Linkage mechanism

Abstract

The linkage mechanism comprises a bearing part, a driving assembly, a linear linkage assembly, a rotary linkage assembly, a first output part and a second output part, the driving assembly is arranged on the bearing part, the linear linkage assembly and the rotary linkage assembly are both connected with the driving assembly, and the first output part and the second output part are both rotationally connected with the linear linkage assembly. And the first output piece and the second output piece are both connected with the rotary linkage assembly. The driving assembly drives the linear linkage assembly to move, the linear linkage assembly and the rotary linkage assembly move synchronously, the linear linkage assembly drives the first output piece and the second output piece to do linear motion, and the rotary linkage assembly drives the first output piece and the second output piece to do rotary motion. The linear linkage assembly and the rotary linkage assembly are similar to a stacked mode, output of two motion modes of linear motion and rotary motion is achieved, the overall structure is compact, the size can be reduced, and then the assembly, disassembly and production cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of equipment structures, and specifically, to a linkage mechanism. Background Art

[0002] With the progress and development of technology, more and more fields have started to achieve semi-automatic or fully automatic production. In both semi-automatic and fully automatic production processes, corresponding devices are basically used to achieve the required actions, and the operation of the devices involves power transmission. Therefore, the transmission structure is crucial in the production process.

[0003] Currently, the common transmission structures have a single transmission mode, which can only achieve linear motion or only rotational motion, and cannot meet the requirements of achieving both linear motion and rotational motion simultaneously. Summary of the Utility Model

[0004] Aiming at the deficiencies of the prior art, the utility model provides a linkage mechanism.

[0005] A linkage mechanism disclosed by the utility model includes: a carrier, a driving component, a linear linkage component, a rotational linkage component, a first output member, and a second output member. The driving component is disposed on the carrier. Both the linear linkage component and the rotational linkage component are connected to the driving component. Both the first output member and the second output member are rotatably connected to the linear linkage component, and both the first output member and the second output member are connected to the rotational linkage component.

[0006] Wherein, the driving component can drive the linear linkage component and the rotational linkage component to move synchronously. The linear linkage component can drive the first output member and the second output member to move linearly. The rotational linkage component can drive the first output member and the second output member to rotate.

[0007] According to an embodiment of the utility model, the linear linkage component includes a first linkage plate, a second linkage plate, a third linkage plate, and a fourth linkage plate that are sequentially and rotatably connected end to end. The first linkage plate and the fourth linkage plate are rotatably connected by a first connecting shaft, and the first connecting shaft is connected to the driving component. The first linkage plate and the second linkage plate are rotatably connected by a second connecting shaft, and the second connecting shaft is rotatably connected to the first output member. The second linkage plate and the third linkage plate are rotatably connected by a third connecting shaft, and the third linkage plate and the fourth linkage plate are rotatably connected by a fourth connecting shaft, and the fourth connecting shaft is rotatably connected to the second output member.

[0008] According to an embodiment of the present utility model, avoidance grooves are provided at both ends of the first linkage plate and both ends of the third linkage plate. The second end of the fourth linkage plate is located in the avoidance groove at the first end of the first linkage plate. The first connecting shaft rotatably penetrates through the first end of the first linkage plate and the second end of the fourth linkage plate. The first end of the second linkage plate is located in the avoidance groove at the second end of the first linkage plate. The second connecting shaft rotatably penetrates through the second end of the first linkage plate and the first end of the second linkage plate. The second end of the second linkage plate is located in the avoidance groove at the first end of the third linkage plate. The third connecting shaft rotatably penetrates through the second end of the second linkage plate and the first end of the third linkage plate. The first end of the fourth linkage plate is located in the avoidance groove at the second end of the third linkage plate. The fourth connecting shaft rotatably penetrates through the second end of the third linkage plate and the first end of the fourth linkage plate.

[0009] According to an embodiment of the present utility model, the linear linkage assembly further includes a guide rail and a first movable block. The guide rail is provided on the carrier, and the first movable block is slidably provided on the guide rail. The first movable block is connected to the first connecting shaft.

[0010] According to an embodiment of the present utility model, the linear linkage assembly further includes a second movable block. The second movable block is slidably provided on the guide rail. The second movable block is connected to the third connecting shaft.

[0011] According to an embodiment of the present utility model, the rotary linkage assembly includes a power member, a first rotating wheel, a second rotating wheel, a third rotating wheel, a fourth rotating wheel, and a transmission member. The power member is connected to the driving assembly. The power shaft of the power member is rotatably connected to the first connecting shaft. The first rotating wheel is connected to the power shaft of the power member. The second rotating wheel is connected to the first output member. The third rotating wheel is rotatably connected to the third connecting shaft. The fourth rotating wheel is connected to the second output member. The transmission member is disposed around the first rotating wheel, the second rotating wheel, the third rotating wheel, and the fourth rotating wheel.

[0012] According to an embodiment of the present utility model, the driving assembly includes a driving member, a transmission assembly, and a mounting rack. The driving member is provided on the carrier. The driving member is connected to the mounting rack through the transmission assembly. The mounting rack is respectively connected to the first connecting shaft and the power member.

[0013] According to an embodiment of the present utility model, the transmission assembly includes a lead screw and a slider. The lead screw is connected to the output shaft of the driving member. The slider is screwed to the lead screw. The slider is connected to the mounting rack.

[0014] According to an embodiment of the present utility model, the mounting rack includes a first mounting plate, a second mounting plate, and a connecting rod. The first mounting plate and the second mounting plate are arranged at intervals relative to each other. The first mounting plate and the second mounting plate are connected by the connecting rod. The first mounting plate is respectively connected to the transmission assembly and the first connecting shaft. The second mounting plate is connected to the power member.

[0015] According to an embodiment of the present utility model, the carrier has two movable slots, and the first output member and the second output member are respectively movably disposed in the two movable slots.

[0016] The beneficial effects of the present utility model are that the driving assembly drives the linear linkage assembly to move, the linear linkage assembly moves synchronously with the rotary linkage assembly, the linear linkage assembly drives the first output member and the second output member to perform linear motion, the rotary linkage assembly drives the first output member and the second output member to perform rotary motion, and the linear linkage assembly and the rotary linkage assembly are arranged in a stacked manner. It not only realizes the output of two motion modes of linear motion and rotary motion, but also has a compact overall structure, which is beneficial to reducing the volume, and further reducing the costs of assembly, disassembly and production. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments and descriptions thereof of the present application are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0018] Figure 1 is a three-dimensional structural schematic diagram of the linkage mechanism;

[0019] Figure 2 is another three-dimensional structural schematic diagram of the linkage mechanism;

[0020] Figure 3 is a three-dimensional structural schematic diagram of the driving assembly;

[0021] Figure 4 is a three-dimensional structural schematic diagram of the linear linkage assembly;

[0022] Figure 5 is a three-dimensional structural schematic diagram of the first linkage plate;

[0023] Figure 6 is a three-dimensional structural schematic diagram of the rotary linkage assembly.

[0024] DESCRIPTION OF THE REFERENCE NUMERALS

[0025] 101. Carrier; 1011. Movable slot;

[0026] 102. Driving assembly; 1021. Driving member; 10211. Output shaft; 1022. Transmission assembly; 10221. Lead screw; 10222. Slide block; 10223. Bearing block; 10224. Rod body; 1023. Mounting frame; 10231. First mounting plate; 10232. Second mounting plate; 10233. Connecting rod;

[0027] 103. Linear linkage component; 1031. First linkage plate; 10311. Avoidance groove; 1032. Second linkage plate; 1033. Third linkage plate; 1034. Fourth linkage plate; 1035. First connecting shaft; 1036. Second connecting shaft; 1037. Third connecting shaft; 1038. Fourth connecting shaft; 1039. Guide rail; 1030. First movable block; 10310. Second movable block;

[0028] 104. Rotating linkage component; 1041. Power component; 10411. Power shaft; 1042. First rotating wheel; 1043. Second rotating wheel; 1044. Third rotating wheel; 1045. Fourth rotating wheel; 1046. Transmission component;

[0029] 105. First output component;

[0030] 106. Second output component. Detailed implementation manners

[0031] The following will disclose multiple implementation manners of the present utility model with the aid of drawings. For the sake of clear illustration, many practical details will be described together in the following narration. However, it should be understood that these practical details are not used to limit the present utility model. That is to say, in some implementation manners of the present utility model, these practical details are unnecessary. In addition, for the purpose of simplifying the drawings, some well-known and commonly used structures and components will be shown in a simple schematic manner in the drawings.

[0032] In addition, in the present utility model, descriptions such as "first" and "second" are only for descriptive purposes, and do not particularly refer to the order or sequence, nor are they used to limit the present utility model. They are merely used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0033] As Figure 1 - Figure 2 shown, Figure 1 is a three-dimensional structural schematic diagram of the linkage mechanism; Figure 2Another three-dimensional structural schematic diagram of the linkage mechanism. The linkage mechanism includes a carrier 101, a driving component 102, a linear linkage component 103, a rotary linkage component 104, a first output component 105, and a second output component 106. The driving component 102 is arranged on the carrier 101. Both the linear linkage component 103 and the rotary linkage component 104 are connected to the driving component 102. The linear linkage component 103 and the rotary linkage component 104 are arranged on the same side of the carrier 101 and are distributed along the X direction. The first output component 105 and the second output component 106 are rotationally connected to the linear linkage component 103, and the first output component 105 and the second output component 106 are fixedly connected to the rotary linkage component 104. In another embodiment, the linear linkage component 103 is connected to the driving component 102, and the rotary linkage component 104 is connected to the linear linkage component 103.

[0034] The driving component 102 is used to drive the linear linkage component 103 and the rotary linkage component 104 to perform synchronous motion. At this time, the first output component 105 and the second output component 106 can perform linear movement under the action of the linear linkage component 103, and the first output component 105 and the second output component 106 can be driven by the rotary linkage component 104 to perform rotational motion.

[0035] Refer to again Figure 3 as shown Figure 3 Another three-dimensional structural schematic diagram of the driving component 102. The driving component 102 includes a driving part 1021, a transmission component 1022, and a mounting frame 1023. The driving part 1021 is arranged on one side of the carrier 101. The transmission component 1022 is respectively connected to the output shaft 10211 of the driving part 1021 and the mounting frame 1023. The mounting frame 1023 is connected to the linear linkage component 103 and the rotary linkage component 104. When the driving part 1021 works, the output shaft 10211 of the driving part 1021 drives the transmission component 1022 to move, and then the transmission component 1022 drives the mounting frame 1023 to move relative to the carrier 101. Finally, the mounting frame 1023 drives the linear linkage component 103 and the rotary linkage component 104 to perform corresponding movements. Specifically, the driving part 1021 is a motor.

[0036] The transmission assembly 1022 includes a lead screw 10221 and a slider 10222. The lead screw 10221 is connected to the output shaft 10211 of the driving member 1021. The slider 10222 is screwed onto the lead screw 10221. The carrying frame 1023 is arranged on the slider 10222. When the driving member 1021 works, the output shaft 10211 of the driving member 1021 drives the lead screw 10221 to rotate, thereby driving the slider 10222 to move on the lead screw 10221, and finally driving the carrying frame 1023 to move. In specific applications, bearing seats 10223 are respectively rotatably connected to both ends of the lead screw 10221, and both bearing seats 10223 are fixedly arranged on the bearing member 101. The lead screw 10221 can rotate relative to the bearing seats 10223 without linear movement. In addition, the slider 10222 is connected to the carrying frame 1023 through two rod bodies 10224, and the two rod bodies 10224 are distributed on both sides of the slider 10222.

[0037] The carrying frame 1023 includes a first carrying plate 10231, a second carrying plate 10232 and a connecting rod 10233. The first carrying plate 10231 is connected to the two rod bodies 10224 and the linear linkage assembly 103. The second carrying plate 10232 is spaced apart from the first carrying plate 10231. Both ends of the connecting rod 10233 are respectively connected to the first carrying plate 10231 and the second carrying plate 10232. The second carrying plate 10232 is connected to the rotational linkage assembly 104. When in use, the slider 10222 drives the first carrying plate 10231 to move through the two rod bodies 10224, and the first carrying plate 10231 drives the linear linkage assembly 103 to move. At the same time, the first carrying plate 10231 drives the second carrying plate 10232 to move through the connecting rod 10233, and then the second carrying plate 10232 drives the rotational linkage assembly 104 to move. In this embodiment, the number of the connecting rods 10233 is two.

[0038] Refer to Figure 4 and Figure 5 as shown, Figure 4 which is a three-dimensional structural schematic diagram of the linear linkage assembly 103; Figure 5It is a schematic three-dimensional structure diagram of the first linkage plate 1031. The linear linkage assembly 103 includes a first linkage plate 1031, a second linkage plate 1032, a third linkage plate 1033, and a fourth linkage plate 1034. The two ends of the first linkage plate 1031 are respectively rotatably connected to the first end of the second linkage plate 1032 and the second end of the fourth linkage plate 1034. The two ends of the third linkage plate 1033 are respectively rotatably connected to the second end of the second linkage plate 1032 and the first end of the fourth linkage plate 1034. Further, the linear linkage assembly 103 further includes a first connecting shaft 1035, a second connecting shaft 1036, a third connecting shaft 1037, and a fourth connecting shaft 1038. The first end of the first linkage plate 1031 and the second end of the fourth linkage plate 1034 are rotatably connected through the first connecting shaft 1035. The second end of the first linkage plate 1031 and the first end of the second linkage plate 1032 are rotatably connected through the second connecting shaft 1036. The second end of the second linkage plate 1032 and the first end of the third linkage plate 1033 are rotatably connected through the third connecting shaft 1037. The second end of the third linkage plate 1033 and the first end of the fourth linkage plate 1034 are rotatably connected through the fourth connecting shaft 1038. The first output member 105 is rotatably connected to the second connecting shaft 1036. The second output member 106 is rotatably connected to the fourth connecting shaft 1038. Specifically, one end of the first output member 105 is inserted into the second connecting shaft 1036 and can rotate relative to the second connecting shaft 1036. One end of the second output member 106 is inserted into the fourth connecting shaft 1038 and can rotate relative to the fourth connecting shaft 1038. The first connecting shaft 1035 is disposed on the first mounting plate 10231. When the first mounting plate 10231 moves, it will drive the first linkage plate 1031 and the fourth linkage plate 1034 to move through the first connecting shaft 1035.

[0039] Further, avoidance grooves 10311 are provided at both ends of the first linkage plate 1031 and the third linkage plate 1033, and both ends of the second linkage plate 1032 and both ends of the fourth linkage plate 1034 are located within the avoidance grooves 10311 to provide space for the rotation of the second linkage plate 1032 and the fourth linkage plate 1034. The first connecting shaft 1035 passes through the two side walls of the avoidance groove 10311 at the first end of the first linkage plate 1031, and the second end of the fourth linkage plate 1034 is sleeved on the outer surface of the first connecting shaft 1035. Both the first linkage plate 1031 and the fourth linkage plate 1034 can rotate relative to the first connecting shaft 1035. By analogy, the second connecting shaft 1036, the third connecting shaft 1037, and the fourth connecting shaft 1038 are all arranged in the same way, which will not be elaborated here. It should also be noted that the avoidance grooves 10311 can also be provided on the second linkage plate 1032 and the fourth linkage plate 1034, not only limited to the first linkage plate 1031 and the third linkage plate 1033. In this embodiment, after the first linkage plate 1031, the second linkage plate 1032, the third linkage plate 1033, and the fourth linkage plate 1034 are connected, the formed shape is a quadrilateral.

[0040] The linear linkage assembly 103 further includes a guide rail 1039 and a first movable block 1030. The guide rail 1039 is arranged on the carrier 101, and the first movable block 1030 is slidably arranged on the guide rail 1039. One side of the first mounting plate 10231 away from the first connecting shaft 1035 is connected to the first movable block 1030. When the first mounting plate 10231 moves, it will drive the first movable block 1030 and the first connecting shaft 1035 to move synchronously, and the first movable block 1030 will perform a linear motion along the guide rail 1039. The linear linkage assembly 103 further includes a second movable block 10310. The second movable block 10310 is slidably arranged on the guide rail 1039, and the second movable block 10310 is connected to the third connecting shaft 1037. When the first movable block 1030 moves, it drives the second movable block 10310 to move together through the first linkage plate 1031, the second linkage plate 1032, the third linkage plate 1033, and the fourth linkage plate 1034. The first movable block 1030 and the second movable block 10310 move in a direction approaching or away from each other. It should also be noted that the first movable block 1030 can also be directly connected to the first connecting shaft 1035, and the first mounting plate 10231 is connected to the first movable block 1030.

[0041] In this embodiment, the guide rail 1039 is arranged along the Y direction, the first movable block 1030 and the second movable block 10310 are slidably arranged along the Y direction, and the linear motion paths of the first output member 105 and the second output member 106 are perpendicular to the Y direction.

[0042] Further, the carrier 101 is provided with two movable slots 1011. The first output member 105 and the second output member 106 are respectively located in the two movable slots 1011, and the first output member 105 and the second output member 106 can perform linear motion in the movable slots 1011.

[0043] Refer also to Figure 6 as shown in Figure 6 FIG. 10 is a schematic perspective view of the rotation linkage assembly 104. The rotation linkage assembly 104 includes a power member 1041, a first rotating wheel 1042, a second rotating wheel 1043, a third rotating wheel 1044, a fourth rotating wheel 1045 and a transmission member 1046. The power member 1041 is disposed on the second carrier plate 10232. The power shaft 10411 of the power member 1041 is connected to the first rotating wheel 1042. At the same time, the power shaft 10411 of the power member 1041 is rotatably connected to the first connecting shaft 1035. Specifically, the first rotating wheel 1042 is fixedly sleeved on the power shaft 10411 of the power member 1041, and one end of the power shaft 10411 of the power member 1041 passes through the first connecting shaft 1035 and can rotate relative to the first connecting shaft 1035; the second rotating wheel 1043 is connected to one end of the first output member 105. Specifically, one end of the first output member 105 is fixedly inserted into the second rotating wheel 1043, and the second rotating wheel 1043 can rotate relative to the second connecting shaft 1036; the third rotating wheel 1044 is rotatably connected to the third connecting shaft 1037. Specifically, the third rotating wheel 1044 is sleeved on the third connecting shaft 1037 and can rotate relative to the third connecting shaft 1037; the fourth rotating wheel 1045 is connected to one end of the second output member 106. Specifically, one end of the second output member 106 is fixedly inserted into the fourth rotating wheel 1045, and the fourth rotating wheel 1045 can rotate relative to the fourth connecting shaft 1038. The transmission member 1046 is wound around the first rotating wheel 1042, the second rotating wheel 1043, the third rotating wheel 1044 and the fourth rotating wheel 1045. When the power member 1041 works and drives the first rotating wheel 1042 to rotate, the second rotating wheel 1043, the third rotating wheel 1044 and the fourth rotating wheel 1045 are respectively driven to rotate through the transmission member 1046, and then the first output member 105 and the second output member 106 are respectively driven to rotate by the second rotating wheel 1043 and the fourth rotating wheel 1045. Specifically, the power member 1041 can be a motor; the transmission member 1046 can be a transmission belt or a transmission chain.

[0044] During operation, the driving member 1021 drives the slider 10222 to move away from the driving member 1021 through the lead screw 10221. The slider 10222 drives the first movable block 1030 and the first connecting shaft 1035 to move towards the second movable block 10310 through the first mounting plate 10231. At this time, the first end of the first linkage plate 1031 and the second end of the fourth linkage plate 1034 and the second end of the second linkage plate 1032 and the first end of the third linkage plate 1033 move towards each other, and the second end of the first linkage plate 1031 and the first end of the second linkage plate 1032 and the second end of the third linkage plate 1033 and the first end of the fourth linkage plate 1034 move away from each other, thereby driving the first output member 105 and the second output member 106 to also move away from each other. When the state is switched, when the driving member 1021 drives the slider 10222 to move towards the driving member 1021 through the lead screw 10221, the first end of the first linkage plate 1031 and the second end of the fourth linkage plate 1034 and the second end of the second linkage plate 1032 and the first end of the third linkage plate 1033 move away from each other, and the second end of the first linkage plate 1031 and the first end of the second linkage plate 1032 and the second end of the third linkage plate 1033 and the first end of the fourth linkage plate 1034 move towards each other, thereby driving the first output member 105 and the second output member 106 to also move towards each other. The power member 1041 operates and drives the first rotating wheel 1042 to rotate, and then the first output member 105 and the second output member 106 are rotated.

[0045] In summary, the driving assembly 102 drives the linear linkage assembly 103 to move. The linear linkage assembly 103 moves synchronously with the rotary linkage assembly 104. The linear linkage assembly 103 drives the first output member 105 and the second output member 106 to perform linear motion. The rotary linkage assembly 104 drives the first output member 105 and the second output member 106 to perform rotary motion. The linear linkage assembly 103 and the rotary linkage assembly 104 are in a stacked manner. It not only realizes the output of two motion modes of linear motion and rotary motion, but also has a compact overall structure, which is beneficial to reducing the volume, and further reducing the costs of assembly, disassembly and production.

[0046] The above is only the embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A linkage mechanism, characterized in that, Comprising: A carrier (101), a drive assembly (102), a linear linkage assembly (103), a rotary linkage assembly (104), a first output member (105) and a second output member (106), wherein the drive assembly (102) is disposed on the carrier (101), the linear linkage assembly (103) and the rotary linkage assembly (104) are both connected to the drive assembly (102), the first output member (105) and the second output member (106) are both rotatably connected to the linear linkage assembly (103), and the first output member (105) and the second output member (106) are both connected to the rotary linkage assembly (104); Wherein, the drive assembly (102) can drive the linear linkage assembly (103) and the rotary linkage assembly (104) to move synchronously, the linear linkage assembly (103) can drive the first output member (105) and the second output member (106) to move linearly, and the rotary linkage assembly (104) can drive the first output member (105) and the second output member (106) to rotate.

2. The linkage mechanism according to claim 1, characterized in that, The linear linkage assembly (103) includes a first linkage plate (1031), a second linkage plate (1032), a third linkage plate (1033) and a fourth linkage plate (1034) that are sequentially and rotatably connected end to end. The first linkage plate (1031) is rotatably connected to the fourth linkage plate (1034) through a first connecting shaft (1035), the first connecting shaft (1035) is connected to the drive assembly (102), the first linkage plate (1031) is rotatably connected to the second linkage plate (1032) through a second connecting shaft (1036), the second connecting shaft (1036) is rotatably connected to the first output member (105), the second linkage plate (1032) is rotatably connected to the third linkage plate (1033) through a third connecting shaft (1037), the third linkage plate (1033) is rotatably connected to the fourth linkage plate (1034) through a fourth connecting shaft (1038), and the fourth connecting shaft (1038) is rotatably connected to the second output member (106).

3. The linkage mechanism according to claim 2, wherein, Both ends of the first linkage plate (1031) and both ends of the third linkage plate (1033) are provided with avoidance grooves (10311). The second end of the fourth linkage plate (1034) is located in the avoidance groove (10311) at the first end of the first linkage plate (1031). The first connecting shaft (1035) rotatably penetrates through the first end of the first linkage plate (1031) and the second end of the fourth linkage plate (1034). The first end of the second linkage plate (1032) is located in the avoidance groove (10311) at the second end of the first linkage plate (1031). The second connecting shaft (1036) rotatably penetrates through the second end of the first linkage plate (1031) and the first end of the second linkage plate (1032). The second end of the second linkage plate (1032) is located in the avoidance groove (10311) at the first end of the third linkage plate (1033). The third connecting shaft (1037) rotatably penetrates through the second end of the second linkage plate (1032) and the first end of the third linkage plate (1033). The first end of the fourth linkage plate (1034) is located in the avoidance groove (10311) at the second end of the third linkage plate (1033). The fourth connecting shaft (1038) rotatably penetrates through the second end of the third linkage plate (1033) and the first end of the fourth linkage plate (1034).

4. The linkage mechanism according to claim 2, wherein The linear linkage assembly (103) further includes a guide rail (1039) and a first movable block (1030). The guide rail (1039) is arranged on the carrier (101). The first movable block (1030) is slidably arranged on the guide rail (1039). The first movable block (1030) is connected to the first connecting shaft (1035).

5. The linkage mechanism according to claim 4, characterized in that, The linear linkage assembly (103) further includes a second movable block (10310). The second movable block (10310) is slidably arranged on the guide rail (1039). The second movable block (10310) is connected to the third connecting shaft (1037).

6. The linkage mechanism according to any one of claims 2-5, characterized in that, The rotation linkage assembly (104) includes a power member (1041), a first rotating wheel (1042), a second rotating wheel (1043), a third rotating wheel (1044), a fourth rotating wheel (1045), and a transmission member (1046). The power member (1041) is connected to the drive assembly (102). The power shaft (10411) of the power member (1041) is rotatably connected to the first connecting shaft (1035). The first rotating wheel (1042) is connected to the power shaft (10411) of the power member (1041). The second rotating wheel (1043) is connected to the first output member (105). The third rotating wheel (1044) is rotatably connected to the third connecting shaft (1037). The fourth rotating wheel (1045) is connected to the second output member (106). The transmission member (1046) is disposed around the first rotating wheel (1042), the second rotating wheel (1043), the third rotating wheel (1044), and the fourth rotating wheel (1045).

7. The linkage mechanism according to claim 6, wherein The drive assembly (102) includes a drive member (1021), a transmission assembly (1022), and a carrier (1023). The drive member (1021) is disposed on the carrier member (101). The drive member (1021) is connected to the carrier (1023) through the transmission assembly (1022). The carrier (1023) is respectively connected to the first connecting shaft (1035) and the power member (1041).

8. The linkage mechanism according to claim 7, wherein The transmission assembly (1022) includes a lead screw (10221) and a slider (10222). The lead screw (10221) is connected to the output shaft (10211) of the drive member (1021). The slider (10222) is threadedly connected to the lead screw (10221). The slider (10222) is connected to the carrier (1023).

9. The linkage mechanism according to claim 7, wherein The carrier (1023) includes a first carrier plate (10231), a second carrier plate (10232), and a connecting rod (10233). The first carrier plate (10231) and the second carrier plate (10232) are disposed at a relative interval. The first carrier plate (10231) and the second carrier plate (10232) are connected by the connecting rod (10233). The first carrier plate (10231) is respectively connected to the transmission assembly (1022) and the first connecting shaft (1035). The second carrier plate (10232) is connected to the power member (1041).

10. The linkage mechanism according to any one of claims 1-5, characterized in that, The carrier member (101) has two movable slots (1011). The first output member (105) and the second output member (106) are respectively movably disposed in the two movable slots (1011).

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