Bidirectional speed-changing super-thin telescopic mechanical hand

Abstract

The utility model discloses a kind of bidirectional speed-increasing ultra-thin telescopic manipulator, bidirectional speed-increasing ultra-thin telescopic manipulator includes first mobile platform, second mobile platform, two flexible transmission components, base and drive mechanism;First mobile platform is slidably arranged on second mobile platform, for carrying product;Second mobile platform is slidably arranged on base;One flexible transmission component one end is connected with base, and the other end extends to the second end of first mobile platform around the first end of second mobile platform;Another flexible transmission component one end is connected with base, and the other end extends to the first end of first mobile platform around the second end of second mobile platform;Drive mechanism is arranged on base, and drive mechanism is connected with second mobile platform to drive second mobile platform reciprocatingly moves.The utility model bidirectional speed-increasing ultra-thin telescopic manipulator can carry out feeding and discharging operation to the storage unit of both sides, so that ground rail handling system can work in the passageway of both sides with storage unit, effectively improve ground rail handling system utilization.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a bidirectional, high-speed, ultra-thin telescopic robotic arm. Background Technology

[0002] Automated warehousing systems are typically used for storing products and raw materials; these are general warehousing systems. In addition, warehousing systems can be combined with specific functional devices to form functional warehousing systems. For example, combining a warehousing system with aging and testing devices can form an aging test warehousing system.

[0003] The main structure of the automated warehousing system is a storage box. Inside the storage box, there are aisles running along its length. Storage units are densely arranged along the sides of the aisles, each independently storing products. An aging detection device can be installed within each storage unit, enabling it to perform aging detection. A floor-rail transport system is installed within the aisles. This system retrieves products from the loading position and delivers them to pre-set storage units, and can also retrieve products from pre-set storage units and transport them to the unloading position. The floor-rail transport system includes floor rails, a translation drive mechanism, a lifting frame, a lifting platform, a lifting drive mechanism, and a robotic arm. The lifting frame slides on the floor rails, and the translation drive mechanism moves the lifting frame along the floor rails. The lifting platform is mounted on the lifting frame, and the lifting drive mechanism drives the lifting platform to move up and down on the lifting frame. The robotic arm is mounted on the lifting platform. In some automated warehousing systems, storage units are set up on one side of the aisle inside the storage box. The ground rail transport system in the aisle loads and unloads the storage units on one side. In some automated warehousing systems with long storage times, the utilization rate of the ground rail transport system is low. Utility Model Content

[0004] In order to solve the problem of low utilization rate of ground rail transport system in existing automated warehousing systems, one of the objectives of this utility model is to provide a bidirectional double-speed ultra-thin telescopic manipulator.

[0005] One of the objectives of this utility model is achieved through the following technical solution:

[0006] A bidirectional speed-multiplying ultra-thin telescopic manipulator, comprising a first moving platform, a second moving platform, two flexible transmission components, a base, and a drive mechanism;

[0007] The first mobile platform is slidably mounted on the second mobile platform to carry the product;

[0008] The second mobile platform is slidably mounted on the base;

[0009] One of the flexible transmission components is connected to the base at one end, and the other end extends around the first end of the second moving platform to the second end of the first moving platform;

[0010] Another flexible transmission component is connected at one end to the base, and at the other end extends around the second end of the second moving platform to the first end of the first moving platform;

[0011] The drive mechanism is mounted on the base and is connected to the second mobile platform to drive the second mobile platform to reciprocate.

[0012] In some optional embodiments, the second mobile platform includes a second mobile plate and a rack, the second mobile plate being slidably disposed on the base, and the rack being disposed at the bottom of the second mobile plate;

[0013] The drive mechanism is connected to the rack to drive the rack to move.

[0014] In some optional embodiments, the drive mechanism includes two fixed plates, a plurality of drive gears, a plurality of transmission gears, and a power element;

[0015] Two fixed plates are arranged side by side with a gap between them. A plurality of drive gears are arranged in a straight line between the two fixed plates. Each drive gear protrudes from the area between the two fixed plates and meshes with the rack. Each transmission gear is arranged between two adjacent drive gears for transmitting power. The power element is connected to one of the drive gears or one of the transmission gears.

[0016] In some alternative embodiments, the flexible transmission assembly includes a fixing block, a chain, a tensioning block, a chain rod, and a nut;

[0017] The fixing block is connected to the first end of the chain, the chain rod is slidably disposed on the tensioning block, the first end of the chain rod is connected to the second end of the chain, the nut is threadedly connected to the second end of the chain rod, the nut abuts against the tensioning block for adjusting the chain rod, the fixing block is fixed to the first end of the bottom of the first moving platform, and the tensioning block is fixed on the base.

[0018] In some optional embodiments, the first mobile platform includes a first mobile plate and two sets of opposing first guide wheel mechanisms, with the two sets of first guide wheel mechanisms respectively disposed at the bottom of the first mobile plate;

[0019] The second mobile platform includes a second mobile plate and two first guide bars. The two first guide bars are disposed on both sides of the second mobile plate and are respectively in rolling cooperation with two sets of first guide wheel mechanisms.

[0020] In some optional embodiments, the first guide wheel mechanism comprises a plurality of first guide wheels and a first guide wheel fixing plate, wherein the first guide wheel fixing plate is disposed on one side of the bottom of the first movable plate, and the first guide wheels are disposed on the side of the first guide wheel fixing plate closer to the second movable platform;

[0021] The first guide bar has a first wheel groove on the side near the first guide wheel fixing plate, and the first wheel groove is fitted onto the corresponding first guide wheel.

[0022] In some optional embodiments, the first guide wheel fixing plate is provided with a plurality of first grooves, the first grooves passing through both sides of the first guide wheel fixing plate;

[0023] The first guide wheel mechanism further includes a plurality of first rolling elements, which are rotatably disposed in the first groove, and the outer circumferential surface of the first rolling elements rolls in cooperation with the first guide bar or the second moving plate.

[0024] In some optional embodiments, the base includes a base plate and two sets of opposing second guide wheel mechanisms, the two sets of second guide wheel mechanisms being arranged side by side on the base plate;

[0025] The second mobile platform includes a second mobile plate and two second guide bars. The two second guide bars are disposed at the bottom of the second mobile plate and are respectively in rolling cooperation with two sets of second guide wheel mechanisms.

[0026] In some optional embodiments, the second guide wheel mechanism comprises a plurality of second guide wheels and a second guide wheel fixing plate, the second guide wheel fixing plate being disposed on the base plate, and the second guide wheel being disposed on the side of the second guide wheel fixing plate near the second guide bar;

[0027] The second guide bar has a second wheel groove on the side near the second guide wheel fixing plate, and the second wheel groove is fitted onto the corresponding second guide wheel.

[0028] In some optional embodiments, the second guide wheel fixing plate is provided with a plurality of second grooves, the second grooves passing through both sides of the second guide wheel fixing plate;

[0029] The second guide wheel mechanism further includes a plurality of second rolling elements, which are rotatably disposed in the second groove, and the outer circumferential surface of the second rolling elements rolls in cooperation with the second guide bar or the second moving plate.

[0030] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0031] In this invention, a base is used as the foundation, and two platforms, a first moving platform and a second moving platform, are formed on the base. The second moving platform, located on the lower layer, is driven to move back and forth by a drive mechanism, while the first moving platform, located on the upper layer, is driven to move back and forth by two flexible transmission components. This forms a bidirectional, two-layer telescopic robotic arm, enabling the floor rail transport system to perform loading and unloading operations on the storage units on both sides. This allows the floor rail transport system to work in passages with storage units on both sides, effectively improving the utilization rate of the floor rail transport system. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the structure of the bidirectional speed-multiplying ultra-thin telescopic manipulator of this utility model;

[0033] Figure 2 This is an exploded side view of the bidirectional speed-multiplying ultra-thin telescopic manipulator of this utility model.

[0034] Figure 3 This is an exploded view of the bidirectional speed-multiplying ultra-thin telescopic manipulator of this utility model;

[0035] Figure 4 This is a schematic diagram of the drive mechanism in the bidirectional speed-multiplying ultra-thin telescopic manipulator of this utility model.

[0036] Explanation of reference numerals in the attached diagram:

[0037] 1. First moving platform; 11. First moving plate; 12. First guide wheel mechanism; 121. First guide wheel; 122. First guide wheel fixing plate; 123. First rolling element;

[0038] 2. Second moving platform; 21. Second moving plate; 22. Rack; 23. Sprocket; 24. First guide bar; 25. Second guide bar;

[0039] 3. Flexible transmission component; 31. Fixing block; 32. Chain; 33. Tensioning block; 34. Chain rod; 35. Nut;

[0040] 4. Base; 41. Base plate; 42. Second guide wheel mechanism; 421. Second guide wheel; 422. Second guide wheel fixing plate; 423. Second rolling element;

[0041] 5. Drive mechanism; 51. Fixed plate; 52. Drive gear; 53. Transmission gear; 54. Power element. Detailed Implementation

[0042] The following will refer to the appendices in the embodiments of this application. Figure 1 To be continued Figure 4The technical solutions in the embodiments of this application are clearly and completely described. 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 of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0043] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0044] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0045] like Figure 1-3 The illustrated bidirectional high-speed ultra-thin telescopic manipulator includes a first moving platform 1, a second moving platform 2, two flexible transmission components 3, a base 4, and a drive mechanism 5.

[0046] A first moving platform 1 is slidably mounted on a second moving platform 2 to support the product. The second moving platform 2 is slidably mounted on a base 4. One end of a flexible transmission component 3 is connected to the base 4, and the other end passes around the first end of the second moving platform 2 and extends to the second end of the first moving platform 1. Another flexible transmission component 3 is connected to the base 4, and the other end passes around the second end of the second moving platform 2 and extends to the first end of the first moving platform 1. A drive mechanism 5 is mounted on the base 4 and connected to the second moving platform 2 to drive the second moving platform 2 to reciprocate.

[0047] Two flexible transmission components 3 are divided into upper and lower sections by the second moving platform 2. When the second moving platform 2 moves, one flexible transmission component 3 is pushed by the second moving platform 2, causing its lower section to extend and its upper section to shorten. The upper section of this flexible transmission component 3 pulls the first moving platform 1 to move in the same direction. The other flexible transmission component 3 is pulled by the movement of the first moving platform 1, causing its lower section to shorten and its upper section to extend. In this way, it forms a driving or pulling force on the first moving platform 1.

[0048] In this utility model, based on the base 4, two-layer platforms, a first moving platform 1 and a second moving platform 2, are formed on the base 4. The second moving platform 2, located on the lower layer, is driven to move back and forth by the drive mechanism 5, while the first moving platform 1, located on the upper layer, is driven to move back and forth by two flexible transmission components 3. This forms a two-way, two-layer telescopic robotic arm, enabling the floor rail transport system to perform loading and unloading operations on the storage units on both sides. This allows the floor rail transport system to work in a passageway with storage units on both sides, effectively improving the utilization rate of the floor rail transport system.

[0049] In addition, one end of the flexible transmission component 3 is connected to the base 4, and the other end is connected to the first moving platform 1. That is to say, one end of the flexible transmission component 3 is fixed and the other end is movable. When the second moving platform 2 moves, it applies pressure to the flexible transmission component 3, forming a speed-multiplying effect similar to a movable pulley. That is, the first moving platform 1 has twice the moving speed relative to the second moving platform 2.

[0050] In some driving embodiments of the second mobile platform 2, such as Figure 2 , Figure 3 As shown, the second moving platform 2 includes a second moving plate 21 and a rack 22. The second moving plate 21 is slidably mounted on the base 4, and the rack 22 is mounted on the bottom of the second moving plate 21. A drive mechanism 5 is connected to the rack 22 to drive the rack 22 to move. The drive mechanism 5 drives the second moving plate 21 to move through the rack 22. Specifically, the drive mechanism 5 is provided with a drive gear 52 that meshes with the rack 22. The forward and reverse rotation of the drive mechanism 5 drives the reciprocating movement of the second moving platform 2, which in turn drives the first moving platform 1 to reciprocate through two flexible transmission components 3.

[0051] Furthermore, such as Figure 4 As shown, the drive mechanism 5 includes two fixed plates 51, several drive gears 52, several transmission gears 53, and a power element 54.

[0052] Two fixed plates 51 are arranged side by side with intervals. Several drive gears 52 are arranged in a straight line between the two fixed plates 51. Each drive gear 52 protrudes from the area between the two fixed plates 51 and meshes with the rack 22. Each transmission gear 53 is arranged between two adjacent drive gears 52 to transmit power. The power element 54 is connected to one of its drive gears 52 or one of its transmission gears 53.

[0053] In the drive mechanism 5, several drive gears 52 and several transmission gears 53 are installed on two fixed plates 51, and power is transmitted through continuous meshing, so that several drive gears 52 move synchronously. In this way, several drive gears 52 can drive rack 22 to move synchronously, so that drive gears 52 and rack 22 mesh stably, improving the movement stability of the second moving platform 2.

[0054] In some embodiments of the flexible transmission component 3, the flexible transmission component 3 may be a chain 32, a flexible steel wire, or a thin rope, etc.

[0055] In other embodiments of the flexible transmission component 3, such as Figure 2 , Figure 3 As shown, the flexible transmission assembly 3 includes a fixing block 31, a chain 32, a tensioning block 33, a chain rod 34, and a nut 35.

[0056] The fixing block 31 is connected to the first end of the chain 32. The chain rod 34 is slidably mounted on the tensioning block 33. The first end of the chain rod 34 is connected to the second end of the chain 32. The nut 35 is threadedly connected to the second end of the chain rod 34. The nut 35 abuts against the tensioning block 33 to adjust the chain rod 34. The fixing block 31 is fixed to the first end of the bottom of the first moving platform 1, and the tensioning block 33 is fixed to the base 4.

[0057] When the second mobile platform 2 moves, two chains 32 are pushed by the ends of the second mobile platform 2. One chain 32, pushed by the second mobile platform 2, extends at the lower end and shortens at the upper end, and the upper end of the chain 32 pulls the first mobile platform 1 to move in the same direction. The other chain 32, pulled by the movement of the first mobile platform 1, shortens at the lower end and extends at the upper end. In this way, it creates a driving or pulling effect on the first mobile platform 1.

[0058] Furthermore, such as Figure 2 , Figure 3 As shown, the second moving platform 2 also includes two sprockets 23, which are respectively disposed at both ends of the second moving plate 21 and located at the positions through which the two chains 32 pass. The two chains 32 pass around the two sprockets 23 respectively. The sprockets 23 on the second moving platform 2 allow the chains 32 to pass smoothly, increasing the smoothness of the chain transmission.

[0059] Of course, in this embodiment, the chain 32 can also be replaced with flexible steel wire, thin rope, transmission belt, etc., and correspondingly, the sprocket 23 can be replaced with pulley, pulley, gear, etc.

[0060] In some sliding embodiments of the first mobile platform 1, such as Figure 2 , Figure 3 As shown, the first mobile platform 1 includes a first mobile plate 11 and two sets of first guide wheel mechanisms 12 arranged opposite to each other, with the two sets of first guide wheel mechanisms 12 respectively disposed at the bottom of the first mobile plate 11.

[0061] The second mobile platform 2 includes a second mobile plate 21 and two first guide bars 24. The two first guide bars 24 are disposed on both sides of the second mobile plate 21, and the two first guide bars 24 are respectively in rolling cooperation with two sets of first guide wheel mechanisms 12.

[0062] The first movable plate 11 is rolled in cooperation with two sets of first guide wheel mechanisms 12 and two first guide bars 24 on the second movable plate 21, so that the first movable plate 11 can move on the second movable plate 21, thereby realizing the sliding cooperation between the first movable platform 1 and the second movable platform 2.

[0063] Furthermore, the width of the first moving platform 1 is greater than the width of the second moving platform 2, thus providing space on both sides of the bottom of the first moving platform 1 for mounting the first guide wheel mechanism 12. This creates a sliding and nested structure between the first and second moving platforms, reducing the thickness of both platforms and forming a bidirectional, high-speed, ultra-thin telescopic manipulator. Specifically, the width of the first moving plate 11 is greater than the width of the second moving plate 21. Two sets of first guide wheel mechanisms 12 are respectively disposed on both sides of the bottom of the first moving plate 11, and two first guide bars 24 are disposed on both sides of the bottom of the second moving plate 21.

[0064] Furthermore, receiving grooves extending along the length of the second moving plate 21 on both sides are used to receive the chain 32, thereby further reducing the thickness of the first moving platform 1 and the second moving platform 2, and reducing the vertical distance between the first moving plate 11 and the second moving plate 21.

[0065] In some embodiments of the first guide wheel mechanism 12, such as Figure 2 , Figure 3 As shown, the first guide wheel mechanism 12 includes a plurality of first guide wheels 121 and a first guide wheel fixing plate 122. The first guide wheel fixing plate 122 is disposed on one side of the bottom of the first movable plate 11, and the first guide wheels 121 are disposed on the side of the first guide wheel fixing plate 122 near the second movable platform 2. The first guide bar 24 has a first wheel groove on the side near the first guide wheel fixing plate 122, and the first wheel groove is fitted onto the corresponding first guide wheel 121.

[0066] The first guide wheel 121 is provided on the side of the first guide wheel fixing plate 122. The first guide bar 24 on the second moving platform 2 forms a rolling engagement with the first guide wheel 121 through the first wheel groove, so that the first moving plate 11 and the second moving plate 21 form a sliding engagement relationship in a rolling manner.

[0067] Furthermore, the first guide wheel fixing plate 122 is provided with a plurality of first grooves, which penetrate both sides of the first guide wheel fixing plate 122. The first guide wheel mechanism 12 also includes a plurality of first rolling elements 123, which are rotatably disposed in the first grooves. The outer circumferential surface of the first rolling element 123 rolls in cooperation with the first guide bar 24 or the second moving plate 21. The first guide wheel fixing plate 122 is provided with the first grooves, and the first rolling elements 123 are disposed in the first grooves. The outer circumferential surface of the first rolling elements 123 rolls in cooperation with the first guide bar 24 or the second moving plate 21 to avoid sliding friction between the first moving platform 1 and the second moving platform 2 and reduce the moving resistance of the first moving platform 1.

[0068] In some sliding embodiments of the second mobile platform 2, such as Figure 2 , Figure 3 As shown, the base 4 includes a base plate 41 and two sets of opposing second guide wheel mechanisms 42. The two sets of second guide wheel mechanisms 42 are arranged side by side on the base plate 41, specifically, the two sets of second guide wheel mechanisms 42 are arranged side by side on both sides of the base plate 41. The second moving platform 2 includes a second moving plate 21 and two second guide bars 25. The two second guide bars 25 are disposed at the bottom of the second moving plate 21, and the two second guide bars 25 respectively roll in cooperation with the two sets of second guide wheel mechanisms 42.

[0069] The base 4 is in rolling contact with two sets of second guide wheel mechanisms 42 and two first guide bars 24 on the second moving plate 21, so that the second moving plate 21 can move on the base 4, thereby realizing the sliding contact between the second moving platform 2 and the base 4.

[0070] In some embodiments of the second guide wheel mechanism 42, such as Figure 2 , Figure 3 As shown, the second guide wheel mechanism 42 includes several second guide wheels 421 and second guide wheel fixing plates 422. The second guide wheel fixing plates 422 are mounted on the base plate 41, and the second guide wheels 421 are located on the side of the second guide wheel fixing plates 422 near the second guide bar 25. The side of the second guide bar 25 near the second guide wheel fixing plates 422 has a second wheel groove, and the second wheel groove is fitted onto the corresponding second guide wheel 421.

[0071] The second guide wheel 421 is provided on the side of the second guide wheel fixing plate 422. The second guide bar 25 on the second moving platform 2 forms a rolling engagement with the second guide wheel 421 through the second wheel groove, so that the second moving plate 21 and the base 4 form a sliding engagement relationship in a rolling manner.

[0072] Furthermore, the second guide wheel fixing plate 422 is provided with a plurality of second grooves, which penetrate through both sides of the second guide wheel fixing plate 422.

[0073] The second guide wheel mechanism 42 also includes a plurality of second rolling elements 423, which are rotatably disposed in the second groove, and the outer circumferential surface of the second rolling element 423 rolls in cooperation with the second guide bar 25 or the second moving plate 21.

[0074] The second guide wheel fixing plate 422 is provided with the second groove, and the second rolling element 423 is provided in the second groove. The outer circumferential surface of the second rolling element 423 rolls with the second guide bar 25 or the second moving plate 21 to avoid sliding friction between the second moving platform 2 and the base 4 and reduce the moving resistance of the second moving platform 2.

[0075] For the second moving platform 2, the width of the second moving platform 2 is greater than the width of the base 4. Specifically, the width of the second moving plate 21 is greater than the width of the base plate 41, so that there is space on both sides of the second moving platform 2 to assemble two flexible transmission components 3. One end of each of the two flexible transmission components 3 is fixed to one side of the base 4, the other end of one flexible transmission component 3 is wrapped around one side of the first end of the second moving platform 2, and the other end of the other flexible transmission component 3 is wrapped around one side of the second end of the second moving platform 2.

[0076] Specifically, one sprocket 23 is located on one side of the first end of the second moving plate 21, and the other sprocket 23 is located on the other side of the second end of the second moving plate 21. Two tensioning blocks 33 are fixed to both sides of the base 4, with the other end of one chain 32 passing around one side of the first end of the second moving platform 2, and the other end of the other chain 32 passing around one side of the second end of the second moving platform 2.

[0077] The above embodiments are merely preferred embodiments of this utility model and should not be construed as limiting the scope of protection of this utility model. Any non-substantial changes and substitutions made by those skilled in the art based on this utility model shall fall within the scope of protection claimed by this utility model.

Claims

1. A bidirectional, high-speed, ultra-thin telescopic robotic arm, characterized in that, The bidirectional high-speed ultra-thin telescopic manipulator includes a first moving platform, a second moving platform, two flexible transmission components, a base, and a drive mechanism. The first mobile platform is slidably mounted on the second mobile platform to carry the product; The second mobile platform is slidably mounted on the base; One of the flexible transmission components is connected to the base at one end, and the other end extends around the first end of the second moving platform to the second end of the first moving platform; Another flexible transmission component is connected at one end to the base, and at the other end extends around the second end of the second moving platform to the first end of the first moving platform; The drive mechanism is mounted on the base and is connected to the second mobile platform to drive the second mobile platform to reciprocate.

2. The bidirectional, high-speed, ultra-thin telescopic manipulator as described in claim 1, characterized in that, The second mobile platform includes a second mobile plate and a rack, the second mobile plate being slidably disposed on the base, and the rack being disposed at the bottom of the second mobile plate; The drive mechanism is connected to the rack to drive the rack to move.

3. The bidirectional, high-speed, ultra-thin telescopic manipulator as described in claim 2, characterized in that, The drive mechanism includes two fixed plates, several drive gears, several transmission gears, and a power element; Two fixed plates are arranged side by side with a gap between them. A plurality of drive gears are arranged in a straight line between the two fixed plates. Each drive gear protrudes from the area between the two fixed plates and meshes with the rack. Each transmission gear is arranged between two adjacent drive gears for transmitting power. The power element is connected to one of the drive gears or one of the transmission gears.

4. The bidirectional, high-speed, ultra-thin telescopic manipulator as described in claim 3, characterized in that, The flexible transmission assembly includes a fixing block, a chain, a tensioning block, a chain rod, and a nut; The fixing block is connected to the first end of the chain, the chain rod is slidably disposed on the tensioning block, the first end of the chain rod is connected to the second end of the chain, the nut is threadedly connected to the second end of the chain rod, the nut abuts against the tensioning block for adjusting the chain rod, the fixing block is fixed to the first end of the bottom of the first moving platform, and the tensioning block is fixed on the base.

5. The bidirectional, high-speed, ultra-thin telescopic manipulator as described in claim 1, characterized in that, The first mobile platform includes a first mobile plate and two sets of opposing first guide wheel mechanisms, with the two sets of first guide wheel mechanisms respectively disposed at the bottom of the first mobile plate; The second mobile platform includes a second mobile plate and two first guide bars. The two first guide bars are disposed on both sides of the second mobile plate and are respectively in rolling cooperation with two sets of first guide wheel mechanisms.

6. The bidirectional, high-speed, ultra-thin telescopic manipulator as described in claim 5, characterized in that, The first guide wheel mechanism includes a plurality of first guide wheels and a first guide wheel fixing plate. The first guide wheel fixing plate is disposed on one side of the bottom of the first movable plate, and the first guide wheels are disposed on the side of the first guide wheel fixing plate closer to the second movable platform. The first guide bar has a first wheel groove on the side near the first guide wheel fixing plate, and the first wheel groove is fitted onto the corresponding first guide wheel.

7. The bidirectional, high-speed, ultra-thin telescopic manipulator as described in claim 6, characterized in that, The first guide wheel fixing plate is provided with a plurality of first grooves, and the first grooves penetrate through both sides of the first guide wheel fixing plate; The first guide wheel mechanism further includes a plurality of first rolling elements, which are rotatably disposed in the first groove, and the outer circumferential surface of the first rolling elements rolls in cooperation with the first guide bar or the second moving plate.

8. The bidirectional, high-speed, ultra-thin telescopic manipulator as described in claim 1, characterized in that, The base includes a base plate and two sets of opposing second guide wheel mechanisms, with the two sets of second guide wheel mechanisms arranged side by side on the base plate; The second mobile platform includes a second mobile plate and two second guide bars. The two second guide bars are disposed at the bottom of the second mobile plate and are respectively in rolling cooperation with two sets of second guide wheel mechanisms.

9. The bidirectional, high-speed, ultra-thin telescopic manipulator as described in claim 8, characterized in that, The second guide wheel mechanism includes several second guide wheels and second guide wheel fixing plates. The second guide wheel fixing plates are disposed on the base plate, and the second guide wheels are disposed on the side of the second guide wheel fixing plates near the second guide strip. The second guide bar has a second wheel groove on the side near the second guide wheel fixing plate, and the second wheel groove is fitted onto the corresponding second guide wheel.

10. The bidirectional, high-speed, ultra-thin telescopic manipulator as described in claim 9, characterized in that, The second guide wheel fixing plate is provided with a plurality of second grooves, the second grooves passing through both sides of the second guide wheel fixing plate; The second guide wheel mechanism further includes a plurality of second rolling elements, which are rotatably disposed in the second groove, and the outer circumferential surface of the second rolling elements rolls in cooperation with the second guide bar or the second moving plate.

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