors 22 are inserted into the rotating shaft 212 from the front side of the mounting frame 21 and are in transmission connection with the second scissors driving mechanism; the first scissors driving mechanism can drive the rotating shaft 212 to rotate back and forth, so that the scissors 22 are placed in the groove 211 or rotate out of the groove 211; the second scissors driving mechanism can drive the scissors arms of the scissors 22 to rotate back and forth, so that the scissors 22 can be opened or closed.

The utility model discloses in, both install tongs 23 on picking head 2, install scissors 22 again, can use tongs 23 to snatch the fruit according to picking the operation demand, or use scissors 22 to prune the branch and leaf, need not to change picking head 2 to improve the operating efficiency.

In this embodiment, the axial direction of the rotation shaft 212 is arranged in parallel with the groove width direction of the concave groove 211. As shown in fig. 3, the groove 211 has a first notch facing forward and a second notch facing downward, through which the scissors 22 can be conveniently rotated to the front side of the mounting frame 21, so that the scissors 22 can be conveniently opened and closed to cut branches and leaves; the scissors 22 can be conveniently rotated into the groove 211 through the second notch, so that the scissors 22 extend downwards and are not interfered with the grabbing work of the hand grip 23.

In this embodiment, the first scissors driving mechanism is a motor, and the first scissors driving mechanism is in transmission connection with the rotating shaft 212. For example, as shown in fig. 5, the rear side of the rotational shaft 212 penetrates the recess 211 and extends to the rear side of the bottom of the recess 211, the gear teeth 2121 can be fixed to the rear side surface of the rotational shaft 212, the gear teeth 2121 are engaged with a fifth driving gear 2122, and the fifth driving gear 2122 is connected to the first scissors driving mechanism. The fifth transmission gear 2122 is driven to rotate by the first scissors driving mechanism, so as to drive the rotating shaft 212 to rotate. The gear teeth 2121 are arranged along the circumferential direction of the rotating shaft 212, and have a length smaller than the circumference of the rotating shaft 212.

In this embodiment, the scissors 22 includes a first scissor arm 221 and a second scissor arm 222, the second scissor driving mechanism includes a first motor and a second motor, and the first motor and the second motor are respectively installed in the rotating shaft 212 and can rotate synchronously with the rotating shaft 212; as shown in fig. 6 and 7, a first transmission gear 223 is fixed to one end of the first scissor arm 221 inserted into the rotating shaft 212, and the first transmission gear 223 is in transmission connection with the first motor through a third transmission gear 225; a second transmission gear is fixed at one end of the second scissor arm 222 inserted into the rotating shaft 212, and the second transmission gear 224 is in transmission connection with the second motor through a fourth transmission gear 226. The third transmission gear 225 is driven to rotate by the first motor, the third transmission gear 225 drives the first transmission gear 223 to rotate, and the first transmission gear 223 drives the first scissor arm 221 to rotate towards the direction close to or far away from the second scissor arm 222; the fourth transmission gear 226 is driven to rotate by the second motor, the fourth transmission gear 226 drives the second transmission gear 224 to rotate, and the second transmission gear 224 drives the second scissor arm 222 to rotate towards or away from the second scissor arm 222.

In order to fully close the portions of the first and second scissor arms 221 and 222 outside the boss 213, in the present embodiment, as shown in fig. 6, the first and second scissor arms 221 and 222 are bent.

It should be noted that, in order to open or close the scissors 22, the first motor and the second motor operate simultaneously, and the rotation directions of the first scissor arm 221 and the second scissor arm 222 are opposite, so that the first scissor arm 221 and the second scissor arm 222 move towards each other to close the scissors 22, or the first scissor arm 221 and the second scissor arm 222 move away from each other to open the scissors 22.

In this embodiment, a boss 213 is fixed to the rotating shaft 212, the boss 213 is hollow and communicates with the inside of the rotating shaft 212, an opening is provided at the front side of the boss 213, and the scissors 22 are inserted into the boss 213 through the opening and enter the rotating shaft 212. The boss 213 can support the scissors 22 in the up-down direction, and the opening in the front of the boss 213 can guide the rotation of the first scissor arm 221 and the second scissor arm 222, so that the first scissor arm 221 and the second scissor arm 222 can be precisely folded. Also, the length of the opening may also define the opening size of the first and second scissor arms 221 and 222.

In this embodiment, as shown in fig. 2 to 4, a rotating ring 214 is rotatably mounted on the front side of the mounting frame 21, the rotating ring 214 is disposed on the outer periphery of the rotating shaft 212, and a notch for passing the scissors 22 is further disposed on the rotating ring 214, so that the rotating ring 214 does not interfere with the scissors 22 rotating into the recess 211, and the scissors 22 do not interfere with the rotation of the rotating ring 214 when being in the recess 211. The mounting frame 21 is provided with a rotation driving mechanism for driving the rotating ring 214 to rotate, and the hand grip 23 is mounted on the rotating ring 214. After the gripper 23 grabs the fruit, the rotating ring 214 is driven to rotate through the rotating driving mechanism, the gripper 23 is driven to rotate, and the rotation drives the fruit to rotate, so that the fruit and the branches can be conveniently separated, and the fruit picking is completed. It should be noted that, the rotation driving mechanism is a motor, and the driving mode of the motor to the rotation ring 214 is prior art, and the detailed description is omitted.

Further, as shown in fig. 2 to 4, the hand grip 23 includes a plurality of grip arms 231, and the plurality of grip arms 231 are circumferentially spaced apart on the front side of the rotating ring 214; the gripper driving mechanism comprises a plurality of driving motors, the driving motors are arranged on the rotating ring 214, an arm rotating shaft 232 is vertically arranged at the end part of each gripper arm 231, and each arm rotating shaft 232 is respectively connected with one driving motor. The arm shaft 232 is named only for a shaft, and can realize the function of a shaft. The arm-grasping arms 231 are driven to rotate by the rotation of the arm rotating shaft 232 of the driving motor, so that the plurality of arm-grasping arms 231 are unfolded or contracted. Further, the rotation axis 212 line of the arm rotation shaft 232 is parallel to the tangent line of the rotating ring 214 at the mounting position of the arm rotation shaft 232, so that each of the gripper arms 231 is contracted toward the center of the rotating ring 214.

It should be pointed out that, driving motor is prior art with the connected mode of arm pivot 232, the utility model discloses do not do detailed description.

In this embodiment, a sleeve may be sleeved on the outer peripheral side of the arm rotating shaft 232, the sleeve is fixedly connected to the rotating ring 214, the arm rotating shaft 232 is rotatably installed in the sleeve, an annular groove is circumferentially formed in the sleeve, and the gripper arm 231 penetrates through the annular groove and is fixed to the arm rotating shaft 232. It should be noted that the present embodiment facilitates the rotational mounting of the arm shaft 232 by means of a sleeve. In other embodiments, the arm pivot 232 may also be mounted by other forms of mounting brackets.

In this embodiment, the structure and driving manner of each of the gripper arms 231 are the same. The structure of one of the grasping arms 231 will be described as an example. As shown in fig. 2, the gripper arm 231 includes a first arm 2311 and a second arm 2312, the first arm 2311 is connected to the arm rotation shaft 232, and the second arm 2312 is rotatably connected to the first arm 2311. Rotation of the second arm 2312 relative to the first arm 2311 may be manually operated. Optionally, the first arm 2311 and the second arm 2312 may be connected by a rotating shaft, a motor for driving the rotating shaft to rotate may be installed in the first arm 2311, and the rotating shaft may be driven by the motor to rotate, so as to drive the second arm 2312 to rotate relative to the first arm 2311. By rotating the second arm 2312 relative to the first arm 2311, the second arm 2312 can be rotated and folded on the first arm 2311, and the occupied space of the hand grip 23 is reduced. Further, the grasping space of the hand grip 23 can be adjusted by rotating the second support arm 2312 relative to the first support arm 2311, so that fruits with different sizes can be grasped more conveniently.

In this embodiment, as shown in fig. 1, the deformable mechanical arm further includes a base 3, a turntable 4 is rotatably mounted in the base 3, the turntable 4 is connected with a turntable driving mechanism 5 for driving the turntable 4 to rotate, and the mechanical arm body 1 is rotatably mounted on the turntable 4. The turntable driving mechanism 5 may be a motor. The turntable 4 is driven to rotate by the turntable driving mechanism 5, and the turntable 4 can drive the mechanical arm body 1 to synchronously rotate, so that the posture of the mechanical arm body 1 is adjusted, and the position of the picking head 2 is adjusted. The base 3 may be a frame structure.

Further, the robot arm body 1 includes:

the first mechanical arm 11 is installed on the turntable 4 through a first rotating shaft, and the central axis of the first rotating shaft extends in the left-right direction, so that the first mechanical arm 11 can rotate back and forth relative to the turntable 4; it should be noted that the left-right direction is a direction perpendicular to the paper surface in fig. 1, the direction close to the paper surface is left, and the direction far from the paper surface is right;

the first mechanical arm 11 driving motor is mounted on the turntable 4, and the first mechanical arm 11 driving motor is in transmission connection with the first rotating shaft so as to drive the first rotating shaft to rotate back and forth;

the second mechanical arm 12 is mounted on the first mechanical arm 11 through a second rotating shaft, and the central axis of the second rotating shaft extends in the left-right direction, so that the second mechanical arm 12 can rotate back and forth relative to the first mechanical arm 11;

and the driving motor of the second mechanical arm 12 is installed on the first mechanical arm 11, and the driving motor of the second mechanical arm 12 is in transmission connection with the second rotating shaft so as to drive the second mechanical arm 12 to rotate back and forth.

The position of the picking head 2 is adjusted through the rotation of the first mechanical arm 11 and the second mechanical arm 12, and the auxiliary gripper 23 grips the fruit.

Further, the mounting frame 21 of the picking head 2 is mounted on the second robot arm 12 through a third rotating shaft, and the central axis of the third rotating shaft extends in the left-right direction, so that the mounting frame 21 can rotate back and forth relative to the second robot arm 12.

In this embodiment, the turntable 4 is provided with a fixed table 41, and the first robot arm 11 is rotatably mounted on the fixed table 41.

In this embodiment, as shown in fig. 1 to 4, a camera device 6 is mounted on the upper side of the mounting frame 21, and the camera device 6 is used for shooting the picking object so as to determine whether to trim branches and leaves according to the shooting result. The camera device 6 can be connected with a display screen, the shooting result is displayed through the display screen, and the hand 23 and the scissors 22 are controlled according to the displayed shooting result.

In this embodiment, the transformable mechanical arm further includes a controller, and the gripper driving mechanism, the first scissors driving mechanism, and the second scissors driving mechanism are electrically connected to the controller respectively. After the controller controls the first scissors driving mechanism to drive the scissors 22 to be placed in the groove 211, the controller controls the gripper driving mechanism to drive the gripper 23 to rotate and unfold; after the controller controls the gripper driving mechanism to drive the gripper 23 to rotate and retract, the controller controls the first scissors driving mechanism to drive the scissors 22 to rotate out of the groove 211, and then controls the second scissors driving mechanism to drive the scissors 22 to open or close.

The utility model discloses a working process does:

moving the mechanical arm body 1 to the position below an object to be picked, and driving the gripper 23 to retract through the gripper driving mechanism; the rotating shaft 212 is driven to rotate by the first scissors driving mechanism, so that the scissors 22 rotate out of the grooves 211; the second scissors driving mechanism drives the scissors 22 to open or close, so as to trim branches and leaves. After the branches and leaves are trimmed, the scissors 22 are driven to fold through the second scissors driving mechanism, the rotating shaft 212 is driven to rotate through the first scissors driving mechanism, the scissors 22 are enabled to rotate into the groove 211, the gripper 23 is driven to unfold through the gripper driving mechanism, and the fruits are gripped.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and replacements can be made without departing from the technical principle of the present invention, and these modifications and replacements should also be considered as the protection scope of the present invention.

Claims (10)

1. A deformable mechanical arm is characterized by comprising a mechanical arm body and a picking head, wherein the picking head comprises:

the rear side of the mounting rack is rotatably mounted at one end of the mechanical arm body, a groove with an opening extending to the edge of the mounting rack is formed in the front side of the mounting rack, a rotating shaft is rotatably mounted in the groove, the rotating shaft is connected with a first scissors driving mechanism, and a second scissors driving mechanism is fixed in the rotating shaft;

the hand grip is arranged on the front side of the mounting rack;

the gripper driving mechanism is in transmission connection with the grippers so as to drive the grippers to rotate and retract or expand;

the scissors are inserted into the rotating shaft from the front side of the mounting rack and are in transmission connection with the second scissors driving mechanism;

the first scissors driving mechanism can drive the rotating shaft to rotate back and forth, so that the scissors are placed in the groove or rotate out of the groove; the second scissors driving mechanism can drive the scissors arms of the scissors to rotate back and forth so as to open or close the scissors.

2. A deformable robot arm as claimed in claim 1, wherein the scissors comprise a first scissor arm and a second scissor arm, the second scissor drive mechanism comprises a first motor and a second motor, the first motor and the second motor being mounted within the rotary shaft, respectively; a first transmission gear is fixed at one end of the first scissor arm inserted into the rotating shaft and is connected with the first motor; and a second transmission gear is fixed at one end of the second scissor arm inserted into the rotating shaft and is connected with the second motor.

3. The transformable robotic arm of claim 1, wherein a rotating ring is rotatably mounted on a front side of the mounting frame and is disposed on an outer peripheral side of the rotating shaft, a notch is further disposed on the rotating ring for the scissors to pass through, a rotation driving mechanism for driving the rotating ring to rotate is mounted on the mounting frame, and the gripper is mounted on the rotating ring.

4. The transformable robotic arm of claim 3, wherein the gripper comprises a plurality of gripper arms circumferentially spaced on a front side of the rotating ring; the gripper driving mechanism comprises a plurality of driving motors, the driving motors are arranged on the rotating ring, arm rotating shafts are vertically arranged at the end parts of the gripper arms, and each arm rotating shaft is connected with one driving motor.

5. The transformable robotic arm of claim 1, wherein a boss is fixed to the rotation shaft, the boss is hollow inside and communicates with the inside of the rotation shaft, an opening is provided on a front side of the boss, and the scissors are inserted into the boss from the opening.

6. The deformable mechanical arm as claimed in claim 1, further comprising a base, wherein a turntable is rotatably mounted on the base, the turntable is connected with a turntable driving mechanism for driving the turntable to rotate, and the mechanical arm body is rotatably mounted on the turntable.

7. The transformable robotic arm of claim 6, the robotic arm body comprising:

the first mechanical arm is arranged on the turntable through a first rotating shaft;

the first mechanical arm driving motor is arranged on the turntable and is in transmission connection with the first rotating shaft;

the second mechanical arm is arranged on the first mechanical arm through a second rotating shaft;

and the second mechanical arm driving motor is installed on the first mechanical arm and is in transmission connection with the second rotating shaft.

8. A deformable arm as claimed in claim 1, wherein the axial direction of the pivot axis is arranged parallel to the groove width direction of the groove.

9. A deformable arm as claimed in any one of claims 1 to 8, wherein a camera is mounted on the upper side of the mounting frame.

10. The transformable robotic arm of any one of claims 1-8, further comprising a controller, the gripper drive mechanism, the first scissors drive mechanism, and the second scissors drive mechanism being electrically connected to the controller, respectively.

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