Retractable and rotary end effector

The invention discloses a retractable and rotary end effector. The retractable and rotary end effector comprises a hollow driving motor, a driven gear, parallelogram connecting rods and an upper bottom plate; the upper bottom plate and a lower bottom plate are fixedly connected through a connecting column, the hollow driving motor is fixed to the upper bottom plate, a driving gear is fixed to an output shaft of the motor, the driven gear is fixed to a central shaft and meshed with the driving gear, an angular contact ball bearing is fixed to the central shaft and externally provided with a bearing sleeve, and the parallelogram connecting rods are connected with the upper bottom plate through sliding blocks and sliding grooves and fixed to suction cup connectors and an air cylinder. The retractable and rotary end effector is simple in structure and capable of saving the space, the stability of the parallelogram connecting rods is high, the degree of freedom of rotation of the end effector can be achieved, the