CN116040307B

CN116040307B - ZR module

Info

Publication number: CN116040307B
Application number: CN202310036138.6A
Authority: CN
Inventors: 曹轶杰; 黄明涛; 黄美丽; 王紫林
Original assignee: Shanghai Dizi Precision Machinery Co ltd
Current assignee: Shanghai Dizi Precision Machinery Co ltd
Priority date: 2023-01-10
Filing date: 2023-01-10
Publication date: 2023-09-22
Anticipated expiration: 2043-01-10
Also published as: CN116040307A

Abstract

The application relates to the technical field of mechanical equipment, and discloses a ZR module, which comprises a shell, wherein a socket connection module is fixedly connected inside the shell, the socket connection module extends out of the shell, a transmission mechanism and a rotating assembly are arranged inside the shell, the rotating assembly is arranged on one side of the transmission mechanism, the transmission mechanism comprises a first transverse plate, and the first transverse plate is fixedly connected inside the shell. Through drive mechanism's design, in order to avoid the dwang high-speed in-process of rotating or removing, because the condition that the speed is too fast and cause the work piece to damage when getting the work piece of putting, can control the mode that L shaped plate reciprocated respectively, impel two different sector plates to laminate first transfer line and second transfer line respectively, reach the purpose of slowing down through frictional force, further realize this device and rotate or follow the deceleration control of Z axle when removing in the R direction, the security when having guaranteed picking up the work piece.

Description

ZR module

Technical Field

The application relates to the technical field of mechanical equipment, in particular to a ZR module.

Background

In many industries such as present industrial processing manufacturing, the production efficiency is improved by adding automatic mechanical equipment, the ZR module achieves the functions of picking and placing by an automatic robot, and the ZR module can move along the vertical direction, namely the Z-axis direction of a space rectangular coordinate system and can rotate around the vertical direction along the R direction of a space cylindrical coordinate system, so that the picking and placing of workpieces can be properly completed in the equipment processing process.

Patent net publication number CN216913860U discloses a ZR motion module, comprising: the device comprises a support frame, a Z-axis module, an adjusting seat, an R-axis module, a transmission module and a material taking part, wherein the adjusting seat is in sliding connection with the support frame, the material taking part is in rotating connection with the adjusting seat, the Z-axis module is used for adjusting the adjusting seat to slide up and down, the R-axis module is used for adjusting the material taking part to rotate, and the transmission module comprises a spline shaft which is rotatably arranged on the adjusting seat and connected with the material taking part, and a spline shaft sleeve which is sleeved on the spline shaft and connected with the R-axis module; the Z-axis module and the R-axis module are arranged on the support frame in parallel, and the motion of the Z-axis module and the R-axis module acts on the material taking part through the transmission module, so that the material taking part can realize the up-and-down movement of the Z-axis and the rotation around the Z-axis.

Above ZR motion module is when carrying out work, get material portion through the motion effect of transmission module with Z axle module and R axle module on, so that get material portion can realize the reciprocate of Z axle and rotate around the Z axle, at the in-process that the ZR module carries out work, its dwang realizes the reciprocate of Z axle and carries out rotatory basic function that is a needs to possess, when the dwang rotates and gets put the work piece, its speed is generally faster, if can't slow down the regulation to the speed when snatching the material, can cause the work piece to receive powerful impact and cause the possibility of damage, above module does not realize carrying out the function of speed regulation to the dwang, unable security of guaranteeing the use.

Disclosure of Invention

In order to solve the above-mentioned problems, the present application provides a ZR module.

The ZR module provided by the application adopts the following technical scheme:

the ZR module comprises a shell, wherein a socket connection module is fixedly connected inside the shell, the socket connection module extends out of the shell, a transmission mechanism and a rotating assembly are arranged inside the shell, and the rotating assembly is arranged on one side of the transmission mechanism.

The transmission mechanism comprises a first transverse plate, the first transverse plate is fixedly connected inside a shell, a first motor and a second motor are respectively arranged at the top of the first transverse plate, the first motor is fixedly connected with a first transmission rod through an output shaft, the second motor is fixedly connected with a second transmission rod through the output shaft, the first transmission rod and the second transmission rod penetrate through the first transverse plate and are rotationally connected with the first transverse plate, the bottom of the first transmission rod is rotationally connected with the bottom of an inner cavity of the shell, an L-shaped plate is arranged between the first motor and the second motor, sector plates are respectively arranged at the top and the bottom of the first transverse plate on the left side and the right side of the L-shaped plate, two sector plates are respectively arranged on one side of the first transmission rod and one side of the second transmission rod, and the two sector plates are respectively matched with the first transmission rod and the second transmission rod.

Through adopting above-mentioned technical scheme, when carrying out the work, first motor and second motor in the drive mechanism are used for providing power support respectively to rotating assembly, and the sector plate sets up in first transfer line and second transfer line one side respectively, can be in first transfer line and second transfer line high-speed rotatory in-process, through independently controlling the promotion to different sector plates, realizes sector plate and first transfer line or laminating of second transfer line one side, reaches the purpose of friction deceleration.

Preferably, both sides all are provided with the riser around two sector plates, the sector plate contacts with the riser, offered the spacing groove on the riser, both sides all fixedly connected with stopper around the sector plate, the stopper extends into spacing inslot and with spacing groove phase-match.

Through adopting above-mentioned technical scheme, after the stopper on the sector plate runs through the spacing groove, can provide spacingly to the sector plate, make it can only carry out horizontal migration.

Preferably, the left side and the right side of the L-shaped plate are respectively provided with a pushing plate, one side of each pushing plate is movably connected with the L-shaped plate through a movable hinge support, the other side of each pushing plate is movably connected with one side of the fan-shaped plate through a movable hinge support, the top of each first transverse plate is fixedly connected with an electric telescopic rod, and the top of each electric telescopic rod is fixedly connected with the top of the inner side of the L-shaped plate.

Through adopting above-mentioned technical scheme, can carry out push-and-pull from top to bottom to the L shaped plate after the electric telescopic handle work, at the in-process that L shaped plate removed, drive the push plate upset of both sides, make the push plate carry out push-and-pull work to the sector plate of one side.

Preferably, the first bevel gear is fixedly connected to the outer portion of the first transmission rod, the first gear is fixedly connected to the outer portion of the second transmission rod, the two support plates are fixedly connected to the inner portion of the shell, the first motor and the second motor are respectively and fixedly connected to the tops of the two support plates, and the first transmission rod and the second transmission rod respectively penetrate through the two support plates and are rotationally connected with the support plates.

Through adopting above-mentioned technical scheme, two backup pads can provide the support to first motor and second motor respectively, and first transfer line and second transfer line are through first bevel gear and first gear respectively come the rotation subassembly and are transmitted.

Preferably, the rotating assembly comprises a rotating rod, the rotating rod is arranged inside a shell, vertical grooves are formed in the left side and the right side of the rotating rod, an auxiliary frame is fixedly connected to the bottom of the shell, a second transverse plate is fixedly connected to the inside of the auxiliary frame, sleeves are arranged inside the first transverse plate and the second transverse plate, the two sleeves penetrate through the first transverse plate and the second transverse plate respectively and are connected with the first transverse plate and the second transverse plate in a rotating mode, the rotating rod penetrates through the two sleeves in sequence and is matched with the two sleeves respectively, the inner side walls of the sleeves extend into the vertical grooves, the rotating rod penetrates through the bottom of the auxiliary frame, and a pick-up head is fixedly connected to the bottom of the rotating rod.

Through adopting above-mentioned technical scheme, after the dwang runs through the sleeve, the sleeve can provide certain spacing to the dwang, avoids the dwang to appear inclining, owing to set up perpendicular groove in dwang left and right sides in addition, after the inside wall of solid sleeve extends into perpendicular inslot, can realize sleeve and dwang and carry out synchronous rotation to the dwang can also be at the inside nimble removal of upper and lower of sleeve.

Preferably, one of the sleeve is fixedly connected with a second gear outside, the second gear is arranged on one side of the first gear, and the second gear is meshed with the first gear.

By adopting the technical scheme, the first gear drives the second gear to rotate after rotating.

Preferably, the outside fixedly connected with two hollow tubes of dwang, the hollow tube outside is provided with the annular plate, the hollow tube runs through the annular plate and rotates with the annular plate to be connected, dwang one side is provided with the U-shaped plate, U-shaped plate one side respectively with two annular plate one side fixedly connected with linking board, U-shaped plate rear side fixedly connected with linking board, linking board one side fixedly connected with strip shaped plate, strip shaped plate front side fixedly connected with rack.

Through adopting above-mentioned technical scheme, dwang and outside hollow tube carry out synchronous rotation, because hollow tube and annular plate rotate to be connected, so when hollow tube rotates, can not drive outside annular plate and rotate, so annular plate can not receive hollow tube pivoted influence by oneself under, drive hollow tube reciprocates.

Preferably, the inside fixedly connected with longeron of casing, longeron one side is provided with the auxiliary rod, the auxiliary rod runs through the longeron and rotates with the longeron to be connected, auxiliary rod one end fixedly connected with second bevel gear, the second bevel gear sets up in first bevel gear top, the second bevel gear meshes with first bevel gear mutually.

Through adopting above-mentioned technical scheme, the long board provides the support to the auxiliary rod, and first bevel gear drives the second bevel gear and rotates the back, and the second bevel gear can drive the auxiliary rod and rotate.

Preferably, the other end of the auxiliary rod is fixedly connected with a third gear, the third gear is arranged on the front side of the rack, and the third gear is meshed with the rack.

By adopting the technical scheme, the third gear drives the rack to move up and down after rotating.

Preferably, the sliding seat is fixedly connected to the rear side wall of the inner cavity of the shell, the sliding seat is provided with a sliding groove, the rear sides of the two annular plates are fixedly connected with sliding plates, and the two sliding plates extend into the two sliding grooves and are matched with the sliding grooves.

Through adopting above-mentioned technical scheme, the inside nimble removal from top to bottom of spout can be again to the sliding plate to annular plate provides spacingly, avoids annular plate to rotate.

In summary, the application has the following beneficial technical effects:

1.ZR module, through drive mechanism's design, in order to avoid the dwang high-speed rotation or remove the in-process, because the too fast circumstances that causes the work piece to damage when getting the work piece of putting, can control the mode that L shaped plate reciprocated respectively, impel two different sector plates to laminate first transfer line and second transfer line respectively, reach the purpose of slowing down through frictional force, further realize this device and rotate or follow the deceleration control of Z axle when removing in the R direction, the security when having guaranteed picking up the work piece.

2. ZR module drives first transfer line through rotating assembly's design after the work, and then the third gear drives the rack at pivoted in-process and reciprocates, has realized the transfer line and has carried out the function of reciprocating along the Z axle, when needs rotate along the R direction, then the second motor work and drive the second transfer line and rotate, then the transfer line can carry out along R direction pivoted function this moment, has realized controlling the flexible of transfer line, and realize above function through simple spare part, corresponding reduction use cost.

Drawings

FIG. 1 is a schematic diagram of the structure of the present application;

FIG. 2 is a cross-sectional view of the structure of the present application;

FIG. 3 is an enlarged view at A in FIG. 2;

FIG. 4 is a cross-sectional view of an auxiliary frame in the present application;

FIG. 5 is a schematic view of a slider according to the present application;

FIG. 6 is a schematic view of a first cross plate according to the present application;

fig. 7 is a bottom view of the first cross plate of the present application.

Reference numerals illustrate: 1. a housing; 2. a socket connection module; 3. a transmission mechanism; 31. a first cross plate; 32. a first motor; 33. a second motor; 34. a first transmission rod; 35. a second transmission rod; 36. an L-shaped plate; 37. a sector plate; 38. a riser; 39. a limiting block; 391. a pushing plate; 392. an electric telescopic rod; 393. a first bevel gear; 394. a first gear; 395. a support plate; 4. a rotating assembly; 41. a rotating lever; 42. a vertical groove; 43. an auxiliary frame; 44. a second cross plate; 45. a sleeve; 46. a pick-up head; 47. a second gear; 48. a hollow tube; 49. an annular plate; 491. a U-shaped plate; 492. a strip-shaped plate; 493. a long plate; 494. a rack; 495. an auxiliary lever; 496. a second bevel gear; 497. a third gear; 498. a slide; 499. and a sliding plate.

Detailed Description

The application is described in further detail below with reference to fig. 1-7.

The embodiment of the application discloses a ZR module. Referring to fig. 1-7, the zr module comprises a housing 1, wherein a socket connection module 2 is fixedly connected inside the housing 1, the socket connection module 2 extends out of the housing 1, a transmission mechanism 3 and a rotating assembly 4 are arranged inside the housing 1, the rotating assembly 4 is arranged on one side of the transmission mechanism 3, the transmission mechanism 3 comprises a first transverse plate 31, the first transverse plate 31 is fixedly connected inside the housing 1, a first motor 32 and a second motor 33 are respectively arranged at the top of the first transverse plate 31, and the first motor 32 is fixedly connected with a first transmission rod 34 through an output shaft;

the second motor 33 is fixedly connected with a second transmission rod 35 through an output shaft, the first transmission rod 34 and the second transmission rod 35 penetrate through the first transverse plate 31 and are rotationally connected with the first transverse plate 31, the bottom of the first transmission rod 34 is rotationally connected with the bottom of the inner cavity of the shell 1, an L-shaped plate 36 is arranged between the first motor 32 and the second motor 33, sector plates 37 are respectively arranged at the top and the bottom of the first transverse plate 31, two sector plates 37 are respectively arranged at one side of the first transmission rod 34 and one side of the second transmission rod 35, and the two sector plates 37 are respectively matched with the first transmission rod 34 and the second transmission rod 35;

when the device works, the first motor 32 and the second motor 33 in the transmission mechanism 3 are respectively used for providing power support for the rotating assembly 4, the sector plates 37 are respectively arranged on one side of the first transmission rod 34 and one side of the second transmission rod 35, and in the high-speed rotation process of the first transmission rod 34 and the second transmission rod 35, the purpose of friction reduction is achieved by independently controlling and pushing different sector plates 37 to achieve the bonding of the sector plates 37 with one side of the first transmission rod 34 or one side of the second transmission rod 35;

the front side and the rear side of the two sector plates 37 are respectively provided with a vertical plate 38, the sector plates 37 are contacted with the vertical plates 38, limiting grooves are formed in the vertical plates 38, the front side and the rear side of the sector plates 37 are respectively fixedly connected with a limiting block 39, the limiting blocks 39 extend into the limiting grooves and are matched with the limiting grooves, and the limiting blocks 39 on the sector plates 37 penetrate through the limiting grooves and can provide limiting for the sector plates 37 so that the sector plates can only transversely and horizontally move;

the left side and the right side of the L-shaped plate 36 are respectively provided with a pushing plate 391, one side of the pushing plate 391 is movably connected with the L-shaped plate 36 through a movable hinge seat, the other side of the pushing plate 391 is movably connected with one side of the fan-shaped plate 37 through a movable hinge seat, the top of the first transverse plate 31 is fixedly connected with an electric telescopic rod 392, the top of the electric telescopic rod 392 is fixedly connected with the top of the inner side of the L-shaped plate 36, the electric telescopic rod 392 can push and pull the L-shaped plate 36 up and down after working, and in the moving process of the L-shaped plate 36, the pushing plates 391 on the two sides are driven to overturn to promote the pushing plate 391 to push and pull the fan-shaped plate 37 on one side;

the first transmission rod 34 is fixedly connected with a first bevel gear 393 outside, the second transmission rod 35 is fixedly connected with a first gear 394 outside, the inside of the shell 1 is fixedly connected with two support plates 395, the first motor 32 and the second motor 33 are respectively and fixedly connected to the tops of the two support plates 395, the first transmission rod 34 and the second transmission rod 35 respectively penetrate through the two support plates 395 and are rotationally connected with the support plates 395, the two support plates 395 can respectively provide support for the first motor 32 and the second motor 33, and the first transmission rod 34 and the second transmission rod 35 respectively transmit the rotation assembly 4 through the first bevel gear 393 and the first gear 394;

the rotating assembly 4 comprises a rotating rod 41, the rotating rod 41 is arranged inside the shell 1, vertical grooves 42 are formed in the left side and the right side of the rotating rod 41, an auxiliary frame 43 is fixedly connected to the bottom of the shell 1, a second transverse plate 44 is fixedly connected to the inside of the auxiliary frame 43, sleeves 45 are arranged inside the first transverse plate 31 and the second transverse plate 44, the two sleeves 45 penetrate through the first transverse plate 31 and the second transverse plate 44 respectively and are respectively connected with the first transverse plate 31 and the second transverse plate 44 in a rotating mode, the rotating rod 41 sequentially penetrates through the two sleeves 45 and is matched with the two sleeves 45 respectively, the inner side walls of the sleeves 45 extend into the vertical grooves 42, the rotating rod 41 penetrates through the bottom of the auxiliary frame 43, pickup heads 46 are fixedly connected to the bottom of the rotating rod 41, after the rotating rod 41 penetrates through the sleeves 45, the sleeves 45 can provide certain limiting for the rotating rod 41, in addition, the fact that the rotating rod 41 inclines can be avoided, and in addition, the inner side walls of the fixed sleeves 45 extend into the vertical grooves 42 can realize synchronous rotation of the sleeves 45 and the rotating rod 41, and the rotating rod 41 can move flexibly up and down inside the sleeves 45;

one sleeve 45 is fixedly connected with a second gear 47 outside, the second gear 47 is arranged on one side of a first gear 394, the second gear 47 is meshed with the first gear 394, the first gear 394 rotates to drive the second gear 47 to rotate, two hollow tubes 48 are fixedly connected to the outside of a rotating rod 41, annular plates 49 are arranged outside the hollow tubes 48, the hollow tubes 48 penetrate through the annular plates 49 and are rotationally connected with the annular plates 49, a U-shaped plate 491 is arranged on one side of the rotating rod 41, one side of the U-shaped plate 491 is fixedly connected with one side of the two annular plates 49 respectively, a connecting plate is fixedly connected with one side of the U-shaped plate 491, a strip-shaped plate 492 is fixedly connected with a rack 494 on the front side of the strip-shaped plate 492, the rotating rod 41 synchronously rotates with the hollow tubes 48 outside, and the hollow tubes 48 are rotationally connected with the annular plates 49, so that the annular plates 49 outside can not be driven to rotate when the hollow tubes 48 rotate, and the annular plates 49 can be driven to move up and down under the influence of rotation of the hollow tubes 48;

the inside of the shell 1 is fixedly connected with a long plate 493, an auxiliary rod 495 is arranged on one side of the long plate 493, the auxiliary rod 495 penetrates through the long plate 493 and is rotationally connected with the long plate 493, one end of the auxiliary rod 495 is fixedly connected with a second bevel gear 496, the second bevel gear 496 is arranged at the top of a first bevel gear 393, the second bevel gear 496 is meshed with the first bevel gear 393, the long plate 493 supports the auxiliary rod 495, and after the first bevel gear 393 drives the second bevel gear 496 to rotate, the second bevel gear 496 can drive the auxiliary rod 495 to rotate;

the other end fixedly connected with third gear 497 of auxiliary lever 495, third gear 497 sets up in rack 494 front side, third gear 497 meshes with rack 494, drive rack 494 and reciprocate after the rotation of third gear 497, fixedly connected with slide 498 on the inner chamber back lateral wall of casing 1, the spout has been seted up on the slide 498, two annular slab 49 rear sides all fixedly connected with slide 499, two slide 499 all extend into two spouts inside and with the spout phase-match, slide 499 can reciprocate in a flexible way again inside the spout, and provide spacingly to annular slab 49, avoid annular slab 49 to rotate.

In the actual operation process, the device is firstly powered on, the socket connection module 2 in the device is used for connecting external circuit equipment, when the device needs to move along the Z-axis direction to work, the first motor 32 works and then drives the first transmission rod 34 to rotate, the first transmission rod 34 drives the external first bevel gear 393 to rotate, the first bevel gear 393 drives the second bevel gear 496 to rotate, the second bevel gear 496 drives the auxiliary rod 495 to rotate, the auxiliary rod 495 drives the third gear 497 to rotate, the third gear 497 drives the rack 494 to move up and down in the rotating process, the rack 494 moves and then drives the strip-shaped plate 492 to move, the strip-shaped plate 492 drives the joint plate to move, the joint plate drives the U-shaped plate 491 to move, and the U-shaped plate 491 drives the two annular plates 49 to move, so that the function of up-down movement of the rotating rod 41 along the Z-axis is realized at the moment;

when the rotating rod needs to rotate along the R direction, the second motor 33 works and drives the second transmission rod 35 to rotate, the second transmission rod 35 drives the first gear 394 to rotate, the first gear 394 drives the second gear 47 to rotate, the second gear 47 drives the connected sleeve 45 to rotate, and the sleeve 45 drives the rotating rod 41 to rotate because the inner wall of the sleeve 45 extends into the vertical groove 42 on the rotating rod 41, at the moment, the rotating rod 41 can rotate along the R direction, flexible control of the rotating rod 41 is realized through the steps, and a workpiece can be picked up through the pick-up head 46 at the bottom of the rotating rod 41;

in order to avoid the situation that the workpiece is damaged due to too high speed when the rotating rod 41 rotates or moves at a high speed during the process of taking and placing the workpiece, the first transmission rod 34 and the second transmission rod 35 can be respectively subjected to speed reduction regulation and control, for example, when the first transmission rod 34 needs to be subjected to speed reduction regulation and control, the electric telescopic rod 392 pushes the L-shaped plate 36 upwards, the L-shaped plate 36 moves and drives the pushing plate 391 to turn over, at the moment, the pushing plate 391 near one side of the first transmission rod 34 pushes the connected sector plate 37 towards the first transmission rod 34, and when the sector plate 37 contacts with the first transmission rod 34, friction force exists between the sector plate 37 and the first transmission rod 34, the speed reduction function of the first transmission rod 34 is realized by virtue of the friction force, and when the L-shaped plate 36 moves upwards, the pushing plate 391 near one side of the second transmission rod 35 drives the connected sector plate 37 to move towards the direction far away from the second transmission rod 35, so that no influence is caused on the second transmission rod 35;

according to the principle, when the second transmission rod 35 needs to be decelerated, the electric telescopic rod 392 works and then drives the L-shaped plate 36 to move downwards, similarly to the above steps, the sector plate 37 on the side close to the second transmission rod 35 contacts with the second transmission rod 35, and the sector plate 37 on the side of the first transmission rod 34 moves in the direction away from the first transmission rod 34, so that the first transmission rod 34 and the second transmission rod 35 are subjected to classified deceleration control, and the safety of picking up workpieces is ensured.

The above embodiments are not intended to limit the scope of the present application, so: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.

Claims

ZR module, including casing (1), its characterized in that: the socket connecting module (2) is fixedly connected inside the shell (1), the socket connecting module (2) extends out of the shell (1), the transmission mechanism (3) and the rotating assembly (4) are arranged inside the shell (1), and the rotating assembly (4) is arranged on one side of the transmission mechanism (3);

the transmission mechanism (3) comprises a first transverse plate (31), the first transverse plate (31) is fixedly connected inside the shell (1), a first motor (32) and a second motor (33) are respectively arranged at the top of the first transverse plate (31), a first transmission rod (34) is fixedly connected to the first motor (32) through an output shaft, a second transmission rod (35) is fixedly connected to the second motor (33) through the output shaft, the first transmission rod (34) and the second transmission rod (35) penetrate through the first transverse plate (31) and are rotationally connected with the first transverse plate (31), the bottom of the first transmission rod (34) is rotationally connected with the bottom of the inner cavity of the shell (1), an L-shaped plate (36) is arranged between the first motor (32) and the second motor (33), fan-shaped plates (37) are respectively arranged at the top and the bottom of the first transverse plate (31), and two fan-shaped plates (37) are respectively arranged at the left and right sides of the first transmission rod (34) and the second transmission rod (35), and the two fan-shaped plates (37) are respectively matched with the first transmission rod (35) and the second transmission rod (35);

the left and right sides of L shaped plate (36) all is provided with push plate (391), push plate (391) one side and L shaped plate (36) pass through movable hinge support swing joint, push plate (391) opposite side and sector plate (37) one side pass through movable hinge support swing joint, electric telescopic handle (392) of first diaphragm (31) top fixedly connected with, electric telescopic handle (392) top and L shaped plate (36) inboard top fixed connection.
2. The ZR module according to claim 1, wherein: both sides all are provided with riser (38) around two sector plates (37), sector plate (37) and riser (38) contact, the spacing groove has been seted up on riser (38), both sides all fixedly connected with stopper (39) around sector plate (37), stopper (39) extend into spacing inslot portion and with spacing groove phase-match.
3. The ZR module according to claim 1, wherein: the novel transmission device is characterized in that a first bevel gear (393) is fixedly connected to the outside of the first transmission rod (34), a first gear (394) is fixedly connected to the outside of the second transmission rod (35), two supporting plates (395) are fixedly connected to the inside of the shell (1), a first motor (32) and a second motor (33) are fixedly connected to the tops of the two supporting plates (395) respectively, and the first transmission rod (34) and the second transmission rod (35) penetrate through the two supporting plates (395) respectively and are connected with the supporting plates (395) in a rotating mode.
4. A ZR module according to claim 3, wherein: rotating assembly (4) are including dwang (41), dwang (41) set up inside casing (1), perpendicular groove (42) have all been seted up to dwang (41) left and right sides, casing (1) bottom fixedly connected with auxiliary frame (43), inside fixedly connected with second diaphragm (44) of auxiliary frame (43), inside sleeve (45) that all is provided with of first diaphragm (31) and second diaphragm (44), two sleeves (45) run through first diaphragm (31) and second diaphragm (44) respectively and rotate with first diaphragm (31) and second diaphragm (44) respectively and be connected, dwang (41) run through two sleeves (45) in proper order and respectively with two sleeve (45) phase-match, sleeve (45) inside wall extension perpendicular groove (42), dwang (41) run through auxiliary frame (43) bottom, dwang (41) bottom fixedly connected with pickup head (46).
5. The ZR module of claim 4, wherein: one of the sleeves (45) is fixedly connected with a second gear (47) outside, the second gear (47) is arranged on one side of the first gear (394), and the second gear (47) is meshed with the first gear (394).
6. The ZR module of claim 4, wherein: the utility model discloses a hollow tube structure, including pivoted lever (41), hollow tube (48) outside is provided with annular plate (49), hollow tube (48) run through annular plate (49) and rotate with annular plate (49) and be connected, pivoted lever (41) one side is provided with U-shaped board (491), U-shaped board (491) one side respectively with two annular plate (49) one side fixed connection, U-shaped board (491) rear side fixedly connected with linking board, linking board one side fixedly connected with strip shaped board (492), strip shaped board (492) front side fixedly connected with rack (494).
7. The ZR module of claim 6, wherein: inside fixedly connected with longeron (493) of casing (1), longeron (493) one side is provided with auxiliary rod (495), auxiliary rod (495) runs through longeron (493) and rotates with longeron (493) to be connected, auxiliary rod (495) one end fixedly connected with second bevel gear (496), second bevel gear (496) set up in first bevel gear (393) top, second bevel gear (496) meshes with first bevel gear (393).
8. The ZR module of claim 7, wherein: the other end of the auxiliary rod (495) is fixedly connected with a third gear (497), the third gear (497) is arranged on the front side of the rack (494), and the third gear (497) is meshed with the rack (494).
9. The ZR module of claim 6, wherein: the sliding seat (498) is fixedly connected to the rear side wall of the inner cavity of the shell (1), sliding grooves are formed in the sliding seat (498), sliding plates (499) are fixedly connected to the rear sides of the two annular plates (49), and the two sliding plates (499) extend into the two sliding grooves and are matched with the sliding grooves.