Linear drive device and robot

Abstract

The application relates to the technical field of robots, in particular to a linear driving device and a robot, which comprise a support frame, a driving mechanism, a moving belt and a moving part; wherein the support frame is provided with a fixed rack and a sliding groove along the length direction; the moving part can move along the sliding groove while being engaged with the fixed rack; the moving belt is arranged on the moving part, and the head end and the tail end of the moving belt are connected with the driving mechanism respectively; the driving mechanism is fixedly arranged in the support frame and can drive the moving belt to be wound and unwound along the length direction of the support frame, so as to drive the moving part to reciprocate along the sliding groove. The bidirectional driving of the moving belt by the driving mechanism more flexibly realizes the reciprocating action of the moving part; the control precision is higher, the control is simpler by using a single motor, and the control is simpler; in the structure, the control under the condition of larger load can be met, and the load capacity is stronger.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a linear drive device and a robot. Background Technology

[0002] In applications such as robotic arm extension and robot lifting, the drive device can be separated from the moving parts by using a flexible drive method corresponding to the rope, thereby reducing the weight of the moving parts and enabling remote drive.

[0003] In related technologies, a fixed component is used at the end effector of the robotic arm or the robot's lifting track. A rope is wound around a fixed pulley on this component, and then pulled in the reverse direction to control the extension of the robotic arm or the climbing of the robot. However, due to varying business needs, other functional components may be required at the end effector or the robot's crawling track, making it impractical to install a fixed pulley or a remote reverse drive device at these locations. In such cases, the aforementioned solution cannot remotely drive the moving parts via reverse drive, limiting its application scenarios.

[0004] Besides the limitations of application scenarios, the rope-driven solution has many limitations, including:

[0005] 1. The pull rope has a weak load-bearing capacity and is prone to breakage;

[0006] 2. The movement direction of the moving parts is limited. They can only be controlled to move in the opposite direction by pulling a rope. For example, if the rope is pulled towards the front of the robotic arm, and the moving part is towards the rear, the moving part cannot be moved from the rear to the front of the robotic arm by pulling the rope. In other words, it is impossible to "retract the rope" to return the moving part to its initial position.

[0007] 3. Controlling movement by pulling a rope results in inaccurate and unstable movement, making it impossible to accurately control the distance traveled.

[0008] It is evident that the linear motion of existing robotic arms and robots still has room for improvement. Optimization is needed to enhance the stability of robotic arms and robots in linear motion, enable homing operations, and improve the ease of linear motion control. Therefore, a more reasonable technical solution is required to address the technical problems existing in the current technology. Summary of the Invention

[0009] To overcome at least one of the aforementioned defects, this invention proposes a linear drive device and robot, which aims to control the reciprocating motion of the moving part along a straight line by setting a motion belt structure, thereby realizing action in the linear direction, facilitating the extension and retraction control of the robotic arm, and the linear drive of the robot.

[0010] To achieve the above objectives, the linear drive device disclosed in this invention can adopt the following solution:

[0011] A linear drive device includes a support frame, a drive mechanism, a motion belt, and a motion part; wherein, the support frame is provided with a fixed rack and a slide groove along its length; the motion part is capable of moving along the slide groove while engaging with the fixed rack; the motion belt is wound around the motion part and its first and last ends are respectively connected to the drive mechanism; the drive mechanism is fixedly disposed within the support frame and is capable of driving the motion belt to wind and unwind along the length of the support frame, thereby driving the motion part to reciprocate along the slide groove.

[0012] The aforementioned linear drive device uses a drive mechanism to wind and unwind the beginning and end of the moving belt, thereby moving the belt and driving the second moving wheel to rotate. This causes the first moving wheel to rotate synchronously, and the first moving wheel travels along a fixed rack, driving the moving part forward or backward. This solution achieves precise control of the reciprocating movement of the moving part in one direction, while enabling bidirectional control with a single motor. Furthermore, the synchronous drive of the beginning and end of the moving belt is achieved through the cooperation of transmission pairs, thus improving the drive load capacity.

[0013] Furthermore, the moving part is used to cooperate with the fixed rack. Various cooperation methods can be adopted; here, we optimize and propose one feasible option: the moving part includes a first moving wheel and a second moving wheel coaxially arranged. The first moving wheel meshes with the fixed rack, and the second moving wheel cooperates with the driving belt. In this scheme, the first moving wheel cooperates with the fixed rack to achieve the sliding of the moving part, and the second moving wheel is driven by the driving belt, causing the first moving wheel to rotate.

[0014] Furthermore, the moving part moves along the fixed rack to drive the external structure. The moving part can be constructed in various forms, and its structure is not uniquely limited. Here, we optimize and propose one feasible option: the moving part further includes a moving shaft, bearing seats, and sliding protrusions. The moving shaft is used to mount the first and second moving wheels. The bearing seats are located at both ends of the moving shaft and are rotatably connected to it. The sliding protrusions are located on the bearing seats and pass through the sliding grooves. With this scheme, the sliding protrusions cooperate with the sliding grooves and slide along them.

[0015] Furthermore, both the first and second moving wheels are mounted on the motion shaft. In some designs, the first and second moving wheels are configured to rotate synchronously, while in other designs, they do not rotate synchronously.

[0016] Furthermore, the drive mechanism is used to apply driving force to the moving belt and cause the second moving wheel to rotate. This objective can be achieved using various methods, and its structure is not limited to a single one. Here, we optimize and propose one feasible option: The drive mechanism includes a drive motor, a drive shaft, a drive wheel, a driven shaft, and a driven wheel. The drive shaft and the driven shaft are rotatably mounted on the support frame, and the drive wheel and the driven wheel are fixedly mounted on the drive shaft and the driven shaft, respectively. The drive wheel and the driven wheel rotate synchronously through a transmission pair. The drive motor drives the drive shaft to rotate, and the drive shaft drives the drive wheel to rotate. The drive wheel engages with the beginning of the moving belt and drives the moving belt to wind up or unwind. Simultaneously, the driven wheel engages with the end of the moving belt and drives the moving belt to wind up or unwind. When the above scheme is adopted, the driving wheel and the driven wheel rotate synchronously, and the driving wheel and the driven wheel simultaneously apply driving force to the moving belt; when the winding driving force of the driving wheel on the moving belt is greater than the unwinding driving force of the driven wheel on the moving belt, the moving belt is gradually wound up and shortened, thereby realizing that the moving part moves closer to the driving mechanism; when the unwinding driving force of the driving wheel on the moving belt is greater than the winding driving force of the driven wheel, the moving belt is gradually unwound and lengthened, thereby realizing that the moving part moves away from the driving mechanism.

[0017] Furthermore, the transmission pair is used to transmit power from the drive shaft of the drive motor to the driven shaft. The engagement between the drive wheel and the driven wheel can be achieved through various schemes, and its structure is not uniquely limited. Here, we optimize and propose one feasible option: the transmission pair includes a drive gear mounted on the drive shaft, a driven gear mounted on the driven shaft, and a transmission gear. The transmission gear meshes with both the drive gear and the driven gear, causing them to rotate in the same direction. With this scheme, the drive gear, transmission gear, and driven gear have the same linear velocity but different angular velocities. This also achieves different winding and unwinding speeds of the belt by the drive wheel and the driven wheel, thereby enabling the belt to extend and retract, allowing the moving part to reciprocate.

[0018] Furthermore, during the winding and unwinding of the motion belt, both the beginning and end ends of the belt are wound and stored. This winding and storage can be achieved in various ways, and the structure is not limited to a single method. Here, we optimize the process and propose one feasible option: the drive mechanism further includes a winding assembly, which comprises winding wheels that respectively cooperate with the beginning and end ends of the motion belt. The winding wheels generate tension through elastic elements. With this solution, the winding assembly keeps the motion belt taut through tension. Additionally, when the beginning or end ends are unwound to their maximum length, the elastic force of the elastic elements provides cushioning, preventing damage to the winding wheels caused by the tension on the motion belt.

[0019] Furthermore, in the scheme of using a motion belt with a drive wheel and a driven wheel, various mating structures can be used to transmit driving force; it is not limited to a single one. Here, we optimize and propose one feasible option: the motion belt includes a rack belt, and the wheel faces of the drive wheel and the driven wheel are correspondingly provided with teeth. Both the drive wheel and the driven wheel engage with the motion belt through meshing. When the above scheme is adopted, the motion belt is tightly pressed against the surfaces of the drive wheel and the driven wheel due to the tension force. When the drive wheel and the driven wheel rotate, the motion belt is driven.

[0020] Furthermore, the support frame, as the load-bearing structure for the moving part and the drive mechanism, can be constructed in various forms, and its structure is not limited to a single one. Here, we optimize and propose one feasible option: the support frame includes a U-shaped groove plate, the moving part and the drive mechanism are both disposed within the groove of the U-shaped groove plate, the sliding groove is disposed on opposite sides of the U-shaped groove plate, and the fixing rack is disposed at the inner bottom of the U-shaped groove plate. When adopting the above solution, the U-shaped groove plate is integrally formed, or it is formed by the cooperation of a bottom plate and a side plate.

[0021] The above-mentioned solution discloses a linear drive device. The present invention also discloses a robot that is lighter and more flexible when performing linear reciprocating motions and can perform actions under greater loads.

[0022] A robot equipped with the linear drive device described above.

[0023] Compared with the prior art, some of the beneficial effects of the technical solution disclosed in this invention include:

[0024] This invention uses a drive mechanism to drive the motion belt bidirectionally, which more flexibly realizes the reciprocating motion of the motion part, realizes the movement of the robotic arm in a straight line, or realizes the adjustment of the robot's posture in a straight line; the control precision is higher, and the control can be realized with a single motor, making the control simpler. This structure can meet the control under greater load conditions and has a stronger load capacity. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the linear drive device.

[0027] Figure 2A schematic diagram of the linear drive device after the support frame has been removed.

[0028] Figure 3 This is a side view of a linear drive unit.

[0029] Figure 4 This is a top view of a linear drive device.

[0030] Figure 5 This is a schematic diagram of the overall structure of the drive mechanism of the linear drive unit.

[0031] Figure 6 This is an overall schematic diagram from another perspective of the drive mechanism of the linear drive device.

[0032] Figure 7 This is a top view of the drive mechanism of the linear drive unit.

[0033] Figure 8 This is a schematic diagram of the overall structure of the moving part of the linear drive device.

[0034] In the above attached figures, the meanings of each label are as follows:

[0035] 1. Support frame; 2. Drive gear; 3. Transmission gear; 4. Driven gear; 5. First moving wheel; 6. Spring box; 7. Bearing seat; 8. Second moving wheel; 9. Moving belt; 10. Fixed rack; 11. Driven wheel; 12. Drive wheel; 13. Winding wheel; 14. Drive motor; 15. Drive shaft; 16. Driven shaft; 17. Winding shaft; 18. Spring. Detailed Implementation

[0036] The following description, in conjunction with the accompanying drawings and specific embodiments, further illustrates this embodiment.

[0037] To address the shortcomings of existing linear drive structures, such as low control precision and weak load capacity, the following embodiments are optimized to overcome the deficiencies of the existing technology.

[0038] Example 1

[0039] like Figures 1-8As shown, this embodiment provides a linear drive device, including a support frame 1, a drive mechanism, a motion belt 9, and a moving part. The support frame 1 has a fixed rack 10 and a groove along its length. The moving part can move along the groove while engaging with the fixed rack 10. The motion belt 9 is wound around the moving part, and its first and last ends are respectively connected to the drive mechanism. The drive mechanism is fixedly disposed within the support frame 1 and can drive the motion belt 9 to wind and unwind along the length of the support frame 1, thereby driving the moving part to reciprocate along the groove. It should be noted that the first end refers to the end of the motion belt 9 connected to the drive mechanism and located on the upper side, and the last end refers to the end of the motion belt 9 connected to the drive mechanism and located on the lower side.

[0040] The aforementioned linear drive device uses a drive mechanism to wind and unwind the beginning and end of the moving belt 9, thereby moving the moving belt 9. This drives the second moving wheel 8 to rotate, and simultaneously rotates the first moving wheel 5. The first moving wheel 5 then travels along the fixed rack 10, driving the moving part forward or backward. This solution achieves precise control of the reciprocating movement of the moving part in one direction, while enabling bidirectional control with only a single drive motor 14. Furthermore, the synchronous drive of the beginning and end of the moving belt 9 is achieved through the cooperation of the transmission pair, thus improving the drive load capacity.

[0041] The moving part is used to cooperate with the fixed rack 10 in movement. Various methods can be used for this cooperation; this embodiment optimizes the process and adopts one feasible option: such as... Figure 2 , Figure 8 As shown, the moving part includes a first moving wheel 5 and a second moving wheel 8 coaxially arranged. The first moving wheel 5 meshes with the fixed rack 10, and the second moving wheel 8 is used for transmission with the moving belt 9. When the above scheme is adopted, the first moving wheel 5, in conjunction with the fixed rack 10, enables the sliding of the moving part, and the second moving wheel 8, in conjunction with the moving belt 9, is driven, causing the first moving wheel 5 to rotate.

[0042] Preferably, the second motion wheel 8 is provided with corresponding meshing teeth to cooperate with the motion belt 9.

[0043] The moving part moves along the fixed rack 10 to drive the external structure to move. The moving part can be constructed in various forms, and its structure is not limited to a single one. This embodiment optimizes and adopts one of the feasible options: such as Figure 1 , Figure 2 , Figure 5 , Figure 6 and Figure 7As shown, the moving part further includes a moving shaft, a bearing seat 7, and a sliding protrusion. The moving shaft is used to mount the first moving wheel 5 and the second moving wheel 8. The bearing seat 7 is disposed at both ends of the moving shaft and rotatably connected to the moving shaft. The sliding protrusion is disposed on the bearing seat 7 and passes through the sliding groove. When the above scheme is adopted, the sliding protrusion cooperates with the sliding groove and slides along the sliding groove.

[0044] Preferably, in this embodiment, two sliding grooves are respectively provided on the two side walls of the support frame 1, and two rows of sliding protrusions are correspondingly provided on the bearing seat 7, with at least two sliding protrusions in each row. The two rows of sliding protrusions correspond one-to-one with the two sliding grooves and keep the bearing seat 7 stable during sliding along the sliding grooves.

[0045] In this embodiment, the moving part is driven by the cooperation of the first moving wheel 5 and the second moving wheel 8. The two wheels have a tight cooperation structure, which can be optimized. Both the first moving wheel 5 and the second moving wheel 8 are mounted on the motion shaft. In some designs, the first moving wheel 5 and the second moving wheel 8 are configured to rotate synchronously, while in other designs, they do not rotate synchronously. It should be noted that synchronous rotation means that the first moving wheel 5 and the second moving wheel 8 have the same rotation direction and angular velocity. Asynchronous rotation means that the first moving wheel 5 and the second moving wheel 8 have the same rotation direction but different angular velocities.

[0046] The drive mechanism is used to apply driving force to the motion belt 9 and to rotate the second motion wheel 8. This can be achieved in various ways, and its structure is not limited to a single one. This embodiment optimizes and adopts one feasible option: such as... Figure 5 , Figure 6As shown, the driving mechanism includes a drive motor 14, a drive shaft 15, a drive wheel 12, a driven shaft 16, and a driven wheel 11. The two ends of the drive shaft 15 and the driven shaft 16 are rotatably mounted on the support frame 1. The drive wheel 12 and the driven wheel 11 are fixedly mounted on the drive shaft 15 and the driven shaft 16, respectively. The drive wheel 12 and the driven wheel 11 rotate synchronously through a transmission pair. The drive motor 14 drives the drive shaft 15 to rotate, and the drive shaft 15 drives the drive wheel 12 to rotate. The drive wheel 12 engages with the first end of the moving belt 9 and drives the moving belt 9 to wind up or unwind. Simultaneously, the drive wheel 12 drives the transmission pair, which drives the driven wheel 11 to rotate. The driven wheel 11 engages with the last end of the moving belt 9 and drives the moving belt 9 to wind up or unwind. In one example, corresponding through holes can be provided on both sides of the support frame 1, and the two ends of the drive shaft 15 and the driven shaft 16 are respectively rotatably disposed in the through holes, thereby realizing the rotational setting of the drive shaft 15 and the driven shaft 16 with respect to the support frame 1. Of course, the drive shaft 15 and the driven shaft 16 can also be rotatably set by fixing bearing seats on the support frame. When the above scheme is adopted, the drive wheel 12 and the driven wheel 11 rotate synchronously, and the drive wheel 12 and the driven wheel 11 simultaneously apply driving force to the moving belt 9; when the winding driving force of the drive wheel 12 on the moving belt 9 is greater than the unwinding driving force of the driven wheel 11 on the moving belt 9, the moving belt 9 is gradually wound up and shortened, thereby realizing that the moving part moves closer to the drive mechanism; when the unwinding driving force of the drive wheel 12 on the moving belt 9 is greater than the winding driving force of the driven wheel 11, the moving belt 9 is gradually unwound and lengthened, thereby realizing that the moving part moves away from the drive mechanism.

[0047] The transmission pair is used to transmit power from the drive shaft 15 of the drive motor 14 to the driven shaft 16. It engages between the drive wheel 12 and the driven wheel 11 and can be implemented in various ways; its structure is not uniquely limited. This embodiment optimizes and adopts one feasible option: the transmission pair includes a drive gear 2 mounted on the drive shaft 15, a driven gear 4 mounted on the driven shaft 16, and a transmission gear 3. The transmission gear 3 meshes with both the drive gear 2 and the driven gear 4, causing them to rotate in the same direction. With this configuration, the drive gear 2, transmission gear 3, and driven gear 4 have the same linear velocity but different angular velocities. This also allows for different winding and unwinding speeds of the drive wheel 12 and the driven wheel 11 on the moving belt 9, thereby enabling the extension and retraction of the moving belt 9 and allowing the moving part to reciprocate.

[0048] Preferably, in this embodiment, the transmission gear 3 is connected and disposed on the transmission shaft, and the transmission shaft is fixedly connected to the support frame 1.

[0049] To achieve more precise movement of the moving part, the speed difference between the drive wheel 12 and the driven wheel 11 can be preset, thereby controlling the difference in winding and unwinding speeds at both ends of the moving belt 9, and thus controlling the moving part more precisely. This embodiment optimizes and adopts one feasible option: the transmission ratio between the drive gear 2 and the driven gear 4 can be 1:2 to 1:5. For example, in one example, the transmission ratio between the drive gear 2 and the driven gear 4 can be 1:3. It should be understood that when using the above scheme, the transmission ratio can be selected according to the different diameters of the drive gear 2 and the driven gear 4.

[0050] When winding and unwinding the motion belt 9, both the beginning and end of the motion belt 9 are wound and stored. This winding and storage can be achieved in various ways, and its structure is not limited to a single method. This embodiment optimizes the process and adopts one feasible option: such as... Figure 5 , Figure 6 and Figure 7 As shown, the drive mechanism further includes a winding assembly, which includes winding wheels 13 that respectively cooperate with the first and last ends of the moving belt 9. The winding wheels 13 generate tension through elastic elements. Figure 3 As shown, the winding wheel 13 includes a pair of winding wheels 13 arranged in the vertical direction (i.e., the horizontal direction in the figure). The first end of the moving belt 9 is wound on the upper winding wheel 13, and the last end of the moving belt 9 is wound on the lower winding wheel 13. When the above scheme is adopted, the winding assembly keeps the moving belt 9 taut by tightening tension. In addition, when the first or last end is unwound to the limit length, the elastic force of the elastic element can also provide cushioning, avoiding damage to the winding wheel 13 caused by the tension on the moving belt 9.

[0051] Preferably, in this embodiment, a spring 18 is used as an elastic element, and the winding wheel 13 is disposed on the winding shaft 17. The spring 18 is coaxially disposed on the winding shaft 17 and housed in the spring box 6. When the winding wheel 13 rotates, it drives the spring 18 to twist and deform.

[0052] In the scheme of the motion belt 9 cooperating with the drive wheel 12 and the driven wheel 11, various cooperation structures can be used to transmit driving force, and it is not limited to one. This embodiment optimizes and adopts one of the feasible options: such as Figure 6 As shown, the motion belt 9 includes a rack belt, and the drive wheel 12 and the driven wheel 11 have corresponding teeth on their wheel surfaces. The drive wheel 12 and the driven wheel 11 engage with the motion belt 9 through meshing. With this configuration, the motion belt 9 is tightly pressed against the surfaces of the drive wheel 12 and the driven wheel 11 due to tension. When the drive wheel 12 and the driven wheel 11 rotate, the motion belt 9 is driven.

[0053] The support frame 1, as the load-bearing structure for the moving parts and drive mechanism, can be constructed in various forms, and its structure is not limited to a single one. This embodiment optimizes and adopts one of the feasible options: such as... Figure 1 As shown, the support frame 1 includes a U-shaped groove plate. The moving part and the driving mechanism are both disposed within the groove of the U-shaped groove plate. The sliding groove is disposed on opposite sides of the U-shaped groove plate, and the fixing rack 10 is disposed at the inner bottom of the U-shaped groove plate. When the above solution is adopted, the U-shaped groove plate is integrally formed, or it is formed by the cooperation of a bottom plate and side plates.

[0054] Following the above embodiments, the corresponding driving principle is as follows:

[0055] When the drive motor 14 drives in the positive direction, it drives the drive wheel 12 to rotate in the positive direction. The drive wheel 12 drives the moving belt 9 to retract and causes the first end of the moving belt 9 to enter the winding wheel 13 for winding. At this time, the drive gear 2 rotates synchronously with the drive wheel 12 in the positive direction, and after passing through the transmission gear 3 and the driven gear 4, it drives the driven wheel 11 to rotate in the positive direction. The tail end of the moving belt 9 is unwound outward under the drive of the driven wheel 11. Since the transmission ratio between the drive gear 2 and the driven gear 4 is 1:3, the winding speed of the drive wheel 12 is greater than the unwinding speed of the driven wheel 11, so the first moving wheel 5 moves along the fixed rack 10 toward the drive mechanism.

[0056] When the drive motor 14 drives in the negative direction, it drives the drive wheel 12 to rotate in the opposite direction, and the drive wheel 12 drives the moving belt 9 to unwind. At this time, the drive gear 2 rotates synchronously with the drive wheel 12 in the opposite direction, and after passing through the transmission gear 3 and the driven gear 4, it drives the driven wheel 11 to rotate in the opposite direction. The tail end of the moving belt 9 is wound up under the drive of the driven wheel 11. Since the transmission ratio between the drive gear 2 and the driven gear 4 is 1:3, the unwinding speed of the drive wheel 12 is greater than the winding speed of the driven wheel 11, so that the first moving wheel 5 moves away from the drive mechanism along the fixed rack 10.

[0057] By following the two motion processes described above, the moving part can be made to move back and forth in a straight line.

[0058] Example 2

[0059] The above embodiments disclose linear drive devices. This embodiment also discloses a robot that is lighter and more flexible when performing linear reciprocating motions and can perform actions under greater loads.

[0060] A robot equipped with the linear drive device described above.

[0061] The above are the embodiments listed in this example. However, this example is not limited to the optional embodiments described above. Those skilled in the art can arbitrarily combine the above methods to obtain other various embodiments. Anyone can derive other various forms of embodiments under the guidance of this example. The above specific embodiments should not be construed as limiting the scope of protection of this example. The scope of protection of this example should be defined in the claims.

Claims

1. A linear drive device, characterized in that: The device includes a support frame (1), a drive mechanism, a motion belt (9), and a motion part; wherein, the support frame (1) is provided with a fixed rack (10) and a groove along its length; the motion part meshes with the fixed rack (10) and moves along the groove; the motion belt (9) is wound around the motion part and its first and last ends are respectively connected to the drive mechanism; the drive mechanism is fixedly disposed in the support frame (1) and drives the motion belt (9) to wind and unwind along the length of the support frame (1) to drive the motion part to reciprocate along the groove; The moving part includes a first moving wheel (5) and a second moving wheel (8) arranged coaxially. The first moving wheel (5) is used to mesh with the fixed rack (10), and the second moving wheel (8) is used to drive the belt (9). The moving part also includes a moving shaft, a bearing seat (7) and a sliding protrusion. The moving shaft is used to install the first moving wheel (5) and the second moving wheel (8). The bearing seat (7) is disposed at both ends of the moving shaft and is rotatably connected to the moving shaft. The sliding protrusion is disposed on the bearing seat (7) and passes through the groove. The drive mechanism includes a drive motor (14), a drive shaft (15), a drive wheel (12), a driven shaft (16), and a driven wheel (11). The drive shaft (15) and the driven shaft (16) are rotatably mounted on the support frame (1). The drive wheel (12) and the driven wheel (11) are fixedly mounted on the drive shaft (15) and the driven shaft (16), respectively. The drive wheel (12) and the driven wheel (11) rotate synchronously in the same direction through a transmission pair. The drive motor (14) drives the drive shaft (15) to rotate. The drive shaft (15) drives the drive wheel (12) to rotate. The drive wheel (12) cooperates with the first end of the moving belt (9) and drives the moving belt (9) to wind up or unwind. At the same time, the driven wheel (11) cooperates with the tail end of the moving belt (9) and drives the moving belt (9) to wind up or unwind. The drive mechanism further includes a winding assembly, which includes a winding wheel (13) that respectively engages with the first and last ends of the motion belt (9), and the winding wheel (13) generates tension through an elastic element.

2. The linear drive device according to claim 1, characterized in that: The first motion wheel (5) rotates synchronously or asynchronously with the second motion wheel (8).

3. The linear drive device according to claim 1, characterized in that: The transmission pair includes a drive gear (2) disposed on the drive shaft (15), a driven gear (4) disposed on the driven shaft (16), and a transmission gear (3), wherein the transmission gear (3) meshes with the drive gear (2) and the driven gear (4) simultaneously so that the drive gear (2) and the driven gear (4) rotate in the same direction.

4. The linear drive device according to claim 1, characterized in that: The motion belt (9) includes a rack belt, and the wheel surfaces of the drive wheel (12) and the driven wheel (11) are respectively provided with teeth. The drive wheel (12) and the driven wheel (11) are engaged with the motion belt (9) by meshing.

5. The linear drive device according to claim 1, characterized in that: The support frame (1) includes a U-shaped groove plate. The moving part and the driving mechanism are both disposed in the groove of the U-shaped groove plate. The sliding groove is disposed on the opposite sides of the U-shaped groove plate. The fixed rack (10) is disposed at the inner bottom of the U-shaped groove plate.

6. A robot, characterized in that: It is provided with a linear drive device as described in any one of claims 1 to 5.

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