Bidirectional telescopic mechanism composed of planetary sprocket transmission device

Abstract

This invention provides a bidirectional telescopic mechanism composed of planetary sprocket transmission devices, including two oppositely arranged planetary sprocket devices, two connecting rods, and a carrier plate. Each planetary sprocket device includes a central sprocket, a planetary carrier, planetary sprockets, a chain, and a rotary driver. The rotary driver is connected to the planetary carrier, and the planetary carrier is hinged to the central sprocket. The planetary sprockets are driven by the chain to the central sprocket. The two connecting rods are respectively connected to the corresponding planetary sprockets. The two ends of the carrier plate are respectively hinged to the two connecting rods. The two rotary drivers are arranged in opposite directions of rotation so that the planetary sprockets in the two planetary sprocket devices rotate in opposite directions, thereby driving the carrier plate to move bidirectionally and telescopically through the connecting rods. This increases the effective stroke length, covers a larger workstation distance, has a compact structure, and can realize material transfer in a limited space, thereby improving the adaptability of production line layout and space utilization, and is particularly suitable for industrial scenarios with limited workspace.

Description

Technical Field

[0001] This utility model relates to the field of telescopic mechanism technology, and in particular to a bidirectional telescopic mechanism composed of a planetary sprocket transmission device. Background Technology

[0002] In industrial production, the transfer of materials between different workstations is a common requirement, and telescopic mechanisms are currently widely used to achieve this function. However, existing telescopic mechanisms mostly rely on unidirectional linear drive mechanisms to achieve telescopic movement, and generally suffer from a low stroke-to-retract length ratio, meaning that the effective stroke is limited while the retracted length is large, resulting in the need for a long installation and reserved space; in scenarios where production line layout is limited, they are often difficult to deploy and operate effectively.

[0003] Therefore, how to achieve material transfer within a limited space has become a technical problem that urgently needs to be solved in industrial production. Utility Model Content

[0004] This invention addresses the technical problem of material transfer within a confined space in existing technologies. It provides a bidirectional telescopic mechanism comprised of a planetary sprocket drive, designed to facilitate material transfer within a limited space.

[0005] A bidirectional telescopic mechanism comprising a planetary sprocket drive includes: Two planetary sprocket assemblies are arranged opposite each other. Each planetary sprocket assembly includes a central sprocket, a planet carrier, planetary sprockets, a chain, and a rotary drive. The rotary drive is connected to the planet carrier, the planet carrier is hinged to the central sprocket, and the planetary sprockets are driven by the chain to the central sprocket. Two connecting rods are respectively connected to the corresponding planetary sprockets; The carrier plate is hinged at both ends to the two connecting rods; The two rotary drives are arranged in opposite directions so that the planetary sprockets in the two planetary sprocket devices rotate in opposite directions, thereby driving the bidirectional telescopic movement of the carrier plate through the connecting rod.

[0006] Furthermore, the tooth ratio of the central sprocket to the planetary sprocket is 2:1.

[0007] Furthermore, the rotary actuator is selected from one of the following: an electric motor, a hydraulic motor, and a pneumatic motor.

[0008] Furthermore, the rotary driver is a motor, and the output end of the motor is connected to a speed reducer.

[0009] Furthermore, the bidirectional telescopic mechanism composed of planetary sprocket transmission devices also includes a mounting plate, and the two rotary drives corresponding to the two planetary sprocket devices are respectively fixedly installed on opposite sides of the mounting plate.

[0010] Furthermore, the central sprocket is fixedly mounted on the mounting plate by a fixing plate.

[0011] Furthermore, a tensioning device is provided between the central sprocket and the planetary sprockets of the chain, and the tensioning device is fixed to the mounting plate.

[0012] Furthermore, each of the planetary sprocket devices also includes: The first axis is fixedly mounted on the planet carrier; The second shaft is fixedly connected to the center position of the planetary sprocket; The bearing housing is fixedly mounted on the planet carrier; The central sprocket is mounted on the first shaft via a deep groove ball bearing; the end of the second shaft away from the planetary sprocket is mounted in the bearing housing via a deep groove ball bearing; and the connecting rod is connected to the second shaft.

[0013] Furthermore, each of the aforementioned connecting rods includes: A connecting plate, one end of which is connected to the second shaft; The third shaft is fixedly disposed at the end of the connecting plate away from the second shaft, and the carrier plate is hinged to the third shaft by a deep groove ball bearing.

[0014] Furthermore, the carrier plate is provided with mounting holes for mounting a carrier or bracket.

[0015] Compared with the prior art, the bidirectional telescopic mechanism composed of a planetary sprocket transmission device provided by this utility model embodiment has at least the following technical effects: The bidirectional telescopic mechanism, composed of planetary sprocket drives, includes two opposing planetary sprocket units, two connecting rods, and a carrier plate. Each planetary sprocket unit comprises a central sprocket, a planetary carrier, planetary sprockets, a chain, and a rotary actuator. The rotary actuator is connected to the planetary carrier, which is hinged to the central sprocket. The planetary sprockets are driven by the chain to the central sprocket. The two connecting rods are connected to their respective planetary sprockets. The two ends of the carrier plate are hinged to the two connecting rods. The two rotary actuators rotate in opposite directions, causing the planetary sprockets in the two planetary sprocket units to rotate in opposite directions. This drives the carrier plate to telescopically extend and retract bidirectionally via the connecting rods, increasing the effective stroke length, covering a larger workstation distance, and reducing reliance on long-stroke unidirectional telescopic mechanisms. This bidirectional telescopic mechanism has a compact structure and can achieve material transfer within a limited space, thereby improving the adaptability of production line layout and space utilization, making it particularly suitable for industrial scenarios with limited workspace. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overlapping structure of the bidirectional telescopic mechanism carrier plate and mounting plate in one embodiment of the present invention; Figure 2 This is a schematic diagram of the bidirectional telescopic mechanism without the connecting rod and the carrier plate in one embodiment of the present invention; Figure 3 for Figure 2 A schematic diagram of the cross-sectional structure; Figure 4 This is a schematic diagram of the bidirectional telescopic mechanism with the carrier plate extending forward in one embodiment of the present invention; Figure 5 for Figure 4 A magnified view of a section at point A in the middle; Figure 6 This is a schematic diagram of the structure of the bidirectional telescopic mechanism with the carrier plate extending rearward in one embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the bidirectional telescopic mechanism mounting vehicle in one embodiment of the present invention.

[0018] Reference numerals: 10, planetary sprocket assembly; 101, center sprocket; 102, planetary carrier; 103, planetary sprocket; 104, chain; 105, rotary actuator; 105-1, left rotary actuator; 105-2, right rotary actuator; 106, tensioning device; 107, first shaft; 108, second shaft; 109, bearing housing; 110, snap ring; 20, connecting rod; 20-1, left connecting rod; 20-2, right connecting rod; 201, connecting plate; 202, third shaft; 30, carrier plate; 301, mounting hole; 302, nut; 303, bearing cap; 40, reducer; 50, mounting plate; 60, fixing plate; 70, deep groove ball bearing; 80, column; 90, carrier. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly set on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to the other component.

[0021] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size should still fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce.

[0022] In industrial production, the transfer of materials between different workstations is a common requirement, and telescopic mechanisms are currently widely used to achieve this function. However, existing telescopic mechanisms mostly rely on unidirectional linear drive mechanisms to achieve telescopic movement, and generally suffer from a low stroke-to-retract length ratio, meaning that the effective stroke is limited while the retracted length is large, resulting in the need for a long installation and reserved space; in scenarios where production line layout is limited, they are often difficult to deploy and operate effectively.

[0023] Therefore, how to achieve material transfer within a limited space has become a technical problem that urgently needs to be solved in industrial production.

[0024] Please refer to the attached document. Figure 1 To be continued Figure 7 As shown, one embodiment of this utility model provides a bidirectional telescopic mechanism composed of a planetary sprocket drive device, including two planetary sprocket devices 10 arranged opposite to each other, two connecting rods 20, and a carrier plate 30. Each planetary sprocket device 10 includes a central sprocket 101, a planetary carrier 102, planetary sprockets 103, a chain 104, and a rotary driver 105. The rotary driver 105 is connected to the planetary carrier 102, and the planetary carrier 102 is hinged to the central sprocket 101. The planetary sprockets are connected to the central sprocket 101 via the chain 104. The two connecting rods 20 are respectively connected to the corresponding planetary sprockets 103. The two ends of the carrier plate 30 are respectively hinged to the two connecting rods 20. The rotation directions of the two rotary drivers 105 are arranged in opposite directions so that the planetary sprockets 103 in the two planetary sprocket devices 10 rotate in opposite directions, thereby driving the carrier plate 30 to move in both directions of telescopic movement through the connecting rods 20. In addition, the bidirectional telescopic mechanism also includes a mounting plate 50, and two rotary drives 105 corresponding to the two planetary sprocket devices 10 are respectively fixedly installed on opposite sides of the mounting plate 50.

[0025] Specifically, the two planetary sprocket assemblies 10 are a left planetary sprocket assembly and a right planetary sprocket assembly (the left side in the diagram can be considered the left planetary sprocket assembly, and the right side the right planetary sprocket assembly). The left planetary sprocket assembly includes a left center sprocket, a left planet carrier, a left planetary sprocket, a left chain, and a left rotary drive 105-1. The left rotary drive 105-1 is connected to the left planet carrier, the left planet carrier is hinged to the left center sprocket, and the left planetary sprocket is driven by the left chain to the left center sprocket. The right planetary sprocket assembly includes a right center sprocket. The system includes a right planetary carrier, a right planetary sprocket, a right chain, and a right rotary actuator 105-2. The right rotary actuator 105-2 is connected to the right planetary carrier, which is hinged to the right central sprocket. The right planetary sprocket is connected to the right central sprocket via the right chain. The two connecting rods 20 are the left connecting rod 20-1 and the right connecting rod 20-2, respectively. The left connecting rod 20-1 is connected to the left planetary sprocket, and the right connecting rod 20-2 is connected to the right planetary sprocket. The two ends of the carrier plate 30 are hinged to the left connecting rod 20-1 and the right connecting rod 20-2, respectively.

[0026] In this embodiment, the working mechanism of the bidirectional telescopic mechanism composed of a planetary sprocket transmission device is as follows: After the rotary drive 105 is activated, the planetary carrier 102 rotates around the central sprocket 101 under the drive. At this time, the planetary sprocket 103, while revolving with the planetary carrier 102, also rotates in the opposite direction under the constraint of the chain 104. By fixing the left connecting rod 20-1 and the right connecting rod 20-2 to the left and right planetary sprockets respectively, a mechanism similar to a four-bar linkage with dynamically changing frame position is formed. By synchronously driving the left rotary drive 105-1 and the right rotary drive 105-2, bidirectional telescopic movement can be achieved.

[0027] Specifically, the left rotary actuator 105-1 is controlled to rotate counterclockwise, and the right rotary actuator 105-2 rotates synchronously clockwise, with both having the same angular velocity. At this time, the left connecting rod 20-1 rotates clockwise, and the right connecting rod 20-2 rotates counterclockwise, jointly pushing the carrier plate 30 forward. When the planetary carrier 102 moves to be perpendicular to the mounting plate 50, the carrier plate 30 reaches its farthest forward position. When the carrier plate 30 is at its farthest forward position, the left rotary actuator 105-1 is controlled to rotate clockwise, and the right rotary actuator 105-2 rotates synchronously counterclockwise, with both having the same angular velocity. At this time, the left connecting rod 20-1 rotates counterclockwise, and the right connecting rod 20-2 rotates clockwise, jointly pushing the carrier plate 30 backward until it overlaps with the mounting plate 50. After the carrier plate 30 overlaps with the mounting plate 50, the left rotary actuator 105-1 is controlled to rotate clockwise, and the right rotary actuator 105-2 rotates synchronously counterclockwise, with both having the same angular velocity. At this point, the left connecting rod 20-1 rotates counterclockwise, and the right connecting rod 20-2 rotates clockwise, together pushing the carrier plate 30 to extend rearward. When the planetary carrier 102 moves to be perpendicular to the mounting plate 50, the carrier plate 30 reaches its furthest rearward distance. When the carrier plate 30 is at its furthest rearward distance, the left rotary actuator 105-1 is controlled to rotate counterclockwise, and the right rotary actuator 105-2 rotates clockwise synchronously, with both having the same angular velocity. At this point, the left connecting rod 20-1 rotates clockwise, and the right connecting rod 20-2 rotates counterclockwise, together pushing the carrier plate 30 to retract forward until it overlaps with the mounting plate 50 again. The bidirectional telescopic movement can be completed by extending forward, retracting rearward, extending rearward, and retracting forward as described above. The stroke of the bidirectional telescopic movement can be flexibly adjusted according to the actual working conditions and does not necessarily have to extend to the furthest end; the "farthest distance" mentioned above is only an example used to facilitate understanding of the movement process.

[0028] The core control mechanism of bidirectional telescopic motion lies in enabling the left rotary driver 105-1 and the right rotary driver 105-2 to rotate synchronously in opposite directions with the same angular velocity. Taking the rotary driver 105 as a stepper motor as an example, the following control schemes can be selected: Firstly, the angular velocity of two stepper motors is controlled by a driver. Specifically, one set of the phase wires (e.g., red, blue, green, black) from the two stepper motors is reversed and connected to the corresponding A+, A-, B+, B- terminals on the same driver. For example, if the red, blue, green, and black phase wires of the left stepper motor are connected to the A+, A-, B+, and B- terminals of the driver, then the right stepper motor is wired as red, blue, black, and green, or blue, red, green, and black. When the controller (PLC or microcontroller) sends a pulse signal, the two stepper motors can achieve the same angular velocity. For reverse directions, two separate drivers are used to control the two motors. The two drivers are controlled by the same controller (PLC or microcontroller), which generates two separate pulse signals and direction signals to achieve synchronous forward and reverse rotation of the two motors.

[0029] Secondly, both motors are equipped with magnetic induction angle sensors. The controller (PLC or microcontroller) provides a separate signal, which is corrected by the magnetic induction angle sensors, so that the two motors have the same angular velocity but opposite directions.

[0030] Third, it can be achieved using an integrated joint module, which includes a harmonic reducer, torque motor, sensor, brake, etc. Software algorithms are used to ensure that the angular velocities of the two motors are the same but in opposite directions.

[0031] In this embodiment, the bidirectional telescopic mechanism composed of planetary sprocket transmission devices includes two planetary sprocket devices 10 arranged opposite to each other, two connecting rods 20, and a carrier plate 30. Each planetary sprocket device 10 includes a central sprocket 101, a planetary carrier 102, planetary sprockets 103, a chain 104, and a rotary driver 105. The rotary driver 105 is connected to the planetary carrier 102, and the planetary carrier 102 is hinged to the central sprocket 101. The planetary sprockets are connected to the central sprocket 101 via the chain 104. The two connecting rods 20 are respectively connected to the corresponding planetary sprockets 103. The two ends of the carrier plate 30 are respectively hinged to the two connecting rods 20. The rotation directions of the two rotary drivers 105 are arranged in opposite directions so that the planetary sprockets 103 in the two planetary sprocket devices 10 rotate in opposite directions. This drives the carrier plate 30 to move in both directions of telescopic motion through the connecting rods 20, increasing the effective stroke length, covering a larger workstation distance, and reducing the dependence on long-stroke unidirectional telescopic mechanisms. This bidirectional telescopic mechanism has a compact structure and can realize material transfer in a limited space, thereby improving the adaptability of production line layout and space utilization, making it particularly suitable for industrial scenarios with limited workspace.

[0032] In a specific example, the bidirectional telescopic mechanism is particularly suitable for loading and unloading crucibles and molds. Existing melting machines typically use a tray carrying the crucible and mold as a whole to be fed into the furnace for calcination, but this design has several problems. First, the tray leaves gaps when passing through the furnace body, causing rapid heat loss from the furnace and affecting the calcination effect. Second, the tray is usually made of metal or ceramic. Metal is prone to deformation and volatilization at high temperatures, while ceramic may become brittle due to high temperatures, bringing uncertainty and damage risks. In addition, the slide rails and belt drive mechanism for the tray to enter and exit the furnace are close to the heat source, and are affected by heat radiation, resulting in a shortened maintenance cycle for the slide rails, easy drying of lubricating oil, and accelerated material aging.

[0033] In the X-ray fluorescence sample preparation stage, sample pretreatment typically involves pressing and melting into glass slides. Melting the sample into glass slides requires techniques such as electric heating or induction heating. When using electric heating, a sealed furnace body is usually required, including the furnace chamber, furnace door, and heating elements. However, existing technologies leave partially enclosed areas on the sides of the furnace chamber for the movement of the support frame. This not only causes heat loss but also leads to localized high temperatures in the surrounding area, affecting the lifespan of surrounding components.

[0034] To address the shortcomings of existing technologies: First, when the support is heated inside the furnace, the support material is a combination of metal and ceramic. Metal is prone to volatilization at high temperatures, affecting the quality of the molten sample and causing cross-contamination. Second, existing furnace bodies are not completely sealed, resulting in heat loss. To solve these problems, a bidirectional telescopic mechanism can effectively improve the loading and unloading process of the crucible and mold. This mechanism first sends the crucible and mold into the furnace, then retracts from the furnace, closing the furnace door and achieving a sealed furnace. This design not only reduces heat loss but also effectively avoids the continuous impact of high temperatures on the support, reducing the risk of metal volatilization and cross-contamination. After the molten sample is processed, the bidirectional telescopic mechanism then retracts the crucible and mold into the furnace, achieving cold-to-cold contact through a reverse motion.

[0035] Furthermore, the foldable and bidirectional telescopic features of the bidirectional telescopic mechanism make it suitable not only for melting machines but also for material handling in confined spaces in the field of automation.

[0036] Furthermore, in the X-ray fluorescence sample preparation stage, sample pretreatment is typically achieved through pressing and melting into glass slides. Melting the sample into glass slides generally requires either electric heating or induction heating. Electric heating necessitates a sealed furnace (containing the furnace chamber, door, and heating elements). Current technology leaves a partially enclosed section on the side of the furnace chamber for the support to move, causing heat loss and localized high temperatures, affecting the lifespan of surrounding components. The support is also subjected to overall burning within the furnace chamber, leading to metal deformation and volatilization, and ceramic components becoming brittle, posing uncertainties and damage risks.

[0037] It should be further explained that this bidirectional telescopic mechanism can not only be used for crucible and mold handling in silicon carbide rod melting machines, but also for material handling in automated equipment, transferring materials from one workstation to the opposite workstation. Depending on the carrier it is mounted on, it can be used in various scenarios to achieve material transfer in confined spaces.

[0038] In some alternative embodiments, the tooth ratio of the central sprocket 101 to the planetary sprocket 103 is 2:1. That is, the number of teeth on the central sprocket 101 is twice the number of teeth on the planetary sprocket 103. In this configuration, if the planetary carrier 102 rotates by an angle θ, then the rotation angle of the connecting rod 20 is 2θ.

[0039] In some alternative embodiments, the rotary drive 105 is selected from one of the following: an electric motor, a hydraulic motor, and a pneumatic motor.

[0040] In some alternative embodiments, the rotary driver 105 is a motor, and the output of the motor is connected to a speed reducer 40. The speed reducer 40 can be, but is not limited to, a harmonic speed reducer.

[0041] In one specific embodiment, there are two motors, a left motor and a right motor. The left and right motors are respectively fixed to the mounting plate 50 via columns 80 using screw connections. The mounting plate 50 can be installed on a frame or a frame assembly in a motion mechanism, remaining stationary throughout the system. Each of the left and right motors is equipped with a reducer 40, and the output faces of the two reducers 40 are respectively fastened to the left planetary carrier 102 and the right planetary carrier by screws, together forming a synchronously rotating transmission body.

[0042] In some alternative embodiments, the central sprocket 101 is fixedly mounted on the mounting plate 50 by the fixing plate 60, that is, there is no relative motion relationship between the central sprocket 101 and the mounting plate 50.

[0043] In some alternative embodiments, a tensioning device 106 is provided between the central sprocket 101 and the planetary sprocket 103 on the chain 104. The tensioning device 106 is fixed on the mounting plate 50 and is used to tension the chain 104.

[0044] In some optional embodiments, each planetary sprocket assembly 10 further includes a first shaft 107, a second shaft 108, and a bearing housing 109; the first shaft 107 is fixedly mounted on the planetary carrier 102; the second shaft 108 is fixedly connected to the center position of the planetary sprocket 103 and can be fixed by fastening screws; the bearing housing 109 is fixedly mounted on the planetary carrier 102; wherein, the central sprocket 101 is sleeved on the first shaft 107 by a deep groove ball bearing 70, specifically, the central sprocket 101 is sleeved on the first shaft 107 by two deep groove ball bearings 70, forming a hinge point, and the axial movement of the central sprocket 101 is restricted by a retaining ring 110; the end of the second shaft 108 away from the planetary sprocket 103 is mounted in the bearing housing 109 by a deep groove ball bearing 70, forming a rotation point; the connecting rod 20 is connected to the second shaft 108.

[0045] In some optional embodiments, each connecting rod 20 includes a connecting plate 201 and a third shaft 202; one end of the connecting plate 201 is connected to the second shaft 108; the third shaft 202 is fixedly disposed at the end of the connecting plate 201 away from the second shaft 108, and the carrier plate 30 is hinged to the third shaft 202 via a deep groove ball bearing 70. The connecting plate 201 and the third shaft 202 are welded together, and one end of the connecting plate 201 has a threaded hole for fixing the connecting rod 20 to the second shaft 108 of the planetary sprocket 103 with bolts. Both ends of the carrier plate 30 are hinged to the left connecting rod 20-1 and the right connecting rod 20-2 respectively via deep groove ball bearings 70 and bearing caps 303.

[0046] The carrier plate 30 can be mounted or supported by different types of carriers 90 or brackets to meet specific working conditions. In some optional embodiments, the carrier plate 30 is provided with mounting holes 301 for mounting carriers 90 or brackets. The mounting holes 301 can be, but are not limited to, threaded holes.

[0047] The above description is merely an embodiment of this utility model. It should be noted that those skilled in the art can make improvements without departing from the inventive concept of this utility model, but these improvements all fall within the protection scope of this utility model.

Claims

1. A bidirectional telescopic mechanism consisting of a planetary chain wheel transmission, characterized in that, The utility model relates to a telescopic mechanism, including: Two oppositely arranged planetary gear device, each said planetary gear device includes center sprocket, planet carrier, planetary gear, chain and rotary driver, the rotary driver is connected with the planet carrier, the planet carrier is hinged with the center sprocket, the planetary gear is driven connection with the center sprocket through the chain; Two connecting rods are connected with the corresponding planetary gear respectively; The carrier plate is hinged with two connecting rods respectively; Wherein, the rotation direction of two rotary drivers is opposite, so that the rotation direction of planetary gear in two planetary gear devices is opposite, and then the carrier plate is driven to bidirectional telescopic motion through the connecting rod.

2. The bidirectional telescoping mechanism of claim 1, wherein, The gear ratio of the center sprocket and the planetary gear is 2:

1.

3. The bidirectional telescoping mechanism comprised of planetary chain drives of claim 1, wherein, The rotary driver is selected from one of the following: motor, hydraulic motor and pneumatic motor.

4. The bidirectional telescoping mechanism comprised of planetary chain drives of claim 1, wherein, The rotary driver is a motor, and a speed reducer is connected to the output end of the motor.

5. The bidirectional telescoping mechanism comprised of planetary chain drives of claim 1, wherein, It also includes a mounting plate, and two rotary drivers of two planetary gear devices are fixedly installed on opposite sides of the mounting plate respectively.

6. The bidirectional pantograph according to claim 5, characterized in that The center sprocket is fixedly installed on the mounting plate through a fixing plate.

7. The bidirectional pantograph according to claim 5, characterized in that The chain is provided with a tensioning device between the center sprocket and the planetary gear, and the tensioning device is fixed on the mounting plate.

8. The bidirectional telescoping mechanism comprised of planetary chain drives of claim 1, wherein, Each said planetary gear device further includes: A first shaft is fixedly arranged on the planet carrier; A second shaft is fixedly connected to the center position of the planetary gear; A bearing seat is fixedly arranged on the planet carrier; Wherein, the center sprocket is sleeved on the first shaft through a deep groove ball bearing, and the second shaft is arranged in the bearing seat through a deep groove ball bearing away from the planetary gear; The connecting rod is connected with the second shaft.

9. The bidirectional pantograph according to claim 8, characterized in that Each said connecting rod includes: A connecting plate is connected with the second shaft at one end; A third shaft is fixedly arranged on the end of the connecting plate away from the second shaft, and the carrier plate is hinged with the third shaft through a deep groove ball bearing.

10. The bidirectional telescoping mechanism comprised of planetary chain drives of claim 1, wherein, The carrier plate is provided with mounting holes for mounting carriers or supports.

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