Transmission unit and swing mechanism
By changing the transmission connection by pushing and pulling the sliding gear with an electric push rod in the transmission unit, the problems of high motor cost and large space occupation in the motion control of double swing arms are solved, and efficient motion control of double swing arms is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-21
- Publication Date
- 2026-04-10
AI Technical Summary
In existing biomimetic robot technologies, the motion control of a dual-arm requires two separate motors, resulting in high costs and large space requirements.
A transmission unit is used to push and pull the sliding gear through an electric push rod, changing its transmission connection relationship, so that a single motor can achieve opposite or same-direction rotation of the two swing arms, reducing costs and minimizing the space occupied by the motor.
This technology enables two different rotation modes to be output from a single motor, reducing costs and the space occupied by the motor, and improving space utilization efficiency.
Smart Images
Figure CN224111014U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot bionics technical field, specifically, it relates to a transmission unit and swing mechanism. BACKGROUND
[0002] In the prior art of robot bionics, in order to manufacture rabbit ear toys or finger robots, the swing movement of rabbit ears and fingers needs to be simulated, and for the structure of double swing arms, two motors are usually needed to control and adjust two swing arms respectively, two motors are connected with two output shafts respectively, the rotation of the two output shafts is controlled in the same direction or in the opposite direction, and then the rotation movement of the output shafts is further converted into swing movement, so that the same direction or opposite direction swing control of the double swing arms is realized, and the cost of double motors is large and the space occupied is more. SUMMARY
[0003] To solve at least one of the above problems, the utility model first provides a transmission unit, which comprises an input wheel, a first output assembly, a second output assembly, a first transmission assembly, a second transmission assembly, a motor and an electric push rod, the motor is connected with and drives the rotation of the input wheel, the input wheel is simultaneously transmissionally connected with the first output assembly and the first transmission assembly, the first transmission assembly is transmissionally connected with the second transmission assembly, the second output assembly is transmissionally connected with the first transmission assembly or the second transmission assembly, the second output assembly comprises a sliding gear, and the push-pull rod of the electric push rod is connected with and drives the axial movement of the sliding gear, when the push-pull rod drives the sliding gear to move upwards, the second output assembly and the first transmission assembly are transmissionally connected, so that the first output assembly and the second output assembly rotate in opposite directions, when the push-pull rod drives the sliding gear to move downwards, the second output assembly and the second transmission assembly are transmissionally connected, so that the first output assembly and the second output assembly rotate in the same direction.
[0004] Optionally, the first transmission assembly comprises a first connecting shaft, a first gear and a second gear, the first gear and the second gear are axially fixed on the first connecting shaft, the input wheel and the first gear are meshingly connected, and the second gear is located above the first gear and is adapted to be meshingly connected with the sliding gear, when the sliding gear moves upwards to mesh with the second gear, the input wheel and the sliding gear rotate in the same direction.
[0005] Optionally, the second transmission assembly comprises a second connecting shaft, a third gear and a fourth gear, the third gear and the fourth gear are axially fixed on the second connecting shaft, the third gear is in meshing connection with the first gear, the fourth gear is located between the second gear and the third gear in the vertical direction, and the fourth gear is in meshing connection with the sliding gear; when the sliding gear is lowered to be in meshing connection with the fourth gear, the input wheel and the sliding gear rotate in opposite directions.
[0006] Optionally, a partition disc is arranged on the second connecting shaft, the partition disc is located between the second gear and the fourth gear in the vertical direction, and an avoiding opening is arranged on a disc body of the partition disc, the avoiding opening is used for avoiding the sliding gear.
[0007] Optionally, the first output assembly comprises a third connecting shaft and a fifth gear, the fifth gear is axially fixed on the third connecting shaft, and the input wheel is in meshing connection with the fifth gear to enable the input wheel and the fifth gear to rotate in opposite directions.
[0008] Optionally, the second output assembly comprises a fourth connecting shaft and a pushing piece, the sliding gear and the pushing piece are axially slidably connected with the fourth connecting shaft, the pushing piece abuts against the lower side of the sliding gear, a limiting portion is arranged on the pushing piece, the electric push rod comprises a pushing portion, the limiting portion and the pushing portion are rotationally connected, and the pushing portion drives the limiting portion to move up and down.
[0009] Compared with the prior art, in the transmission unit, the electric push rod pushes and pulls the sliding gear, so that the transmission connection relationship of the sliding gear is controlled, when the sliding gear is in transmission connection with the first transmission assembly, the first output assembly and the second output assembly are enabled to rotate in opposite directions, when the sliding gear is in transmission connection with the second transmission assembly, the first output assembly and the second output assembly are enabled to rotate in the same direction, one motor is matched with the electric push rod to output two different rotating modes, the cost is reduced, and the occupied space of the motor is reduced.
[0010] In addition, the utility model provides a swing mechanism, including transmission unit as described above.
[0011] Optionally, the swing mechanism comprises a swing arm unit and a mounting seat, the swing arm unit and the transmission unit are rotationally connected with the mounting seat, the swing arm unit comprises a first swing arm and a second swing arm, the transmission unit comprises a first output assembly and a second output assembly, the first output assembly is in movable connection with the first swing arm and drives the first swing arm to swing, and the second output assembly is in movable connection with the second swing arm and drives the second swing arm to swing.
[0012] Optionally, the first output assembly comprises a third connecting shaft and a first output wheel, the third connecting shaft is connected with and drives the first output wheel to rotate, a connecting portion is protruded on the upper end of the first output wheel, a connecting cavity is arranged on the lower end of the first swing arm, and the connecting portion and the connecting cavity are movably connected and drive the first swing arm to swing forward and backward.
[0013] Optionally, the mounting seat is provided with a first mounting wall, a second mounting wall and a third mounting wall, the left and right ends of the first swing arm are limited between the first mounting wall and the second mounting wall, and the left and right ends of the second swing arm are limited between the second mounting wall and the third mounting wall.
[0014] Compared with the prior art, the swing mechanism of the utility model, through the cooperation of the first output wheel and the connecting cavity of the first swing arm, the rotary motion of the third connecting shaft is converted into the forward and backward swinging motion of the first swing arm. BRIEF DESCRIPTION OF DRAWINGS
[0015] Figure 1 The structure of the swing mechanism of the utility model embodiment Figure 1 ;
[0016] Figure 2 The structure of the swing mechanism of the utility model embodiment Figure 2 ;
[0017] Figure 3 For Figure 2 the enlarged view of A part in the figure
[0018] Figure 4 The partial structure diagram of the transmission unit of the utility model embodiment
[0019] Figure 5 The sectional view of the swing mechanism of the utility model embodiment
[0020] Figure 6 The connection structure diagram of the first output assembly and the first swing arm of the utility model embodiment
[0021] BRIEF DESCRIPTION OF DRAWINGS
[0022] 1, input wheel; 2, first output assembly; 21, third connecting shaft; 22, fifth gear; 23, first output wheel; 231, connecting part; 3, second output assembly; 31, sliding gear; 32, fourth connecting shaft; 33, pusher; 331, limiting part; 34, second output wheel; 4, first transmission assembly; 41, first connecting shaft; 42, first gear; 43, second gear; 5, second transmission assembly; 51, second connecting shaft; 52, third gear; 53, fourth gear; 54, partition disc; 541, avoiding opening; 6, motor; 7, electric push rod; 71, pushing part; 8, swing arm unit; 81, first swing arm; 811, connecting cavity; 82, second swing arm; 9, mounting seat; 91, first mounting wall; 92, second mounting wall; 93, third mounting wall. DETAILED DESCRIPTION
[0023] In order to make the above-mentioned purpose, characteristics and advantages of the utility model more obvious and easy to understand, the specific embodiments of the utility model are described in detail below with reference to the drawings.
[0024] The drawing of the embodiment of the utility model is provided with a coordinate system XYZ, wherein the positive direction of the X axis represents the left direction, the reverse direction of the X axis represents the right direction, the positive direction of the Y axis represents the front direction, the reverse direction of the Y axis represents the rear direction, the positive direction of the Z axis represents the upper direction, and the reverse direction of the Z axis represents the lower direction.
[0025] The utility model embodiment provides a kind of transmission unit, combined Figures 1 to 6 As shown in the drawing, it comprises input wheel 1, first output assembly 2, second output assembly 3, first transmission assembly 4, second transmission assembly 5, motor 6 and electric push rod 7, the motor 6 is connected and drives the input wheel 1 rotation, the input wheel 1 is simultaneously transmission connection first output assembly 2 and first transmission assembly 4, first transmission assembly 4 is transmission connection second transmission assembly 5, second output assembly 3 is transmission connection first transmission assembly 4 or second transmission assembly 5, and second output assembly 3 includes sliding gear 31, and the push-pull rod of electric push rod 7 is connected and drives the axial movement of sliding gear 31;When the push-pull rod drives the sliding gear 31 to move up, second output assembly 3 and first transmission assembly 4 are transmission connection, to make first output assembly 2 and second output assembly 3 reverse rotation;When the push-pull rod drives the sliding gear 31 to move down, second output assembly 3 and second transmission assembly 5 are transmission connection, to make first output assembly 2 and second output assembly 3 same direction rotation.
[0026] Compared with the prior art, the transmission unit in the utility model, through electric push rod 7 push and pull sliding gear 31, thus control sliding gear 31's transmission connection relation, when sliding gear 31 and first transmission assembly 4 transmission connection, realize the different direction rotation of first output assembly 2 and second output assembly 3, when sliding gear 31 and second transmission assembly 5 transmission connection, realize the same direction rotation of first output assembly 2 and second output assembly 3, through one motor 6 cooperation electric push rod 7, output two different rotation modes, reduce cost, reduce the occupation space of motor 6.
[0027] As Figures 3 to 5 Shown, when input wheel 1 positive rotation, first output assembly 2 and first transmission assembly 4 reverse rotation, second transmission assembly 5 positive rotation, in the above-mentioned rotation state, when sliding gear 31 and first transmission assembly 4 transmission connection, second output assembly 3 positive rotation, therefore first output assembly 2 and second output assembly 3 different direction rotation, when sliding gear 31 and second transmission assembly 5 transmission connection, second output assembly 3 reverse rotation, therefore first output assembly 2 and second output assembly 3 same direction rotation. Specifically, positive is clockwise direction or counterclockwise direction, reverse is the direction opposite to positive. It is worth noting that when electric push rod 7 controls sliding gear 31 up and down movement to change the direction of rotation, need to make motor 6 first stop rotation or deceleration, to guarantee the running safety of equipment.
[0028] Optionally, the first transmission assembly 4 includes a first connecting shaft 41, a first gear 42 and a second gear 43, the first gear 42 and the second gear 43 are axially fixed on the first connecting shaft 41, the input wheel 1 and the first gear 42 are engagedly connected, and the second gear 43 is located above the first gear 42 and is adapted to be engagedly connected with the sliding gear 31; when the sliding gear 31 moves up to be engaged with the second gear 43, the input wheel 1 and the sliding gear 31 rotate in the same direction.
[0029] As Figure 3 And 4 Shown, in the embodiment, the first gear 42 and the second gear 43 are fixedly connected with the first connecting shaft 41 and rotate coaxially through the first connecting shaft 41. In the vertical direction, the position of the sliding gear 31 is always higher than that of the first gear 42.
[0030] Optionally, the second transmission assembly 5 comprises a second connecting shaft 51, a third gear 52 and a fourth gear 53, the third gear 52 and the fourth gear 53 are both axially fixed on the second connecting shaft 51, the third gear 52 is in meshing connection with the first gear 42, the fourth gear 53 is located between the second gear 43 and the third gear 52 in the vertical direction, and the fourth gear 53 is in meshing connection with the sliding gear 31; when the sliding gear 31 moves downward to mesh with the fourth gear 53, the input wheel 1 and the sliding gear 31 rotate in opposite directions.
[0031] As shown in Figure 3 and 4 In the embodiment, the third gear 52 and the fourth gear 53 are fixedly connected with the second connecting shaft 51 and rotate coaxially through the second connecting shaft 51. The first transmission assembly 4 and the second transmission assembly 5 cooperate, without affecting the transmission relationship between the two, by setting gears with different heights to cooperate with the sliding gear 31, thereby skillfully changing the rotation direction of the sliding gear 31.
[0032] As shown in Figure 3 and 4 Optionally, the second connecting shaft 51 is provided with a partition disc 54, the partition disc 54 is located between the second gear 43 and the fourth gear 53 in the vertical direction, and the disc body of the partition disc 54 is provided with an avoiding opening 541 for avoiding the sliding gear 31.
[0033] Optionally, the first output assembly 2 comprises a third connecting shaft 21 and a fifth gear 22, the fifth gear 22 is axially fixed on the third connecting shaft 21, and the input wheel 1 and the fifth gear 22 are in meshing connection to rotate in opposite directions.
[0034] As shown in Figure 3 and 4 In the embodiment, the input wheel 1, the first gear 42, the third gear 52 and the fifth gear 22 have the same height in the vertical direction,
[0035] Optionally, the second output assembly 3 comprises a fourth connecting shaft 32 and a pushing piece 33, the sliding gear 31 and the pushing piece 33 are both axially slidingly connected with the fourth connecting shaft 32, the pushing piece 33 abuts against the lower side of the sliding gear 31, the pushing piece 33 is provided with a limiting portion 331, the electric push rod 7 comprises a pushing portion 71, the limiting portion 331 and the pushing portion 71 are rotationally connected, and the pushing portion 71 pushes the limiting portion 331 to move up and down.
[0036] As shown in Figure 3As shown, in the embodiment, the sliding gear 31 rotates to drive the fourth connecting shaft 32 to rotate, and the fourth connecting shaft 32 drives the pusher 33 to rotate. The pusher 71 is cylindrical, the cross section of the limiting part 331 is circular, the upper and lower ends of the limiting part 331 are limited between the upper and lower end walls of the limiting part 331, and the limiting part 331 rotates relative to the pusher 71 when the pusher 33 rotates without affecting the limiting in the up-down direction. The cross sections of the first connecting shaft 41, the second connecting shaft 51, the third connecting shaft 21 and the fourth connecting shaft 32 are all regular polygons, so as to drive the gears on the connecting shafts to rotate synchronously. In the embodiment, the cross sections of the four connecting shafts are all regular hexagons.
[0037] Another embodiment of the utility model provides a swing mechanism, including transmission unit as described above.
[0038] Optionally, the swing arm unit 8 and the mounting seat 9 are connected, the swing arm unit 8 and the transmission unit are all rotationally connected with the mounting seat 9, the swing arm unit 8 includes the first swing arm 81 and the second swing arm 82, the transmission unit includes the first output assembly 2 and the second output assembly 3, the first output assembly 2 and the first swing arm 81 are movably connected and drive the first swing arm 81 to swing, and the second output assembly 3 and the second swing arm 82 are movably connected and drive the second swing arm 82 to swing.
[0039] As shown, Figures 1 to 3 In the embodiment, the first output assembly 2, the second output assembly 3, the first transmission assembly 4 and the second transmission assembly 5 are all rotationally installed on the mounting seat 9. The first swing arm 81 and the second swing arm 82 are rotationally connected with the mounting seat 9 through a pin shaft in the left-right direction. The first swing arm 81 and the second swing arm 82 reciprocate in the front-back direction.
[0040] Optionally, the first output assembly 2 includes the third connecting shaft 21 and the first output wheel 23, the third connecting shaft 21 is connected and drives the first output wheel 23 to rotate, the first output wheel 23 is provided with a connecting part 231 at the upper end, the first swing arm 81 is provided with a connecting cavity 811 at the lower end, and the connecting part 231 and the connecting cavity 811 are movably connected and drive the first swing arm 81 to swing in the front-back direction.
[0041] As shown, Figure 6 In the embodiment, the top of the connecting part 231 is spherical, the bottom of the connecting cavity 811 is open, the connecting cavity 811 is through in the left-right direction, and the width of the connecting cavity 811 in the front-back direction is matched with the connecting part 231. When the third connecting shaft 21 drives the first output wheel 23 to rotate, the connecting part 231 rotates and pushes the inner wall of the connecting cavity 811, so that the first swing arm 81 swings in the front-back direction. The second output assembly 3 includes the second output wheel 34, and the working relationship between the second output wheel 34 and the second swing arm 82 is as described above, which will not be repeated here.
[0042] The swing mechanism in the embodiment involves swing cooperation of two swing arms, and can be applied to swing movement of simulated rabbit ears or fingers. In other embodiments involving swing of one swing arm, for example, bionic fish tail, the rotation movement output by the motor 6 can be converted into forward and backward swing movement of the first swing arm 81 through cooperation of the first output wheel 23, the first swing arm 81 and the third connecting shaft 21.
[0043] Optionally, the mounting seat 9 is provided with a first mounting wall 91, a second mounting wall 92 and a third mounting wall 93, and the left and right ends of the first swing arm 81 are limited between the first mounting wall 91 and the second mounting wall 92, and the left and right ends of the second swing arm 82 are limited between the second mounting wall 92 and the third mounting wall 93.
[0044] As shown in the embodiment, the first swing arm 81 is rotatably connected between the first mounting wall 91 and the second mounting wall 92 through a pin shaft, so as to prevent the first swing arm 81 from moving in the left-right direction during swing. The second swing arm 82 is the same, and will not be described here. Figure 1 Similarly, the components included in the "assembly", "mechanism" and "device" of the disclosure can also be flexibly combined, that is, they can be produced modularly according to actual conditions, and assembled as an independent module; or they can be assembled respectively to form a module in the device. The division of the above components by the disclosure is only one embodiment, for the convenience of reading, and is not a limitation on the protection scope of the disclosure, as long as the above components are included and the same effect is understood as the equivalent technical solutions of the disclosure.
[0045] In the description of the disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the disclosure.
[0046]
[0047] In addition, the terms "first", "second", etc. are used only for descriptive purposes and do not connote or imply relative importance or a quantity of the indicated technical features. Thus, features with a "first", "second" or the like designation can include one or more of such features, either explicitly or implicitly.
[0048] In the present disclosure, unless specifically defined otherwise, the terms "mounting", "connected", "connecting", "fixed", and the like, are to be construed broadly and are used in their non-limiting sense to encompass a fixed connection, a detachable connection, or an integral connection; a mechanical connection, an electrical connection, or a combination thereof; a direct connection, an indirect connection via an intermediate medium, or a combination thereof; and an internal connection between two elements or an interaction relationship between two elements, unless specifically defined otherwise. Those skilled in the art can understand the specific meanings of the above terms in the present disclosure according to the specific circumstances.
[0049] In the present disclosure, unless specifically defined otherwise, a first feature "on" or "under" a second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact via an intermediate medium. Moreover, the first feature "above", "over", and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in horizontal height than the second feature. The first feature "under", "below", and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in horizontal height than the second feature.
[0050] It should be noted that when an element is referred to as being "fixed", "disposed", "secured", or "attached" to another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element. Further, when an element is referred to as being "fixedly connected" to another element, they can be fixedly connected in a manner that can be releasable or non-releasable, such as by a sleeve, a snap fit, an integral formation, welding, or the like, which can be achieved in the conventional technology and will not be described here.
[0051] The technical features of the above embodiments can be combined in any manner. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not contradict each other, they should be considered as within the scope of the present disclosure.
[0052] The above embodiments only express several implementation manners of the present disclosure, which are described in a more specific and detailed manner, but cannot be understood as limiting the scope of the utility model patent. It should be noted that, for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the utility model concept of the present disclosure, which all belong to the protection scope of the present disclosure.
Claims
1. A transmission unit, characterized by The application relates to a transmission device, which comprises an input wheel (1), a first output assembly (2), a second output assembly (3), a first transmission assembly (4), a second transmission assembly (5), a motor (6) and an electric push rod (7), the motor (6) is connected with the input wheel (1) and drives the input wheel (1) to rotate, the input wheel (1) is simultaneously in transmission connection with the first output assembly (2) and the first transmission assembly (4), the first transmission assembly (4) is in transmission connection with the second transmission assembly (5), the second output assembly (3) is in transmission connection with the first transmission assembly (4) or the second transmission assembly (5), the second output assembly (3) comprises a sliding gear (31), and the push-pull rod of the electric push rod (7) is connected with and drives the sliding gear (31) to axially move; when the push-pull rod drives the sliding gear (31) to move upwards, the second output assembly (3) and the first transmission assembly (4) are in transmission connection, so that the first output assembly (2) and the second output assembly (3) rotate in opposite directions; when the push-pull rod drives the sliding gear (31) to move downwards, the second output assembly (3) and the second transmission assembly (5) are in transmission connection, so that the first output assembly (2) and the second output assembly (3) rotate in the same direction.
2. The transmission unit according to claim 1, characterized in that The first transmission assembly (4) comprises a first connecting shaft (41), a first gear (42) and a second gear (43), the first gear (42) and the second gear (43) are both axially fixed on the first connecting shaft (41), the input wheel (1) is in meshing connection with the first gear (42), and the second gear (43) is located above the first gear (42) and is adapted to be in meshing connection with the sliding gear (31); when the sliding gear (31) moves upwards to be in meshing connection with the second gear (43), the input wheel (1) and the sliding gear (31) rotate in the same direction.
3. A transmission unit according to claim 2, characterised in that, The second transmission assembly (5) comprises a second connecting shaft (51), a third gear (52) and a fourth gear (53), the third gear (52) and the fourth gear (53) are both axially fixed on the second connecting shaft (51), the third gear (52) is in meshing connection with the first gear (42), the fourth gear (53) is located between the second gear (43) and the third gear (52) in the vertical direction, and the fourth gear (53) is adapted to be in meshing connection with the sliding gear (31); when the sliding gear (31) moves downwards to be in meshing connection with the fourth gear (53), the input wheel (1) and the sliding gear (31) rotate in opposite directions.
4. A transmission unit according to claim 3, characterised in that, The second connecting shaft (51) is provided with a partition disc (54), the partition disc (54) is located between the second gear (43) and the fourth gear (53) in the vertical direction, and the disc body of the partition disc (54) is provided with a avoiding opening (541), the avoiding opening (541) is used for avoiding the sliding gear (31).
5. The transmission unit according to claim 1, characterized in that, The first output assembly (2) comprises a third connecting shaft (21) and a fifth gear (22), the fifth gear (22) is axially fixed on the third connecting shaft (21), and the input wheel (1) is in meshing connection with the fifth gear (22) to rotate in opposite directions.
6. The transmission unit according to claim 1, characterized in that The second output assembly (3) comprises a fourth connecting shaft (32) and a pushing piece (33), the sliding gear (31) and the pushing piece (33) are in axial sliding connection with the fourth connecting shaft (32), the pushing piece (33) abuts against the lower side of the sliding gear (31), the pushing piece (33) is provided with a limiting portion (331), the electric push rod (7) comprises a pushing portion (71), the limiting portion (331) and the pushing portion (71) are in rotary connection, and the pushing portion (71) drives the limiting portion (331) to move up and down.
7. An oscillating mechanism characterized by The transmission unit comprises the transmission unit according to any one of claims 1-6.
8. The oscillating mechanism of claim 7, wherein The transmission unit comprises a mounting base (9), the swing arm unit (8) and the transmission unit are in rotary connection with the mounting base (9), the swing arm unit (8) comprises a first swing arm (81) and a second swing arm (82), the transmission unit comprises a first output assembly (2) and a second output assembly (3), the first output assembly (2) and the first swing arm (81) are in movable connection and drive the first swing arm (81) to swing, and the second output assembly (3) and the second swing arm (82) are in movable connection and drive the second swing arm (82) to swing.
9. The oscillating mechanism of claim 8, wherein The first output assembly (2) comprises a third connecting shaft (21) and a first output wheel (23), the third connecting shaft (21) is connected with and drives the first output wheel (23) to rotate, the first output wheel (23) is provided with a connecting portion (231) at the upper end, the first swing arm (81) is provided with a connecting cavity (811) at the lower end, and the connecting portion (231) and the connecting cavity (811) are in movable connection and drive the first swing arm (81) to swing forward and backward.
10. The oscillating mechanism of claim 8, wherein The mounting base (9) is provided with a first mounting wall (91), a second mounting wall (92) and a third mounting wall (93), the left and right ends of the first swing arm (81) are limited between the first mounting wall (91) and the second mounting wall (92), and the left and right ends of the second swing arm (82) are limited between the second mounting wall (92) and the third mounting wall (93).