Sliding door drive mechanism, sliding door mechanism and mobile machine

Abstract

The embodiment of the present invention discloses a sliding door driving mechanism, a sliding door mechanism and a mobile machine, wherein a connecting arm (3) is provided with a hollow first cavity (31), a transmission mechanism is at least partially provided in the first cavity (31), and a motor (1) drives a power wheel (21) to rotate and transmission is performed between the power wheel (21), a transmission assembly (23) and an output gear (22), so that the output gear (22) can move along a rack (4), thereby enabling the connecting arm (3) to drive the door body to move along a predetermined track. Therefore, the technical solution of the embodiment of the present invention integrates the transmission mechanism and the connecting arm of the sliding door, so that the structure of the sliding door driving mechanism is more concise and easy to install. At the same time, the transmission mechanism is used for stable driving and can withstand a large load.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile machinery, and in particular to a sliding door driving mechanism, a sliding door mechanism and a mobile machinery. Background Art

[0002] Sliding doors are widely used in various occasions, such as room doors, cabinet doors, car doors, etc. At present, the driving mechanism structure of conventional swing arm sliding doors is relatively complex, and the connecting arm, transmission device and other structures are separated and arranged relatively scattered, often occupying a large space, and causing the installation process to be relatively complicated, which is not conducive to improving production efficiency and reduces the user experience. Summary of the invention

[0003] In view of this, an embodiment of the present invention provides a sliding door driving mechanism, a sliding door mechanism and a mobile machine, which can simplify the structure of the sliding door mechanism, facilitate installation and ensure stable operation.

[0004] In a first aspect, an embodiment of the present invention discloses a sliding door driving mechanism, the sliding door driving mechanism comprising:

[0005] Motor;

[0006] The transmission mechanism comprises a power wheel, an output gear and a transmission assembly, wherein the power wheel is connected to the output shaft of the motor, and the transmission assembly is arranged between the power wheel and the output gear;

[0007] The connecting arm is provided with a hollow first cavity, the transmission mechanism is at least partially accommodated in the first cavity, and the first end of the connecting arm is configured to be fixedly connected to the door body;

[0008] a rack configured to be fixedly connected to the door frame; and

[0009] a limiting device, configured to prevent the output gear from being disengaged from the rack;

[0010] The motor is controlled to drive the output gear to rotate, and the output gear is driven to rotate through the transmission of the transmission assembly, so that the output gear moves along the rack, thereby driving the door body to move relative to the door frame.

[0011] Preferably, the transmission assembly includes at least one of a gear set, a chain and a sprocket, a transmission belt and a pulley, or a wire rope and a rope pulley.

[0012] Preferably, the limiting device comprises at least one limiting roller and at least one rolling surface fixedly connected to the rack, and the limiting roller is configured to move along the rolling surface.

[0013] Preferably, the rolling surface is parallel to the rack, and the rolling surface faces away from the first end of the connecting arm.

[0014] Preferably, the sliding door driving mechanism further comprises a rotating arm, the rotating arm is rotatably connected to the second end of the connecting arm, and at least one of the limiting rollers is connected to the rotating arm.

[0015] Preferably, the rack comprises a first straight segment and a first curved segment, one end of the first straight segment is fixedly connected to one end of the first curved segment along a tangent direction, and the bending direction of the first curved segment is away from the connecting arm;

[0016] The rolling surface includes a second straight line segment and a second curved segment, and the second straight line segment and the second curved segment correspond to the first straight line segment and the first curved segment, respectively.

[0017] Preferably, the sliding door driving mechanism further comprises at least one supporting roller, the rotating shaft of the limiting roller is parallel to the rotating shaft of the output gear, and the rotating shaft of the supporting roller is perpendicular to the rotating shaft of the limiting roller and the rack.

[0018] In a second aspect, an embodiment of the present invention further provides a sliding door mechanism, which includes a door body, a door frame matching the door body, and at least one sliding door driving mechanism as described in the first aspect.

[0019] In a third aspect, an embodiment of the present invention further provides a mobile machine, comprising a mobile machine body and at least one sliding door mechanism as described in the second aspect.

[0020] In the sliding door driving mechanism, sliding door mechanism and mobile machine of the embodiment of the present invention, the connecting arm is provided with a hollow first cavity, the transmission mechanism is at least partially provided in the first cavity, the motor drives the power wheel to rotate and the power wheel, the transmission assembly and the output gear are transmitted, so that the output gear can move along the rack, so that the connecting arm drives the door body to move along a predetermined trajectory. Therefore, the technical solution of the embodiment of the present invention integrates the transmission mechanism and the connecting arm of the sliding door, so that the structure of the sliding door driving mechanism is more concise and easy to install. At the same time, the transmission mechanism is used for stable driving and can withstand a large load. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0022] Figure 1 Schematic diagram of the three-dimensional structure of the sliding door driving mechanism of the first embodiment of the present invention Figure 1 ;

[0023] Figure 2 Schematic diagram of the three-dimensional structure of the sliding door driving mechanism of the first embodiment of the present invention Figure 2 ;

[0024] Figure 3 is a schematic diagram of the internal structure of the first cavity of the sliding door driving mechanism of the first embodiment of the present invention;

[0025] Figure 4 Schematic diagram of the three-dimensional structure of the sliding door driving mechanism of the first embodiment of the present invention Figure 2 A local enlarged schematic diagram of point A;

[0026] Figure 5 It is a schematic structural diagram of a rotating arm, a limiting roller and a supporting roller according to a first embodiment of the present invention;

[0027] Figure 6 is a top view of another sliding door driving mechanism according to the first embodiment of the present invention;

[0028] Figure 7 Schematic diagram of the structure of the clutch mechanism of the first embodiment of the present invention

[0029] Figure 8 1 is a top view of a sliding door mechanism according to a second embodiment of the present invention.

[0030] Description of reference numerals:

[0031] 1-motor; 21-power wheel; 22-output gear; 23-transmission assembly; 24-clutch mechanism; 241-connecting rod; 242-reset device; 25-gear; 3-connecting arm; 31-first cavity; 32-first end; 33-second end; 4-rack; 41-first straight section; 42-first curved section; 51-limiting roller; 52-rolling surface; 521-second straight section; 522-second curved section; 6-rotating arm; 7-supporting roller; 8-door body; 9-door frame. DETAILED DESCRIPTION

[0032] The present invention is described below based on embodiments, but the present invention is not limited to these embodiments. In the detailed description of the present invention below, some specific details are described in detail. It is possible for a person skilled in the art to fully understand the present invention without the description of these details. In order to avoid confusing the essence of the present invention, known methods, processes, flows, components and circuits are not described in detail.

[0033] In addition, persons of ordinary skill in the art will appreciate that the drawings provided herein are for illustration purposes and are not necessarily drawn to scale.

[0034] Unless the context clearly requires otherwise, the words "include", "comprising" and similar words throughout the application should be interpreted as including rather than exclusive or exhaustive; that is, the meaning is "including but not limited to".

[0035] In the description of the present invention, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0036] Unless otherwise clearly defined and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] When an element or layer is referred to as being "on," "engaged to," "connected to," or "coupled to" another element or layer, it may be directly on, directly engaged to, connected to, or coupled to another element or layer, or there may be intervening elements or layers. In contrast, when an element is referred to as being "directly" "on," "directly engaged to," "directly connected to," or "directly coupled to" another element or layer, there may be no intervening elements or layers. Other words used to describe the relationship between elements should be interpreted in a similar manner (e.g., "between" versus "directly between," "adjacent" versus "directly adjacent," etc.). As used herein, the term "and / or" includes any or all combinations of one or more of the associated listed items.

[0038] For ease of explanation, spatially relative terms such as "inside", "outside", "below", "below", "lower", "above", "upper", etc. are used herein to describe the relationship of one element or feature illustrated in the figures to another element or feature. It will be understood that spatially relative terms may be intended to include different orientations of the device in use or operation other than the orientation depicted in the figures. For example, if the device in the figure is turned over, an element described as being "below" or "below" other elements or features will then be positioned as being "above" the other elements or features. Thus, the example term "below" can include both the orientations of above and below. The device may be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0039] Embodiment 1:

[0040] Figure 1-2 is a three-dimensional structural schematic diagram of a sliding door driving mechanism according to an embodiment of the present invention, Figure 3Schematic diagram of the internal structure of the first cavity of the sliding door driving mechanism according to an embodiment of the present invention. Figure 1-3 As shown, the sliding door driving mechanism of this embodiment includes a motor 1, a transmission mechanism, a connecting arm 3, a rack 4 and a limiting device. The rack 4 is used to connect with the door frame, etc. The transmission mechanism includes a power wheel 21, an output gear 22 and a transmission assembly 23. The power wheel 21 is connected to the output shaft of the motor 1, the output gear 22 is meshed with the rack 4, and the transmission assembly 23 is arranged between the power wheel 21 and the output gear 22. The connecting arm 3 has a hollow first cavity 31, and the transmission mechanism is at least partially contained in the first cavity 31. The first end 32 of the connecting arm 3 is used to connect with the door body, and the second end 33 faces the rack 4. The motor 1 drives the power wheel 21 to rotate, and the power is transmitted through the path of the power wheel 21-transmission assembly 23-output gear 22, so that the output gear 22 moves along the rack 4, thereby driving the door body to move relative to the door frame. The limiting device is used to maintain the meshing state of the output gear 22 and the rack 4 to prevent the output gear 22 from being separated from the rack 4 during the operation of the driving mechanism.

[0041] Figure 4 Schematic diagram of the three-dimensional structure of the sliding door driving mechanism of the embodiment of the present invention Figure 2 A local enlarged schematic diagram of point A, Figure 5 Schematic diagram of the structure of the rotating arm, the limiting roller and the supporting roller according to an embodiment of the present invention. Figure 1-5 As shown, the limiting device may include at least one limiting roller 51 and at least one corresponding rolling surface 52, and the rolling surface 52 is fixedly connected to the rack 4. Optionally, the track of the rolling surface 52 is substantially consistent with the rack 4, and the limiting roller 51 moves along the track limited by the rolling surface 52 as the output gear 22 moves along the rack 4. One limiting roller 51 may be provided, or two or more limiting rollers 51 may be provided, and the specific number may be provided by those skilled in the art according to actual needs. Of course, those skilled in the art may also provide other forms of limiting devices, or, when the application scenario of the sliding door drive mechanism includes other devices capable of limiting, the limiting device may not be provided.

[0042] In an optional embodiment, the rolling surface 52 is substantially parallel to the rack 4 and faces away from the first end 32 of the connecting arm 3, and the limiting roller 51 contacts the rolling surface 52 and can slide along the rolling surface 52. Preferably, the rotation axis of the limiting roller 51 is substantially parallel to the axis of the output gear 22, so that the limiting roller 51 can maintain good contact with the rolling surface 52. When the output gear 22 moves along the rack 4, the limiting roller 51 also moves synchronously along the rolling surface 52. Since the rolling surface 52 is parallel to the rack 4 and faces away from the first end 32, the output gear 22 can be effectively prevented from being separated from the rack 4, so that the output gear 22 and the rack 4 can maintain good meshing during the movement.

[0043] In another optional embodiment, the sliding door drive mechanism may include two rolling surfaces 52, which are arranged opposite to each other, and the trajectories of the two rolling surfaces 52 are basically consistent with the trajectory of the rack 4. The limiting roller 51 can be arranged between the two rolling surfaces 52 and in contact with both rolling surfaces 52, thereby making the operation of the sliding door drive mechanism smoother and reducing the shaking caused by the meshing transmission between the gear and the rack 4.

[0044] One or more transmission components 23 may be provided between the output gear 22 and the power wheel 21. Generally, there may be a transmission ratio greater than 1 between the transmission component 23 and the power wheel 21 to achieve a deceleration and torque increase effect, thereby reducing the load of the motor 1 and being able to carry a larger door body weight. When the weight of the door body is large, multiple transmission components 23 may be provided to gradually decelerate through multi-stage transmission to obtain a larger load-bearing capacity.

[0045] The transmission assembly 23 may include at least one of a gear set, a chain and a sprocket, a transmission belt and a pulley, or a steel wire rope and a rope pulley, or other transmission structures suitable for transmitting force, or may be a combination of multiple transmission modes. The power wheel 21 corresponds to the transmission assembly 23. Specifically, when the transmission assembly 23 is a gear set, the power wheel 21 is a gear; when the transmission assembly 23 is a transmission belt, the power wheel 21 is a pulley; when the transmission assembly 23 is a steel wire rope, the power wheel 21 is a rope pulley; when the transmission assembly 23 is a chain, the power wheel 21 is a sprocket, and so on. When the transmission assembly 23 includes a flexible structure such as a transmission belt, a steel wire rope or a chain, the sliding door driving mechanism may further include a tensioning device.

[0046] When the transmission assembly 23 is a transmission belt, a wire rope or a chain, a pulley, a rope wheel or a sprocket wheel can be respectively provided to be coaxially fixedly connected with the motor output shaft or the output gear 22 to drive the output gear 22 to rotate.

[0047] The transmission mechanism can be completely disposed in the first cavity 31 or partially disposed in the first cavity 31, which can make the appearance of the drive mechanism neater. At the same time, the first cavity 31 can also provide a certain degree of protection for the transmission mechanism and also serve as a door support arm.

[0048] In an optional embodiment, the transmission assembly 23 is a cylindrical gear set, the power wheel 21 and the output gear 22 can both be cylindrical gears, and the rotating shafts of each gear are substantially parallel. Figure 3Of course, the power wheel 21 and a transmission assembly 23 meshing therewith can also be set as bevel gears, or two transmission assemblies 23 meshing with each other and not meshing with the power wheel 21 or the output gear 22 can be set as bevel gears, thereby enabling transmission between two vertical axes, saving space, and being suitable for situations with high loads or narrow spaces.

[0049] The rack 4 can be a straight rack, a curved rack, or a rack mixed with a straight rack and a curved rack, and can be specifically designed according to the required door running track. When the rack 4 is a straight rack, the rotating shaft of the limiting roller 51 can be fixedly connected to the connecting arm 3.

[0050] When the rack 4 is a curved rack or a rack that is a mixture of a linear rack and a curved rack, in order to enable the limiting roller 51 to move normally on the curved rack, the driving mechanism may further include a rotating arm 6. The rotating arm 6 is rotatably connected to the second end 33 of the connecting arm 3, for example, by a pin connection, a hinge or other rotatable connection method. The rotating shaft of the limiting roller 51 is fixed on the rotating arm 6. When the output gear 22 meshes with the curved rack or meshes at the connection between the curved rack and the linear rack, the rotating arm 6 will rotate with the change of the curvature of the corresponding rolling surface 52, so that the limiting roller 51 can move along a curved trajectory. When a plurality of limiting rollers 51 are provided in the driving mechanism, the same number of rotating arms 6 can be provided, and each limiting roller 51 can be connected to the corresponding rotating arm 6 respectively.

[0051] Figure 6 FIG. 2 is a top view of another sliding door driving mechanism according to an embodiment of the present invention. Figure 6 As shown, in many application scenarios of sliding doors, such as high-speed train doors, car doors, house doors, etc., a process of swinging the door outward is usually required during the process of opening the door body, so that the door body is separated from the door frame and prevents the door body from colliding with the door frame or other components during the sliding process. In order to enable the door body to swing outward smoothly, the rack 4 may include a first straight segment 41 and a first curved segment 42, one end of the first straight segment 41 is fixedly connected to one end of the first curved segment 42 along the tangent direction, and the bending direction of the first curved segment 42 is away from the first end 32 of the connecting arm 3, so that the first straight segment 41 and the first curved segment 42 can be smoothly transitioned to prevent the driving mechanism from generating large vibrations during operation. The rolling surface 52 includes a corresponding second straight segment 521 and a second curved segment 522. When the output gear 22 moves from the first curved segment 42 toward the first straight segment 41, the connecting arm 3 drives the door body connected thereto to swing toward the outside of the door frame connected to the rack 4, so that the door body can smoothly leave the door frame and swing outward. When the output gear 22 moves on the first straight section 41 in a direction away from the first curved section 42 , the connecting arm 3 drives the door body connected thereto to translate smoothly, so that the door body gradually opens.

[0052] like Figure 1-3 and Figure 6 As shown, the portion between the first end 32 and the second end 33 of the connecting arm 3 can be set to be inclined to the first straight section 41. Preferably, the inclination direction is basically consistent with the bending direction of the first curved section 42, so that the first cavity 31 can obtain a larger space to accommodate the transmission mechanism, and can make the door body have a larger opening relative to the door frame, preventing the connecting arm 3 from colliding with the door frame or other components when the door body is not fully opened and cannot continue to open.

[0053] The connecting arm 3 may be formed by a plurality of plate-like components detachably connected, or a groove-like component and a plate-like component detachably connected, so as to facilitate setting of a transmission mechanism in the first cavity 31 .

[0054] A motor bracket can be provided at the first end 32 of the connecting arm 3 , and the housing of the motor 1 is fixedly connected to the motor bracket. The output shaft of the motor 1 passes through the housing of the connecting arm 3 and enters the first cavity 31 to be connected to the central axis of the power wheel 21 .

[0055] In order to provide better support for the door body when the driving mechanism is in operation, the driving mechanism may further include a supporting roller 7. The rotating shaft of the supporting roller 7 is substantially perpendicular to the rotating shaft of the limiting roller 51 and the rack 4. The supporting roller 7 is used to contact a relatively fixed plane such as a vehicle floor and to move on the fixed plane as the output gear 22 moves along the rack 4, so as to provide better support for the driving mechanism and the door body connected thereto. The supporting roller 7 may be provided as one or more, and the specific number may be selected according to load requirements, space size, and the like. When the driving device includes a rotating arm 6, the supporting roller 7 may be provided on the rotating arm 6, such as Figure 4 and Figure 5 As shown, the output gear 22 can also work normally when moving on the curved rack 4.

[0056] In an optional implementation, the transmission mechanism may further include a clutch mechanism 24 . Figure 7 Schematic diagram of the structure of the clutch mechanism of this embodiment. Figure 7As shown, the clutch mechanism 24 can be connected to a component of the transmission assembly 23, for example, when the transmission assembly 23 is a gear set, it can be a gear 25 in the middle position. The clutch mechanism 24 can include a connecting rod 241 and a reset device 242. One end of the connecting rod 241 can be rotatably connected to the connecting arm 3, the door body, etc., for example, it can be connected to the connecting arm 3 in a hinged manner. The other end of the connecting rod 241 is rotatably connected to the rotating shaft of the gear 25. The rotating shaft of the gear 25 should not be in a straight line with the rotating shafts of the upper and lower gears, so that the gear 25 is disengaged from the meshing transmission. In an emergency, the connecting rod 241 can be toggled to stop the meshing transmission of the transmission assembly 23, so that the door body can be quickly pushed open to prevent the motor 1 from being stuck and causing danger due to violent door pushing. The reset mechanism 242 may be a spring, one end of which is connected to the connecting rod 241, and the other end of which is connected to a device such as the connecting arm 3. The spring supports the connecting rod 241 and the gear 25 connected to the connecting rod 241, so that the transmission assembly 23 maintains normal meshing transmission when no external force is applied to the clutch mechanism 24. Adding the clutch mechanism 24 can facilitate the disengagement of some components in the transmission assembly 23 when the door body needs to be opened by hand in an emergency, so as to prevent the motor 1 from stalling and getting stuck and being unable to open the door.

[0057] In the sliding door driving mechanism of the embodiment of the present invention, the connecting arm is provided with a hollow first cavity, the transmission mechanism is at least partially provided in the first cavity, and the output gear can move along the rack by the motor driving the power wheel to rotate and the transmission between the power wheel, the transmission assembly and the output gear, so that the connecting arm drives the door body to move along a predetermined trajectory. Therefore, the sliding door driving mechanism of the embodiment of the present invention integrates the transmission mechanism and the connecting arm of the sliding door, so that the structure of the sliding door driving mechanism is more concise and easy to install. At the same time, the driving by the transmission mechanism is stable and can withstand a large load.

[0058] Embodiment 2:

[0059] Figure 8 FIG. 2 is a top view of a sliding door mechanism according to an embodiment of the present invention. Figure 8 As shown, an embodiment of the present invention provides a sliding door mechanism, including a door body 8, a door frame 9 matching the door body 8, and the sliding door driving mechanism in the first embodiment. The sliding door mechanism can be applied to various scenarios such as high-speed rail doors, car doors, and house doors. Those skilled in the art can design the structure of the door body 8 and the door frame 9 according to the specific application scenario. The rack 4 of the sliding door driving mechanism is relatively fixedly connected to the door frame 9, which can be directly connected or indirectly connected through other components. For example, when the sliding door mechanism is a house door, the rack 4 and the door frame 9 can be fixedly installed on the ground respectively. Of course, the sliding door mechanism can also be set on the upper connecting arm of the door.

[0060] The first end portion 32 of the connecting arm 3 can be fixedly connected to the lower end of the door body 8 near the first curved section 42, so as to more stably support the weight of the door body 8 and enable the sliding door mechanism to have a larger opening.

[0061] Those skilled in the art may, as required, set more than one sliding door driving mechanism in the sliding door mechanism, so as to provide support and drive to the door body 8 at multiple positions, so as to make the sliding of the door body 8 more stable. For example, two sliding door driving mechanisms may be symmetrically set at the upper and lower ends of the sliding door, and the two sliding door driving mechanisms may be synchronously moved to drive the door body 8 to move.

[0062] Of course, devices with other structures can also be used to cooperate with the sliding door drive mechanism to drive the door body 8 to move along a predetermined trajectory. For example, a device similar to the sliding door drive mechanism of the embodiment of the present invention, which does not include the motor 1, the power wheel 21 and the transmission assembly 23, is provided, and is symmetrically fixedly connected to the upper and lower ends of the door body 8 with a sliding door drive structure.

[0063] Therefore, the sliding door mechanism of this embodiment has a simple structure, stable drive, stable and reliable operation, and the door body 8 can move well along a predetermined trajectory and can achieve a larger opening.

[0064] Embodiment three:

[0065] The sliding door mechanism in the second embodiment can be applied to any required field, for example, in industries such as construction and mobile machinery, that is, the sliding door mechanism can be used as a house door, a warehouse door, a car door, a high-speed rail door, a cabinet door, etc. Preferably, the sliding door mechanism is applied to the mobile machinery industry. The mobile machinery includes a mobile machinery body and a sliding door mechanism. Among them, the door frame of the sliding door mechanism is fixed to the mobile machinery body, and the opening or closing of the door of the mobile machinery is achieved by controlling the opening or closing of the door body of the sliding door mechanism.

[0066] Optionally, a plurality of sliding door mechanisms as described in the second embodiment may be provided on the mobile machine. For example, when the mobile machine is a car, two or more sliding door mechanisms may be symmetrically provided on both sides of the car.

[0067] In another optional embodiment, two sliding door mechanisms may be symmetrically arranged on one side of the mobile machine, the two door frames are connected, and the two door bodies are opened to the two sides of the door frames respectively, so that the mobile machine can have a larger door opening and a faster door opening and closing speed. At the same time, when the door body is heavy, compared with the case of a single door body, symmetrically arranging two sliding door mechanisms can reduce the load of the driving mechanism.

[0068] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A sliding door driving mechanism, characterized in that: include: Motor (1); A transmission mechanism, comprising a power wheel (21), an output gear (22) and a transmission assembly (23), wherein the power wheel (21) is connected to an output shaft of the motor (1), and the transmission assembly (23) is arranged between the power wheel (21) and the output gear (22); The connecting arm (3) is provided with a hollow first cavity (31), the transmission mechanism is at least partially accommodated in the first cavity (31), and the first end (32) of the connecting arm (3) is configured to be fixedly connected to the door body; A rack (4) configured to be fixedly connected to the door frame; and a limiting device configured to prevent the output gear (22) from being disengaged from the rack (4); The motor (1) is controlled to drive the output gear (22) to rotate, and the output gear (22) is driven to rotate by the transmission assembly (23), so that the output gear (22) moves along the rack (4), thereby driving the door body to move relative to the door frame; The transmission assembly (23) comprises a gear set, wherein the gear set comprises a plurality of first gears meshed in sequence; The rack (4) comprises a first straight segment (41), a first curved segment (42) and a third straight segment, wherein the first curved segment (42) is connected between the first straight segment (41) and the third straight segment; The connecting arm (3) comprises a groove-shaped member and a plate-shaped member, the plate-shaped member is detachably covered on the groove-shaped member to form the first cavity (31), the connecting arm (3) comprises the first end, an inclined section and a second end in the extension direction, and the inclined section is located between the first end and the second end, and a plurality of the first gears are arranged in sequence along the extension direction of the first cavity (31); The limiting device comprises at least one limiting roller (51) and at least one rolling surface (52) fixedly connected to the rack (4); the limiting roller (51) is configured to be connected to the rotating arm (6) and to move along the rolling surface (52); The rolling surface (52) is parallel to the rack (4), and the rolling surface (52) faces away from the first end (32) of the connecting arm (3); The rolling surface (52) comprises a second straight segment (521) and a second curved segment (522), wherein the second straight segment (521) and the second curved segment (522) correspond to the first straight segment (41) and the first curved segment (42) respectively; The sliding door driving mechanism further comprises a rotating arm (6), wherein the rotating arm (6) is rotatably connected to the second end portion (33); The sliding door driving mechanism further comprises at least one supporting roller (7), wherein the supporting roller (7) is arranged on the rotating arm (6), and the supporting roller (7) is used to contact with a fixed plane to support the door body; The rotation axis of the limiting roller (51) is parallel to the rotation axis of the output gear (22), and the rotation axis of the supporting roller (7) is perpendicular to the rotation axis of the limiting roller (51) and the rack (4); The first end portion (32) is connected to a position of the lower end of the door body (8) close to the first curved section (42), and the inclination direction of the inclined section is the same as the inclination direction of the third straight section.

2. The sliding door driving mechanism according to claim 1, characterized in that: The transmission assembly (23) further comprises at least one of a chain and a sprocket, a transmission belt and a pulley, or a steel wire rope and a rope pulley.

3. The sliding door driving mechanism according to claim 1, characterized in that: One end of the first straight section (41) is fixedly connected to one end of the first curved section (42) along a tangent direction, and the bending direction of the first curved section (42) is away from the connecting arm (3).

4. A sliding door mechanism, characterized in that: The sliding door mechanism comprises a door body (8), a door frame (9) matching the door body (8), and at least one sliding door driving mechanism according to any one of claims 1 to 3.

5. A mobile machine, characterized in that: The mobile machine comprises a mobile machine body and at least one sliding door mechanism according to claim 4.

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