Unmanned aerial vehicle parking apron translation device based on same-mode different-tooth double-loop transmission

Abstract

The utility model belongs to the technical field of unmanned aerial vehicle nests, and particularly relates to an unmanned aerial vehicle parking apron translation device based on same-mode different-tooth double-loop transmission, which comprises a motor, an inner side fixing plate, a first synchronous pulley, a second synchronous pulley, a third synchronous pulley, a fourth synchronous pulley, an inertia synchronous pulley and a fifth synchronous pulley, the device comprises a sixth synchronous belt wheel, a first connecting block, a second connecting block, a first sliding block, a second sliding block, a linear sliding rail, a reinforcing plate, a supporting column, a translation frame, an outer side fixing plate, a bearing seat, a self-lubricating bearing, a first synchronous belt, a second synchronous belt and a driving shaft. The first synchronous belt wheel and the third synchronous belt wheel are small synchronous belt wheel sets of the same specification. The other synchronous belt wheels are large synchronous belt wheel groups with the same specification; the small synchronous belt wheel set and the large synchronous belt wheel set are belt wheel sets with the same die and different teeth and are used for adjusting the transmission ratio. The unmanned aerial vehicle parking apron translation mechanism overcomes the defects that an existing unmanned aerial vehicle parking apron translation mechanism is limited in stroke, redundant in structure and tedious in maintenance.

Description

Technical Field

[0001] This utility model belongs to the technical field of UAV nests, and more specifically, relates to a UAV landing pad translation device based on a dual-loop transmission with the same mold but different teeth. Background Technology

[0002] With the rapid popularization of drones in industrial inspection, logistics and other scenarios, the design of automated drone shelters requires high integration and miniaturization. Side-exit airports, which allow the aircraft to move sideways from the apron, offer high space utilization and are becoming increasingly popular. Currently, the mechanical travel of traditional translation devices is limited by the physical dimensions of guide rails or single-stage transmission structures, making it difficult to meet the needs of large-span operations.

[0003] Chinese patent document CN220430580U discloses a push-pull motion device for a drone landing platform, including a translation drive mechanism and a support frame connected to the translation drive mechanism. Each end of the support frame is equipped with an inertial synchronous pulley, and a first synchronous belt is wound between the two inertial synchronous pulleys. A connecting block is connected to the upper end of the first synchronous belt for connecting to the drone's landing platform. A fixing block is connected to the lower end of the first synchronous belt away from the connecting block, for fixing the lower end of the first synchronous belt to the outside. This device uses a single set of motor lead screws, in conjunction with synchronous pulleys and a synchronous belt, to achieve a transmission method where the transmission device moves on the motor lead screw while the synchronous belt moves synchronously, thereby increasing the translational stroke and allowing the drone landing platform's extension distance to be unrestricted by the length of the slide rail.

[0004] However, if the stroke is to be further extended, the length of the timing belt, the support rod, and the motor lead screw need to be further extended. This will result in a larger device size and a decrease in transmission efficiency as the stroke increases, making it difficult to meet the requirements for a large span stroke within a limited space. Utility Model Content

[0005] This utility model aims to overcome at least one of the defects of the prior art and provides a drone landing pad translation device based on a dual-loop transmission with different teeth on the same mold. By setting multiple coaxial synchronous pulleys with different teeth, it solves the defects of existing drone landing pad translation mechanisms, such as limited stroke, inability to achieve large-span stroke in a limited space, and cumbersome maintenance.

[0006] The detailed technical solution of this utility model is as follows:

[0007] A UAV landing pad translation device based on a dual-loop transmission with different gears and the same mold, includes a frame, a drive mechanism, and a motion actuator;

[0008] The motion actuator includes a translation frame, a small synchronous belt drive mechanism, and a large synchronous belt drive mechanism;

[0009] The translation frame can be horizontally slidably mounted on the frame;

[0010] The small synchronous belt drive mechanism includes a first synchronous pulley, a third synchronous pulley, and a first synchronous belt. The first synchronous pulley and the third synchronous pulley are arranged at intervals in the horizontal direction and are mounted on the frame.

[0011] The large synchronous belt drive mechanism includes a second synchronous pulley, a fourth synchronous pulley, an inert synchronous pulley, a fifth synchronous pulley, a sixth synchronous pulley, and a second synchronous belt; the second synchronous pulley, the fourth synchronous pulley, and the inert synchronous pulley are mounted on a frame, the first synchronous pulley and the second synchronous pulley are coaxial, and the drive mechanism is used to drive the first synchronous pulley and the second synchronous pulley to rotate; the fifth synchronous pulley and the sixth synchronous pulley are mounted on a translation frame; the second synchronous belt between the second synchronous pulley and the fourth synchronous pulley is horizontal, and the second synchronous belt between the sixth synchronous pulley and the inert synchronous pulley is also horizontal;

[0012] The first and second synchronous pulleys have the same module, and the number of teeth on the second synchronous pulley is greater than the number of teeth on the first synchronous pulley. The number of teeth on the second synchronous pulley is set to be n times that of the first synchronous pulley. By setting synchronous pulleys with different numbers of teeth, the single rotation of the motor is converted into n times the displacement output. The value of n is determined by selecting the ratio of the number of teeth on the second synchronous pulley to the number of teeth on the first synchronous pulley according to the target translation distance. The value of n satisfies: n = 14 teeth on the second synchronous pulley / 13 teeth on the first synchronous pulley.

[0013] The first synchronous belt is connected to the translation frame.

[0014] Furthermore, the frame is equipped with a linear slide rail and a slider that slides with the linear slide rail, and the translation frame is connected to the slider.

[0015] Furthermore, a first connecting block is fixed to the top of the second synchronous belt, and the first connecting block is connected to the helipad. When the second synchronous belt moves, it drives the helipad to move. The outer second synchronous belt is fixedly connected to the helipad through the first connecting block, converting the linear motion of the synchronous belt into the translation of the helipad.

[0016] Furthermore, a second connecting block is fixed on the first synchronous belt. The second connecting block is connected to the translation frame. When the first synchronous belt is driven, it drives the translation frame to move, and at the same time, it drives the fifth synchronous pulley and the sixth synchronous pulley to move.

[0017] Furthermore, the frame includes: an inner fixing plate, a reinforcing plate, a support column fixed on the inner fixing plate, an outer fixing plate, a bearing seat, and a self-lubricating bearing; the outer fixing plate is provided with mounting holes, through which the drive shaft is mounted and fixedly connected to the support column; the drive shaft is mounted on the outer fixing plate through the self-lubricating bearing, and the bearing seat is installed on the outside of the self-lubricating bearing to achieve support, reduce wear, and improve service life.

[0018] Furthermore, the first synchronous belt wraps around the first and third synchronous pulleys, and the second synchronous belt wraps around the second, fourth, inert synchronous pulleys, fifth, and sixth synchronous pulleys. The drive mechanism drives the coaxially arranged first and second synchronous pulleys to rotate synchronously, so that the inner first synchronous belt transmits power to the fifth and sixth synchronous pulleys, causing the fifth and sixth synchronous pulleys to move forward. At the same time, the drive mechanism drives the outer second synchronous belt to wrap around the five large synchronous pulleys (second, fourth, inert, fifth, and sixth) to form a displacement output.

[0019] Furthermore, the reinforcing plate is located inside the translation frame and is fixedly connected to the translation frame to further reinforce the translation frame.

[0020] Furthermore, the first, second, third, fourth, inertial, fifth, and sixth synchronous pulleys adopt standardized interfaces, allowing for disassembly and replacement with a single bolt.

[0021] Furthermore, the second synchronous belt between the inert synchronous pulley and the fourth synchronous pulley is in a vertical direction, the second synchronous belt between the sixth synchronous pulley and the fifth synchronous pulley is in a horizontal direction, and the second synchronous belt between the fifth synchronous pulley and the second synchronous pulley is in a horizontal direction.

[0022] The working principle of this utility model's UAV landing pad translation device based on a dual-loop transmission with the same module but different teeth is as follows: The second synchronous belt is connected to the landing pad. The drive mechanism drives the coaxial first and second synchronous pulleys to rotate. Since the first and second synchronous pulleys have the same module, and the number of teeth on the second synchronous pulley is greater than that on the first synchronous pulley, the transmission distance of the second synchronous belt is greater than that of the first synchronous belt at the same angular velocity. The large synchronous belt transmission mechanism of this utility model uses horizontally movable fifth and sixth synchronous pulleys. When the landing pad returns to its nest, it can shorten the distance between the inertial synchronous pulley and the sixth synchronous pulley, thereby reducing space occupation; when the landing pad extends, it can adapt to the long stroke requirements of the large synchronous belt transmission mechanism.

[0023] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0024] (1) In terms of space, this utility model makes full use of the longitudinal space by stacking two synchronous pulley sets vertically, avoiding the waste of lateral space. At the same time, it is equipped with a fifth and sixth synchronous pulley that can move horizontally, which can reduce the space occupied when the helipad returns to its nest.

[0025] (2) This utility model uses a self-lubricating bearing, which does not require lubrication maintenance. At the same time, the synchronous pulley adopts a standardized interface, which can be disassembled and replaced with a single bolt. Compared with the traditional ball screw structure coupling, it reduces the maintenance difficulty and maintenance time.

[0026] (3) By replacing small synchronous pulley sets or large synchronous pulley sets with different numbers of teeth, and setting two sets of synchronous belts at the same time, when the synchronous belt is driven, the first synchronous belt drives the fifth and sixth synchronous pulleys to move through the translation frame, so that the step adjustment of the transmission ratio n can be realized. In terms of stroke extension, by using the tooth ratio n between the large and small pulley sets, the single rotation of the motor is converted into n times the displacement output, thus realizing the geometrical transmission ratio stroke extension; for example, when n=2, the stroke is twice that of the traditional single-stage transmission. Attached Figure Description

[0027] Figure 1 This is an axonometric structural diagram of the hidden translation frame of the drone landing pad translation device described in this utility model.

[0028] Figure 2 This is a schematic diagram of the isometric structure of the translation frame of the drone landing pad translation device described in this utility model.

[0029] Figure 3 This is an axonometric structural diagram of the entire UAV landing pad translation device described in this utility model.

[0030] Figure 4 This is a front view of the hidden translation frame of the UAV landing pad translation device described in this utility model.

[0031] Figure 5 A top view of the hidden translation frame of the drone landing pad translation device described in this utility model.

[0032] In the diagram: 11. Motor; 12. Inner fixing plate; 13. First synchronous pulley; 14. Second synchronous pulley; 15. Third synchronous pulley; 16. Fourth synchronous pulley; 17. Inertial synchronous pulley; 18. Fifth synchronous pulley; 19. Sixth synchronous pulley; 21. First connecting block; 22. Second connecting block; 23. First slider; 24. Second slider; 25. Linear slide rail; 26. Reinforcing plate; 27. Support column; 28. Translation frame; 29. ​​Outer fixing plate; 31. Bearing seat; 32. Self-lubricating bearing; 120. First synchronous belt; 121. Second synchronous belt; 122. Drive shaft. Detailed implementation mode

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0034] Embodiment 1

[0035] Refer to Figures 1-5 , this embodiment provides a drone apron translation device based on the same-mode and different-tooth double-loop drive. The device includes: a driving mechanism, a motion execution mechanism, and a frame;

[0036] The driving mechanism includes a motor 11 for driving the motion execution mechanism to move;

[0037] The motion execution mechanism includes: a small synchronous pulley group, a first synchronous belt 120 wound around the small synchronous pulley group, a second connection block 22 fixed to the top of the first synchronous belt 120, a large synchronous pulley group located outside the small synchronous pulley group, a second synchronous belt 121 wound around the large synchronous pulley group, a first connection block 21 fixed to the second synchronous belt 121, a linear slide rail 25, a first slider 23 and a second slider 24 fixed to the linear slide rail 25, a translation frame 28 fixedly connected to the second connection block 22, and a driving shaft 122 connected to the motor 11;

[0038] The small synchronous pulley group includes a first synchronous pulley 13 and a third synchronous pulley 15, and the first synchronous pulley 13 and the third synchronous pulley 15 are arranged at intervals in the horizontal direction;

[0039] The large synchronous pulley group includes a second synchronous pulley 14, a fourth synchronous pulley 16, an idler synchronous pulley 17, a fifth synchronous pulley 18, and a sixth synchronous pulley 19. The fifth synchronous pulley 18 and the sixth synchronous pulley 19 are fixed to the translation frame 28 through their respective shafts; the second synchronous belt 121 between the second synchronous pulley 14 and the fourth synchronous pulley 16 is in the horizontal direction, the second synchronous belt 121 between the idler synchronous pulley 17 and the fourth synchronous pulley 16 is in the vertical direction, the second synchronous belt 121 between the sixth synchronous pulley 19 and the idler synchronous pulley 17 is in the horizontal direction, the second synchronous belt 121 between the sixth synchronous pulley 19 and the fifth synchronous pulley 18 is in the horizontal direction, and the second synchronous belt 121 between the fifth synchronous pulley 18 and the second synchronous pulley 14 is in the horizontal direction;

[0040] The frame includes an inner fixing plate 12, and a linear slide rail 25 is provided on the inner fixing plate 12;

[0041] The motor 11 drives the drive shaft 122 to rotate, which in turn drives the small synchronous pulley group and the first synchronous belt 120 to drive the transmission. The second connecting block 22 on the first synchronous belt 120 drives the translation frame 28 to move. The translation frame 28 connects the first slider 23 and the second slider 24, which drives the two sliders to move synchronously. At the same time, it drives the sixth synchronous pulley 19 and the fifth synchronous pulley 18 to move synchronously.

[0042] The frame also includes: a reinforcing plate 26, a support column 27, an outer fixing plate 29, a bearing seat 31, and a self-lubricating bearing 32; the reinforcing plate 26 is located inside the translation frame 28 and is fixedly connected to the translation frame 28 to further reinforce the translation frame 28; the outer fixing plate 29 is provided with mounting holes, through which the drive shaft 122 is mounted and fixedly connected to the support column 27; the drive shaft 122 is mounted on the outer side of the outer fixing plate 29 with a self-lubricating bearing 32, and a bearing seat 31 is mounted on the outer side of the self-lubricating bearing to achieve support, reduce wear, and improve service life.

[0043] An innovative dual-loop synchronous pulley assembly is designed. The first synchronous pulley 13 and the third synchronous pulley 15 are small synchronous pulley assemblies with the same number of teeth and are fixed on the inner side of the inner fixing plate 12. The second synchronous pulley 14, the fourth synchronous pulley 16, the inert synchronous pulley 17, the fifth synchronous pulley 18, and the sixth synchronous pulley 19 are large synchronous pulley assemblies with the same number of teeth and are located on the same horizontal plane on the outer side. The second synchronous pulley 14, the fourth synchronous pulley 16, and the inert synchronous pulley 17 are fixed on the inner fixing plate 12 by their respective shafts. The fourth synchronous pulley 16 is coaxial with the third synchronous pulley 15, and the second synchronous pulley 14 is coaxial with the first synchronous pulley 13. They are stacked vertically on the drive shaft 122.

[0044] The first synchronous belt 120 is wound around the first synchronous pulley 13 and the third synchronous pulley 15, and the second synchronous belt 121 is wound around the second synchronous pulley 14, the fourth synchronous pulley 16, the inert synchronous pulley 17, the fifth synchronous pulley 18 and the sixth synchronous pulley 19; the top of the second synchronous belt 121 is fixed with the first connecting block 21, the first connecting block 21 is connected to the helipad, and the second synchronous belt 121 drives the helipad to move when it moves;

[0045] The translation frame 28 is fixedly connected to the first slider 23 and the second slider 24, and is also fixed to the first synchronous belt 120 through the second connecting block 22. The motor 11 drives the drive shaft 122 to drive the first synchronous pulley 13 and the second synchronous pulley 14 to rotate. On the same drive shaft 122, the number of teeth of the second synchronous pulley 14 is n times that of the first synchronous pulley 13. The two synchronous pulleys are coaxial but have different teeth. The rotation of the motor drives the first synchronous belt 120 and the second synchronous belt 121 to drive. When the motor rotates once, the distance driven by the second synchronous belt 121 is n times that of the first synchronous belt 120, where n = the number of teeth of the second synchronous pulley 14 / the number of teeth of the first synchronous pulley 13. When the first synchronous belt 120 moves, the second connecting block 22 moves. The second connecting block 22 drives the fixed cover 28 to move in the direction of the first synchronous belt 120, and at the same time drives the fifth synchronous pulley 18 and the sixth synchronous pulley 19 to move synchronously. When the fifth synchronous pulley 18 and the sixth synchronous pulley 19 move synchronously, the second synchronous belt 121 drives synchronously, driving the helipad to move.

[0046] By adjusting the tooth ratio of the synchronous belt pulleys, the extension distance of the drone's landing pad can be increased, ensuring safe landing of the drone. Specifically, based on the dynamic speed ratio adjustment of the same-mode, different-toothed pulley sets, a single rotation of the motor can drive the outer synchronous belt to produce a multiple displacement. For example, if the tooth ratio of the inner small pulley set to the outer large pulley set is 1:2, the travel of the outer synchronous belt can reach twice that of the inner one. This geometric expansion method achieves a large span of travel within a compact, limited space without adding any physical components.

[0047] It features quick and easy maintenance, a modular design, and standardized interfaces for the same-mold pulley assembly, allowing for disassembly and replacement with a single bolt. Due to the use of self-lubricating bearings, no lubrication maintenance is required. Through standardized interfaces and a lubrication-free design, compared to traditional ball screw structures, it reduces the difficulty and time required for disassembling couplings and adjusting parallelism.

[0048] In terms of travel extension capability within a limited space, compared to conventional motor lead screw and guide rail methods and single-stage transmission methods with a single motor lead screw and synchronous pulley and synchronous belt, these two methods are limited by the physical path extension of the guide rail and lead screw and are single-stage transmissions.

[0049] In terms of space, this invention makes full use of longitudinal space by stacking two synchronous belt pulley sets vertically; the compact pulley arrangement and folded synchronous belt path avoid wasting lateral space; in terms of stroke extension, by using the gear ratio n between the large and small pulley sets, the single rotation of the motor is converted into n times the displacement output, realizing geometric transmission ratio stroke extension; for example, when n=2, the stroke is twice that of traditional single-stage transmission.

[0050] The control method for a UAV landing pad translation device based on a dual-loop transmission with different gears of the same mold includes:

[0051] 1) Dynamic configuration of n: n is set by selecting the tooth ratio of the large synchronous pulley set to the small synchronous pulley set according to the target translation distance, satisfying n = number of teeth of the large synchronous pulley / number of teeth of the small synchronous pulley;

[0052] 2) Dual-circuit power coordinated drive: The motor 11 drives the small synchronous pulley group and the large synchronous pulley group set on the same axis to rotate synchronously, so that the inner first synchronous belt 120 transmits power to the large synchronous pulley group, driving the fifth synchronous pulley 18 and the sixth synchronous pulley 19 to move forward. At the same time, it drives the outer second synchronous belt 121 to rotate around the five large synchronous pulleys of the second synchronous pulley 14, the fourth synchronous pulley 16, the inert synchronous pulley 17, the fifth synchronous pulley 18 and the sixth synchronous pulley 19 to form displacement output;

[0053] 3) Displacement amplification and rigid transmission: The outer second synchronous belt 121 is rigidly coupled to the parking apron through the first connecting block 21, converting the linear motion of the synchronous belt into the translation of the parking apron. The displacement is the product of the circumference of the second synchronous belt pulley 14 and the number of rotations of the motor 11 and n.

[0054] 4) Closed-loop trajectory stabilization control: The belt connected by the protective cover and the linear guide rail of the slider constrain the lateral offset of the second synchronous belt 121 and adjust the tension balance in real time. It has an inert synchronous belt pulley 17, which can be manually adjusted for tension.

[0055] 5) According to step 1), the step adjustment of n can be achieved by replacing small synchronous pulley sets or large synchronous pulley sets with different numbers of teeth.

[0056] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A UAV apron translation device based on homomorphous heterodromous double-circuit transmission, characterized in that, Includes frame, drive mechanism and motion actuator; The motion actuator includes a translation frame (28), a small synchronous belt drive mechanism, and a large synchronous belt drive mechanism; The translation frame (28) can be horizontally slidably mounted on the frame; The small synchronous belt drive mechanism includes a first synchronous pulley (13), a third synchronous pulley (15), and a first synchronous belt (120). The first synchronous pulley (13) and the third synchronous pulley (15) are arranged at intervals in the horizontal direction, and the first synchronous pulley (13) and the third synchronous pulley (15) are mounted on the frame. The large synchronous belt drive mechanism includes a second synchronous pulley (14), a fourth synchronous pulley (16), an inert synchronous pulley (17), a fifth synchronous pulley (18), a sixth synchronous pulley (19), and a second synchronous belt (121); the second synchronous pulley (14), the fourth synchronous pulley (16), and the inert synchronous pulley (17) are mounted on the frame, the first synchronous pulley (13) and the second synchronous pulley (14) are coaxial, and the drive mechanism is used to drive the first synchronous pulley (13) and the second synchronous pulley (14) to rotate; the fifth synchronous pulley (18) and the sixth synchronous pulley (19) are mounted on the translation frame (28); the second synchronous belt (121) between the second synchronous pulley (14) and the fourth synchronous pulley (16) is in a horizontal direction, and the second synchronous belt (121) between the sixth synchronous pulley (19) and the inert synchronous pulley (17) is in a horizontal direction; The first synchronous pulley (13) and the second synchronous pulley (14) have the same module, and the number of teeth of the second synchronous pulley (14) is greater than the number of teeth of the first synchronous pulley (13); The first synchronous belt (120) is connected to the translation frame (28).

2. The unmanned aerial vehicle apron translation device based on the same mode and different teeth double circuit transmission according to claim 1, characterized in that, The frame is equipped with a linear slide rail (25) and a slider that slides with the linear slide rail (25), and the translation frame (28) is connected to the slider.

3. The unmanned aerial vehicle apron translation device based on the same mode and different teeth double circuit transmission according to claim 1, characterized in that, The first connecting block (21) is fixed to the top of the second synchronous belt (121), and the first connecting block (21) is used to connect the apron.

4. The unmanned aerial vehicle apron translation device based on the same mode and different teeth double circuit transmission according to claim 1, characterized in that, A second connecting block (22) is fixed on the first synchronous belt (120), and the second connecting block (22) is connected to the translation frame (28).

5. The unmanned air craft apron translation device based on the same mode and different teeth double circuit transmission according to claim 2, characterized in that, The frame includes: an inner fixing plate (12), a reinforcing plate (26), a support column (27) fixed on the inner fixing plate, an outer fixing plate (29), a bearing seat (31), and a self-lubricating bearing (32); the outer fixing plate (29) is provided with mounting holes, which are installed on the drive shaft (122) and fixedly connected to the support column (27); the drive shaft (122) is installed on the outer fixing plate (29) through the self-lubricating bearing (32), and the bearing seat (31) is installed on the outside of the self-lubricating bearing (32).

6. The unmanned aerial vehicle apron translation device based on the same mode and different teeth double circuit transmission according to claim 5, characterized in that, The reinforcing plate (26) is located inside the translation frame (28) and is fixedly connected to the translation frame (28).

7. The unmanned aerial vehicle apron translation device based on the same mode and different teeth double circuit transmission according to claim 1, characterized in that, The first synchronous belt (120) is wound around the first synchronous pulley (13) and the third synchronous pulley (15), and the second synchronous belt (121) is wound around the second synchronous pulley (14), the fourth synchronous pulley (16), the inert synchronous pulley (17), the fifth synchronous pulley (18), and the sixth synchronous pulley (19).

8. The unmanned aerial vehicle apron translation device based on the same mode and different teeth double circuit transmission according to claim 1, characterized in that, The first synchronous pulley (13), the second synchronous pulley (14), the third synchronous pulley (15), the fourth synchronous pulley (16), the inert synchronous pulley (17), the fifth synchronous pulley (18), and the sixth synchronous pulley (19) adopt a standardized interface.

9. The unmanned aerial vehicle apron translation device based on the same mode and different teeth double circuit transmission according to claim 1, characterized in that, The second synchronous belt (121) between the inert synchronous pulley (17) and the fourth synchronous pulley (16) is in a vertical direction, the second synchronous belt (121) between the sixth synchronous pulley (19) and the fifth synchronous pulley (18) is in a horizontal direction, and the second synchronous belt (121) between the fifth synchronous pulley (18) and the second synchronous pulley (14) is in a horizontal direction.

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