drive mechanism

Abstract

The application discloses a driving mechanism, comprising a first motor, a second motor and a transmission mechanism, the second motor is coaxial with the first motor; the transmission mechanism is connected to the output shafts of the first motor and the second motor, and is used for connecting a driving object; wherein the first motor and the second motor are used for cooperating to drive the transmission mechanism to drive the driving object to rotate, and the first motor and the second motor are also used for cooperating to drive the transmission mechanism to drive the driving object to perform linear extension and contraction movement. Through the cooperation of the two motors, the transmission mechanism can drive the driving object to rotate and perform linear extension and contraction movement, so that the parameters required by motor driving can be reduced, errors can be reduced, the running speed of the automatic equipment can be improved, and the use cost can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation equipment, in particular to a driving mechanism. BACKGROUND

[0002] At present, the driving mechanism is the main functional component of the automation equipment, and the driving mechanism is used to provide driving force to drive the automation equipment to move.

[0003] The movement of the automation equipment usually has multiple forms, such as linear motion, rotary motion, etc. The existing driving mode usually adopts multiple driving mechanisms to independently control the various movements of the automation equipment, and the required parameters are complex, which is easy to cause errors and affect the running speed and cost of the automation equipment. SUMMARY

[0004] Therefore, the present application provides a driving mechanism.

[0005] The present application provides a driving mechanism, comprising:

[0006] a first motor;

[0007] a second motor coaxially arranged with the first motor;

[0008] a transmission mechanism connected to the output shafts of the first motor and the second motor and used to connect a driven object;

[0009] The first motor and the second motor are used to jointly drive the transmission mechanism to drive the driven object to rotate, and the first motor and the second motor are also used to jointly work to drive the transmission mechanism to drive the driven object to linearly stretch and retract.

[0010] The driving mechanism provided by the present application comprises the coaxially arranged first motor and second motor, which has compact structure and reduces the volume. The two motors jointly work to drive the transmission mechanism to drive the driven object to rotate and linearly stretch and retract, which can reduce the required parameters of the motor driving, reduce errors, improve the running speed of the automation equipment, and reduce the use cost. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0012] Figure 1 The structure schematic diagram of the driving mechanism provided by the present application for the mechanical leg of the robot.

[0013] Figure 2 A structure diagram of a driving mechanism and a driven object. Figure 1

[0014] A structure diagram of a driving mechanism and a driven object. Figure 3

[0015] A structure diagram of a driving mechanism and a driven object. Figure 4

[0016] A structure diagram of a driving mechanism and a driven object. Figure 5

[0017] A structure diagram of a driving mechanism and a driven object. Figure 6

[0018] A structure diagram of a driving mechanism and a driven object. Figure 7

[0019] A structure diagram of a driving mechanism and a driven object. Figure 8 Figure 7 A structure diagram of a driving mechanism and a driven object.

[0020] Figure 9 A structure diagram of a driving mechanism and a driven object.

[0021] Figure 10 A structure diagram of a driving mechanism and a driven object.

[0022] Figure 11 A structure diagram of a driving mechanism and a driven object.

[0023] Figure 12 A structure diagram of a driving mechanism and a driven object.

[0024] Figure 13 Figure 12 A structure diagram of a driving mechanism and a driven object.

[0025] Figure 14 A structure diagram of a driving mechanism and a driven object. Figure 12 ​​Second perspective view of the structure shown in the first transmission rope, the second transmission rope is connected with the first slider, the second slider respectively.

[0026] Figure 15 Structure diagram of the rack proposed in the embodiments of the present application.

[0027] Explanation of reference signs:

[0028] 100, driving mechanism; 10, first motor; 20, second motor; 30, transmission mechanism; 31, first transmission assembly; 311, first transmission wheel; 312, second transmission wheel; 313, first flexible transmission member; 313a, first belt; 313b, first transmission rope; 3131, first rope segment; 3132, second rope segment; 32, second transmission assembly; 321, third transmission wheel; 322, fourth transmission wheel; 323, second flexible transmission member; 323a, second belt; 323b, second transmission rope; 3231, third rope segment; 3232, fourth rope segment; 3233, baffle; 40, sliding assembly; 41, guide; 41a, guide rod; 411, first guide rod; 412, second guide rod; 42, sliding member; 42a, slider; 421, first slider; 422, second slider; 423, first limiting block; 50, positioning shaft; 51, first bearing; 52, second bearing; 60, rack; 61, base plate; 611, through hole; 62, first side plate; 621, first mounting position; 622, first wiring hole; 63, second side plate; 631, second mounting position; 632, second wiring hole; 64, limiting baffle; 70, auxiliary component; 1000, robot; 200, driven object; 210, first object; 211, blocking plate; 212, second limiting block; 220, second object; 300, machine body. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0030] It should be understood that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications will also change accordingly.

[0031] It should also be understood that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or may be connected to an intermediary element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element through an intermediary element.

[0032] The terminology used in this application specification is for the purpose of describing particular embodiments only and is not intended to limit the application. Descriptions using terms such as "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0033] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0034] Please see Figures 1-3 , Figure 9 As shown in the figure, this application embodiment proposes a drive mechanism 100, including a first motor 10, a second motor 20, and a transmission mechanism 30. The second motor 20 is coaxially arranged with the first motor 10. The transmission mechanism 30 is connected to the output shafts of the first motor 10 and the second motor 20, and is used to connect a driven object 200. The first motor 10 and the second motor 20 work together to drive the transmission mechanism 30 to rotate the driven object 200. The first motor 10 and the second motor 20 also work together to drive the transmission mechanism 30 to perform linear telescopic motion of the driven object 200.

[0035] The drive mechanism 100 proposed in this application includes a first motor 10 and a second motor 20 arranged coaxially. It has a compact structure and reduced volume. By working together with the two motors and cooperating with the drive transmission mechanism 30, the driven object 200 can be rotated and linearly extended. This can reduce the parameters required for motor drive, reduce errors, improve the operating speed of automated equipment, and reduce the cost of use.

[0036] In some use cases, the driving object 200 can be the mechanical leg, mechanical arm, or any other driving object of the robot 1000 that needs to achieve linear extension and rotation.

[0037] In some embodiments, the rotation axes of the first motor 10 and the second motor 20 are coaxial with the rotation axis of the driven object 200. In this way, the first motor 10 and the second motor 20 are arranged in parallel, so that they can jointly drive the transmission mechanism 30 to rotate and linearly extend and retract the driven object 200, thereby reducing the parameters required for motor driving, reducing errors, improving the running speed of the robot 1000, and reducing the use cost.

[0038] In some embodiments, as shown in Figure 2 、 Figures 7-12 , the driven object 200 includes a first object 210 and a second object 220; the transmission mechanism 30 includes a first transmission assembly 31, a second transmission assembly 32, and a sliding assembly 40, which is arranged between the first object 210 and the second object 220 to slidingly connect the first object 210 and the second object 220; the first transmission assembly 31 is connected to the output shaft of the first motor 10 and connected to the second object 220, and the second transmission assembly 32 is connected to the output shaft of the second motor 20 and connected to the second object 220; the first motor 10 and the second motor 20 are used to drive the first transmission assembly 31 and the second transmission assembly 32, respectively, to jointly drive the first object 210 and the second object 220 to rotate as a whole, and the first motor 10 and the second motor 20 are also used to drive the first transmission assembly 31 and the second transmission assembly 32, respectively, to jointly drive the second object 220 to move linearly along the first direction relative to the first object 210, so as to realize the linear extension and retraction of the driven object 200, and the first direction is the extension direction of the sliding assembly 40. In this way, the first object 210 and the second object 220 can slide relative to each other along the first direction by the arrangement of the sliding assembly 40, and the driving force of the first motor 10 and the second motor 20 can be transmitted to the driven object 200 by the arrangement of the first transmission assembly 31 and the second transmission assembly 32, so as to realize the linear extension and / or rotation of the driven object 200.

[0039] In some embodiments, as shown in Figure 1 and Figure 2As shown, when the driving object 200 is a mechanical leg of the robot 1000, the first object 210 is a first leg mechanism of the mechanical leg, the second object 220 is a second leg mechanism of the mechanical leg, the first leg mechanism and the second leg mechanism are connected through the sliding assembly 40 to realize sliding connection, and the first leg mechanism extends along the first direction to enable the second leg mechanism to move linearly along the first direction relative to the first leg mechanism. Through the arrangement of the driving mechanism 100, the first leg mechanism and the second leg mechanism can be driven to rotate relative to the body 300 of the robot 1000 as a whole, and the second leg mechanism can be driven to move linearly along the first direction relative to the first leg mechanism, so as to assist the robot 1000 to keep self-balancing when walking or standing, thereby facilitating self-balancing control of the robot 1000.

[0040] The relative linear motion of the second leg mechanism and the first leg mechanism realizes the extension and contraction of the mechanical leg, so that sufficient extension and contraction amount can be realized without increasing the lateral volume of the robot 1000, the activity ability of the robot 1000 in limited space is effectively improved, and through the arrangement of linear extension and contraction, the force arm of the load of the power source of the driving mechanism 100 remains constant during the extension and contraction of the mechanical leg, the control model is simplified, the accuracy and response speed of the robot 1000 are improved, and generally, the force arm of the load of the power source is short, the power consumption of the power source is low, the driving mechanism 100 drives the first leg mechanism to rotate relative to the body 200, and drives the second leg mechanism to move linearly relative to the first leg mechanism, so as to assist the robot 1000 to keep self-balancing when walking or standing, thereby facilitating self-balancing control of the robot 1000.

[0041] In addition, due to the linear extension and contraction arrangement between the first leg mechanism and the second leg mechanism, the energy efficiency of the robot 1000 at any extension and contraction position is improved, thereby reducing energy consumption.

[0042] At the same time, due to the linear extension and contraction movement mode, the force arm of the load of the power source remains unchanged during the extension and contraction of the mechanical leg, and generally, the force arm of the load of the power source is short, the power consumption of the power source is low, the load capacity is strong, and the stability is better.

[0043] It should be noted that in the prior art, the leg of the robot with a connecting rod structure changes in angle during extension and contraction, the force arm of the load of the power source changes all the time, and the control model is complex. The robot with a connecting rod structure has a certain extension and contraction amount most of the time, and the force arm is relatively short only when the extension amount of the leg is the longest or close to the longest, so the robot is relatively energy-consuming during standing, walking, and extension and contraction.

[0044] Moreover, the linear extension design makes the appearance of the robot 1000 more compact, and provides more freedom for the appearance design of the robot 1000, so that the robot 1000 can be more in line with humanization and aesthetic requirements.

[0045] In some embodiments, as shown in Figures 3-6 when the driven object 200 is a mechanical arm of the robot 1000, the first object 210 is a first arm of the mechanical arm, the second object 220 is a second arm of the mechanical arm, the first arm and the second arm are connected through the sliding assembly 40, and the first arm extends along the first direction to enable the second arm to move linearly along the first direction relative to the first arm. Through the arrangement of the driving mechanism 100, the first arm and the second arm can be driven to rotate relative to the body 300 of the robot 1000 as a whole, and the second arm can be driven to move linearly along the first direction relative to the first arm, so as to realize the rotation and linear extension of the mechanical arm, so as to facilitate the grasping or carrying of objects at different positions.

[0046] In some embodiments, as shown in Figures 9-14 The first transmission assembly 31 includes a first transmission wheel 311, a second transmission wheel 312, and a first flexible transmission member 313. The first transmission wheel 311 and the second transmission wheel 312 are arranged along the first direction and are rotatably connected to the first object 210. The first transmission wheel 311 is connected to the output shaft of the first motor 10. The first flexible transmission member 313 is connected between the first transmission wheel 311 and the second transmission wheel 312 and is used to connect the second object 220.

[0047] In some embodiments, the second transmission assembly 32 includes a third transmission wheel 321, a fourth transmission wheel 322, and a second flexible transmission member 323. The third transmission wheel 321 and the fourth transmission wheel 322 are arranged along the first direction and are rotatably connected to the first object 210. The third transmission wheel 321 is connected to the output shaft of the second motor 20. The first transmission wheel 311 and the third transmission wheel 321 are coaxially arranged. The second flexible transmission member 323 is connected between the third transmission wheel 321 and the fourth transmission wheel 322 and is used to connect the second object 220.

[0048] In operation, the first motor 10 drives the first transmission wheel 311 to rotate, thereby driving the first flexible transmission member 313 to move, at this time, the second transmission wheel 312 rotates, so that the first flexible transmission member 313 can move between the first transmission wheel 311 and the second transmission wheel 312; at the same time, the second motor 20 drives the third transmission wheel 321 to rotate, thereby driving the second flexible transmission member 323 to move, at this time, the fourth transmission wheel 322 rotates, so that the second flexible transmission member 323 can move between the third transmission wheel 321 and the fourth transmission wheel 322, thereby driving the first object 210 to rotate and / or driving the second object 220 to move linearly relative to the first object 210 through the cooperation of the first flexible transmission member 313 and the second flexible transmission member 323.

[0049] Optionally, the first flexible transmission member 313 and the second flexible transmission member 323 can be a belt, a rope or other flexible transmission member, thereby playing a buffering role, reducing the impact of the impact force directly on the motor, and increasing the durability and operation stability of the driving mechanism 100.

[0050] In some embodiments, the first motor 10 and the second motor 20 are oppositely arranged and used to be arranged on opposite sides of the first object 210, the arrangement direction of the first motor 10 and the second motor 20 is the second direction, and the second direction is arranged perpendicularly to the first direction; in the second direction, the first transmission wheel 311 and the second transmission wheel 312 are arranged on one side of the first object 210, and the third transmission wheel 321 and the fourth transmission wheel 322 are arranged on the other side of the first object 210. When the first motor 10 and the second motor 20 drive the first object 210 and the second object 220 to rotate as a whole, the first transmission wheel 311, the first flexible transmission member 313, the second transmission wheel 312, the third transmission wheel 321, the second flexible transmission member 323 and the fourth transmission wheel 322 rotate as a whole with the first object 210. By oppositely arranging the first motor 10 and the second motor 20, the first object 210 can be arranged between the first motor 10 and the second motor 20, and the first transmission assembly 31 and the second transmission assembly 32 can be arranged on the two sides of the first object 210 in the second direction, thereby realizing compact structure and reducing volume.

[0051] It should be noted that the first motor 10 and the second motor 20 are not limited to being arranged on opposite sides of the first object 210. For example, in other embodiments, the first motor 10 and the second motor 20 can also be arranged on the same side, i.e., the output shafts of the first motor 10 and the second motor 20 are oriented in the same direction, wherein the output shaft of one of them is arranged through the output shaft of the other and extends out, i.e., the output shafts of the first motor 10 and the second motor 20 are in a sleeved structure, thereby realizing coaxial arrangement of the rotation axes of the first motor 10 and the second motor 20.

[0052] In some embodiments, the driving mechanism 100 further comprises a positioning shaft 50, which is arranged between the output shafts of the first motor 10 and the second motor 20 and rotationally connected with the first transmission wheel 311 and the third transmission wheel 321; the positioning shaft 50 is used for aligning the rotation axis of the first object 210 with the rotation axes of the first motor 10 and the second motor 20. By arranging the positioning shaft 50, the output shafts of the first motor 10 and the second motor 20 can be aligned, which plays a positioning role and facilitates the connection of the first motor 10, the second motor 20 and the first object 210, so that the rotation axis of the first object 210 is coaxial with the rotation axes of the first motor 10 and the second motor 20. Meanwhile, when the driving object 200 is a mechanical leg, the arrangement of the positioning shaft 50 can also support the first motor 10 and the second motor 20, since the first motor 10 and the second motor 20 are connected with the body 300 of the robot 1000, the body 300 of the robot 1000 can be supported, thereby improving the structural stability of the robot 1000.

[0053] In some embodiments, the sliding assembly 40 comprises a guide 41 arranged on the first object 210 and a sliding piece 42 arranged on the second object 220; the guide 41 is connected with the first object 210 and extends in the first direction, and the second object 220 is slidingly connected with the guide 41 through the sliding piece 42. By arranging the guide 41 and the sliding piece 42, the linear movement of the second object 220 relative to the first object 210 in the first direction can be guided, and the position of the second object 220 in the movement can be prevented from deviating.

[0054] Of course, in other embodiments, the guide 41 can also be arranged on the second object 220, and the sliding piece 42 can be arranged on the first object 210. The first flexible transmission member 313 and the second flexible transmission member 323 are respectively connected to the two sides of the second object 220 or the guide 41. When the second object 220 moves linearly in the first direction, i.e., the second object 220 or the guide 41 moves relative to the sliding piece 42 under the driving of the first flexible member and the second flexible member, when the second object 220 rotates relative to the body 300 of the robot 1000, the first object 210, the sliding piece 42, the guide 41 and the second object 220 rotate as a whole.

[0055] In some embodiments, the sliding piece 42 can comprise a sliding block 42a, and the guide 41 can comprise a guide rod 41a; the sliding block 42a can be provided with a sliding hole for the guide rod 41a to pass through, so as to realize the sliding connection through the cooperation of the sliding block 42a and the guide rod 41a; and a ball can be arranged between the sliding block 42a and the guide rod 41a to reduce the friction therebetween.

[0056] Exemplarily, the sliding piece 42 can include a first sliding block 421 and a second sliding block 422 arranged opposite to each other in the third direction, the guide piece 41 can include a first guide rod 411 and a second guide rod 412 arranged opposite to each other in the third direction, the first sliding block 421 is slidingly connected to the first guide rod 411, the second sliding block 422 is slidingly connected to the second guide rod 412, and the first sliding block 421 and the second sliding block 422 can be connected through a first limiting block 423. Two blocking plates 211 can be arranged on the first object 210 and spaced apart in the first direction. When the driving object 200 is in the horizontal state, the two blocking plates 211 are located on the left and right sides of the first object 210, respectively. When the driving object 200 is in the vertical state, the two blocking plates 211 are located on the upper and lower sides of the first object 210, respectively. When the first sliding block 421 and the second sliding block 422 move to the limit position to the left or upward, the first limiting block 423 abuts against the blocking plate 211 located on the left side or the upper side. When the first sliding block 421 and the second sliding block 422 move to the limit position to the right or downward, the first limiting block 423 abuts against the blocking plate 211 located on the right side or the lower side, so as to limit the limit position of the second object 220 moving in the first direction, to prevent the second object 220 from moving too far and colliding with other components to cause damage to the parts. The first direction, the second direction and the third direction are arranged perpendicular to each other.

[0057] In some other embodiments, the sliding piece 42 can include a sliding block 42a, and the guide piece 41 can include a guide groove, so that the sliding block 42a and the guide groove are slidingly connected through cooperation, and a ball can also be arranged between the sliding block 42a and the guide groove to reduce the friction between the sliding block 42a and the guide groove.

[0058] In some embodiments, as shown in Figures 9-10 One end of the positioning shaft 50 can be rotatably connected to the first transmission wheel 311 through the first bearing 51, the other end of the positioning shaft 50 can be rotatably connected to the third transmission wheel 321 through the second bearing 52, and the first object 210 is connected to the positioning shaft 50, so that when the first motor 10 and the second motor 20 cooperate to drive the second object 220 to move linearly relative to the first object 210, the rotation of the first transmission wheel 311 and the third transmission wheel 321 will not affect the rotation of the positioning shaft 50. When the first motor 10 and the second motor 20 cooperate to drive the first object 210 to rotate relative to the body 300 of the robot 1000, the first flexible transmission member 313 and the second flexible transmission member 323 drive the first transmission assembly 31, the second transmission assembly 32 and the first object 210 to rotate as a whole.

[0059] Optionally, the positioning shaft 50 can be integrally connected with the first object 210 to improve the structural stability. Of course, the positioning shaft 50 can also be connected with the first object 210 separately to facilitate disassembly.

[0060] In other embodiments, the output shaft of the first motor 10 can also be extended so that the output shaft of the first motor 10 passes through the first transmission wheel 311, thereby connecting the output shaft of the first motor 10 to the positioning shaft 50 through a bearing, and / or the output shaft of the second motor 20 can be extended so that the output shaft of the second motor 20 passes through the second transmission wheel 312, thereby connecting the output shaft of the second motor 20 to the positioning shaft 50 through a bearing.

[0061] In other embodiments, the two ends of the positioning shaft 50 can be fixedly connected to the first transmission wheel 311 and the second transmission wheel 312, respectively, or the two ends of the positioning shaft 50 can be fixedly connected to the output shaft of the first motor 10 and the output shaft of the second motor 20, respectively, and the first object 210 is rotatably connected to the positioning shaft 50 through a bearing.

[0062] As shown in Figure 1 and Figure 2 When the driven object 200 is a mechanical leg of the robot 1000, the first direction is the extension direction of the first leg mechanism, and when the first leg mechanism rotates relative to the body 300, the angle between the first direction and the support surface changes. When the robot 1000 is in a normal walking state, the first leg mechanism is arranged perpendicular to the support surface, and at this time, the first direction is consistent with the height direction of the robot 1000, i.e., the direction of gravity. At this time, the second leg mechanism moves linearly along the height direction relative to the first leg mechanism under the driving of the first motor 10 and the second motor 20, and the lower end of the second leg mechanism abuts against the support surface, so that the first leg mechanism moves up and down relative to the second leg mechanism. When the robot 1000 is in a normal walking state, the second direction is the left-right direction of the robot 1000, i.e., the first motor 10 and the second motor 20 are arranged relative to each other along the left-right direction of the robot 1000, and the third direction is the front-back direction of the robot 1000, i.e., the first leg mechanism rotates relative to the body 300 along the front-back direction of the robot 1000, i.e., front-back swing.

[0063] As shown in Figures 3-6 When the driven object 200 is a mechanical arm of the robot 1000, the first direction is the extension direction of the first arm, and when the first arm rotates relative to the body 300, the angle between the first direction and the body 300 changes.

[0064] Exemplarily, as shown in Figure 3As shown, when the robot 1000 is in a normal walking state, the robotic arm can rotate to a horizontal state and swing back and forth. At this time, the first direction is the left and right direction of the robot 1000, the second direction is the up and down direction of the robot 1000, that is, the first motor 10 and the second motor 20 are set opposite each other along the up and down direction of the robot 1000, and the third direction is the back and forth direction of the robot 1000.

[0065] Of course, in other examples, such as Figure 4 As shown, when the robot 1000 is in a normal walking state, the robotic arm can also rotate to a horizontal state and swing up and down. At this time, the first direction is the left and right direction of the robot 1000, the second direction is the front and back direction of the robot 1000, that is, the first motor 10 and the second motor 20 are set opposite to each other along the front and back direction of the robot 1000, and the third direction is the up and down direction of the robot 1000.

[0066] Of course, in other examples, such as Figure 5 As shown, when the robot 1000 is in a normal walking state, the robotic arm can also rotate to a vertical state and swing back and forth. At this time, the first direction is the up and down direction of the robot 1000, the second direction is the left and right direction of the robot 1000, that is, the first motor 10 and the second motor 20 are set opposite each other along the left and right direction of the robot 1000, and the third direction is the front and back direction of the robot 1000.

[0067] Of course, in other examples, such as Figure 6 As shown, when the robot 1000 is in a normal walking state, the robotic arm can also rotate to a vertical state and swing left and right. At this time, the first direction is the up and down direction of the robot 1000, the second direction is the front and back direction of the robot 1000, that is, the first motor 10 and the second motor 20 are set opposite each other along the front and back direction of the robot 1000, and the third direction is the left and right direction of the robot 1000.

[0068] For example, when the first motor 10 and the second motor 20 are arranged opposite each other, with the motor itself as the reference frame, due to the mirror effect, if one motor rotates counterclockwise and the other motor rotates clockwise, it is considered that the two motors are rotating in the same direction. If the two motors rotate counterclockwise or clockwise at the same time, it is considered that the two motors are rotating in opposite directions.

[0069] For example, when the first motor 10 and the second motor 20 are arranged on the same side, the two motors are considered to rotate in the same direction when they rotate counterclockwise or clockwise at the same time. When one motor rotates counterclockwise and the other motor rotates clockwise, the two motors are considered to rotate in opposite directions.

[0070] In some embodiments, the first motor 10 and the second motor 20 are configured to drive the first flexible member and the second flexible member to rotate in the same direction and at the same speed, respectively, so as to drive the first object 210 and the second object 220 to rotate as a whole. Specifically, the first motor 10 and the second motor 20 rotate in the same direction, i.e., one clockwise and the other counterclockwise with respect to the motors themselves, and have the same torque, respectively, to drive the first flexible member and the second flexible member to rotate in the same direction and at the same speed, so as to make the force direction of the second object 220 in the first direction opposite and the force size the same, thereby locking the linear motion of the second object 220 in the first direction. At the same time, the torque direction of the first object 210 is the same, thereby driving the first object 210 to drive the second object 220 to rotate around the third direction relative to the machine body 300.

[0071] In some embodiments, the first motor 10 and the second motor 20 are also configured to drive the first flexible member and the second flexible member to rotate in opposite directions and at the same speed, respectively, so as to drive the second object 220 to move linearly in the first direction relative to the first object 210. Specifically, the first motor 10 and the second motor 20 rotate in opposite directions, i.e., both clockwise or counterclockwise with respect to the motors themselves, and have the same torque, respectively, to drive the first flexible member and the second flexible member to rotate in opposite directions and at the same speed, so as to make the torque direction of the first object 210 opposite and the torque size the same, thereby locking the rotational motion of the first object 210. At the same time, the force direction of the second object 220 in the first direction is the same, thereby driving the second object 220 to move linearly in the first direction relative to the first object 210.

[0072] In some embodiments, the first motor 10 and the second motor 20 are also configured to drive the first flexible member and the second flexible member to rotate in the same direction and at different speeds, respectively, so as to drive the second object 220 to move linearly in the first direction relative to the first object 210 while driving the first object 210 and the second object 220 to rotate as a whole. Specifically, the first motor 10 and the second motor 20 rotate in the same direction, i.e., one clockwise and the other counterclockwise with respect to the motors themselves, but have different torques, respectively, to drive the first flexible member and the second flexible member to rotate in the same direction and at different speeds, so as to make the force direction of the second object 220 in the first direction opposite but the force size different, thereby driving the second object 220 to move linearly in the first direction relative to the first object 210. At the same time, the torque direction of the first object 210 is the same, thereby driving the first object 210 to drive the second object 220 to rotate around the third direction relative to the machine body 300.

[0073] In some embodiments, the first motor 10 and the second motor 20 are further configured to drive the first flexible member and the second flexible member to rotate in opposite directions and at different speeds, thereby driving the first object 210 and the second object 220 to rotate as a whole, while simultaneously driving the second object 220 to move linearly relative to the first object 210 along a first direction. Specifically, the first motor 10 and the second motor 20 rotate in opposite directions, that is, the two motors rotate clockwise or counterclockwise simultaneously with different torques, using the motors themselves as a reference frame. This drives the first flexible member and the second flexible member to rotate in opposite directions and at different speeds, so that the torque on the first object 210 is opposite in direction but different in magnitude, thereby driving the first object 210 to drive the second object 220 to rotate relative to the body 300 around a third direction. At the same time, this ensures that the force on the second object 220 is in the same direction in the first direction, thereby driving the second object 220 to move linearly relative to the first object 210 along the first direction.

[0074] In some embodiments, such as Figures 7-11 As shown, the first flexible transmission component 313 includes a first belt 313a, which rotatably wraps around the first transmission wheel 311 and the second transmission wheel 312 and is used to connect with the second object 220. The second flexible transmission component 323 includes a second belt 323a, which rotatably wraps around the third transmission wheel 321 and the fourth transmission wheel 322 and is used to connect with the second object 220. The arrangement of the first belt 313a and the second belt 323a enables the rotation and linear extension / retraction of the driven object 200. This design is simple in structure, low in cost, and easy to install and maintain. Furthermore, the elasticity of the belts helps to mitigate impacts and vibrations, resulting in smooth operation, low noise during operation, and reduced impact forces directly acting on the motor and reducer, thus increasing the durability and operational stability of the drive mechanism 100. In addition, the synchronous belt transmission method reduces shearing actions and the exposure of high-speed moving parts, lowering safety risks and improving safety when used in environments such as homes.

[0075] In some embodiments, the second transmission wheel 312 and the fourth transmission wheel 322 are coaxially arranged. Exemplarily, the first transmission wheel 311 and the third transmission wheel 321 are axially symmetrical, the second transmission wheel 312 and the fourth transmission wheel 322 are axially symmetrical, and the sizes of the first transmission wheel 311 and the second transmission wheel 312 may be the same or different, and the sizes of the third transmission wheel 321 and the fourth transmission wheel 322 may be the same or different.

[0076] Exemplarily, the first transmission wheel 311, the second transmission wheel 312, the third transmission wheel 321 and the fourth transmission wheel 322 are all belt wheels, and the first belt 313a and the second belt 323a can be driven by friction between the belts and the belt wheels, or the first belt 313a and the second belt 323a can be provided with belt teeth meshing with the belt wheels, so as to drive the driven object 200 to linearly stretch and / or rotate by the meshing of the belt teeth and the tooth grooves of the belt wheels.

[0077] In some embodiments, the first belt 313a and the second belt 323a are arranged in parallel. Exemplarily, the first belt 313a and the second belt 323a can be arranged in an axial symmetry structure, that is, the first belt 313a is arranged in a ring structure after being tightly wound between the first transmission wheel 311 and the second transmission wheel 312, and the second belt 323a is arranged in a ring structure after being tightly wound between the third transmission wheel 321 and the fourth transmission wheel 322, and the sizes of the two ring structures are the same and the two ring structures are arranged oppositely, so as to drive the driven object 200 to linearly stretch and / or rotate by the transmission of the double belts.

[0078] In some embodiments, the sliding assembly 40 includes a guide 41 and a sliding piece 42, the sliding piece 42 includes a first sliding block 421 and a second sliding block 422 arranged oppositely in a third direction, and the guide 41 includes a first guide rod 411 and a second guide rod 412 arranged oppositely in the third direction; the first sliding block 421 is slidingly connected to the first guide rod 411 and connected to one side of the first belt 313a close to the first sliding block 421, and the second sliding block 422 is slidingly connected to the second guide rod 412 and connected to one side of the second belt 323a close to the second sliding block 422; the first direction, the second direction and the third direction are perpendicular to each other. Thus, by the above arrangement of the first belt 313a, the second belt 323a and the sliding piece 42, the complex structure of the existing multi-link can be replaced, the overall design of the robot 1000 is simplified, the maintenance cost and the operation difficulty are reduced, and meanwhile, the compact arrangement can allow the mechanical leg or the mechanical arm to realize sufficient linear stretching and contraction without increasing the volume of the robot 1000, effectively improving the activity ability of the robot 1000 in limited space and improving the space efficiency.

[0079] Exemplarily, the sliding member 42 is connected to the two diagonally opposite sides of the first belt 313a and the second belt 323a in the third direction, when the first motor 10 and the second motor 20 drive the first belt 313a and the second belt 323a to rotate in the same direction and at the same speed, the force directions of the two diagonally opposite sides of the first belt 313a and the second belt 323a in the first direction are opposite and the same in size, so that the linear motion of the second object 220 in the first direction is locked, and at this time, the sliding member 42 is relatively static with the guide structure. At the same time, since the motion of the first belt 313a and the second belt 323a in the first direction is limited, under the torque of the first motor 10 and the second motor 20, the first belt 313a and the second belt 323a drive the second object 220 to transmit the torque to the first object 210, so that the torque directions of the first object 210 are the same, so as to drive the first object 210 to drive the second object 220 to rotate around the third direction relative to the body 300 as a whole.

[0080] When the first motor 10 and the second motor 20 drive the first belt 313a and the second belt 323a to rotate in opposite directions and at the same speed, the force directions of the two diagonally opposite sides of the first belt 313a and the second belt 323a in the first direction are the same, so as to drive the sliding member 42 to move along the guide structure, so that the second object 220 can move linearly in the first direction relative to the first object 210.

[0081] When the first motor 10 and the second motor 20 drive the first belt 313a and the second belt 323a to rotate in opposite directions and at the same speed, the force directions of the two diagonally opposite sides of the first belt 313a and the second belt 323a in the first direction are the same, so as to drive the sliding member 42 to move along the guide structure, so that the second object 220 can move linearly in the first direction relative to the first object 210.

[0082] When the first motor 10 and the second motor 20 drive the first belt 313a and the second belt 323a to rotate in opposite directions and at the same speed, the force directions of the two diagonally opposite sides of the first belt 313a and the second belt 323a in the first direction are the same, so as to drive the sliding member 42 to move along the guide structure, so that the second object 220 can move linearly in the first direction relative to the first object 210.

[0083] In some embodiments, as Figures 12-14As shown, the first flexible transmission member 313 includes a first transmission rope 313b, the first transmission rope 313b includes a first rope segment 3131 and a second rope segment 3132, one end of the first rope segment 3131 and one end of the second rope segment 3132 are fixed to the first transmission wheel 311, and one end of at least one of the first rope segment 3131 and the second rope segment 3132 is wound around the first transmission wheel 311, the other end of the first rope segment 3131 and the other end of the second rope segment 3132 are connected and wound around the second transmission wheel 312, so that the first transmission wheel 311 can drive the first transmission rope 313b to rotate when the first transmission wheel 311 rotates, thereby causing the first rope segment 3131 and the second rope segment 3132 to move in opposite directions in the first direction, one of the first rope segment 3131 and the second rope segment 3132 is used to connect with the second object 220. Exemplarily, one end of the first rope segment 3131 and one end of the second rope segment 3132 can be spaced apart by a baffle 3233 and fixed to the first transmission wheel 311 respectively, or one end of the first rope segment 3131 and one end of the second rope segment 3132 can be connected and fixed to the first transmission wheel 311. The number of turns of the first rope segment 3131 and the second rope segment 3132 wound around the first transmission wheel 311 can be set according to the stroke of the linear motion of the second object 220, during the forward and reverse rotation of the first motor 10, with the rotation of the first transmission wheel 311, the number of turns of the first rope segment 3131 and the second rope segment 3132 wound around the first transmission wheel 311 will change correspondingly, one of the number of turns decreases and the other of the number of turns increases, which can meet the requirement that the first transmission rope 313b can normally rotate during the forward and reverse rotation of the first motor 10.

[0084] It should be noted that when the driving object 200 is stretched to the limit position or shortened to the limit position, one of the first rope segment 3131 and the second rope segment 3132 can be fixed to the first transmission wheel 311 without winding, of course, both of the rope segments can be fixed and wound around the first transmission wheel 311; when the driving object 200 is stretched or shortened, one of the two rope segments is retracted and the other is extended, and both of the rope segments are wound around the first transmission wheel 311.

[0085] In some embodiments, the second flexible transmission member 323 comprises a second transmission rope 323b, the second transmission rope 323b comprises a third rope segment 3231 and a fourth rope segment 3232, one end of the third rope segment 3231 and one end of the fourth rope segment 3232 are fixed to the third transmission wheel 321, and one end of at least one of the third rope segment 3231 and the fourth rope segment 3232 is wound around the third transmission wheel 321, the other end of the third rope segment 3231 and the other end of the fourth rope segment 3232 are connected and wound around the fourth transmission wheel 322, so that the second transmission wheel 312 can drive the second transmission rope 323b to rotate when the second transmission wheel 312 rotates, thereby causing the third rope segment 3231 and the fourth rope segment 3232 to move in opposite directions in the first direction, and one of the third rope segment 3231 and the fourth rope segment 3232 is used to connect with the second object 220. For example, one end of the third rope segment 3231 and one end of the fourth rope segment 3232 can be spaced apart by a baffle 3233 and fixed to the third transmission wheel 321, respectively, or one end of the third rope segment 3231 and one end of the fourth rope segment 3232 can be connected and fixed to the third transmission wheel 321. The number of turns of the third rope segment 3231 and the fourth rope segment 3232 wound around the third transmission wheel 321 can be set according to the stroke of the linear motion of the second object 220. During the forward and reverse rotation of the second motor 20, as the third transmission wheel 321 rotates, the number of turns of the third rope segment 3231 and the fourth rope segment 3232 wound around the third transmission wheel 321 will change correspondingly, one of the numbers of turns decreases and the other of the numbers of turns increases, which can meet the requirement that the second transmission rope 323b can normally rotate during the forward and reverse rotation of the second motor 20.

[0086] It should be noted that when the driving object 200 is stretched to the limit position or shortened to the limit position, one of the third rope segment 3231 and the fourth rope segment 3232 can be fixed to the third transmission wheel 321 without being wound, or both of the third rope segment 3231 and the fourth rope segment 3232 can be fixed and wound around the third transmission wheel 321. When the driving object 200 is stretched or shortened, one of the two rope segments is retracted and the other is extended, and both of the two rope segments are wound around the third transmission wheel 321.

[0087] By arranging the first transmission rope 313b and the second transmission rope 323b, the rotation and linear stretching of the driving object 200 can be achieved, the structure is simple, the cost, volume and maintenance cost of the transmission rope are lower, the cost is greatly reduced, the transmission rope can also alleviate the impact and vibration, the operation is stable, the noise during work is lower, the impact force directly acting on the motor and the speed reducer is reduced, and the durability and operation stability of the driving mechanism 100 are increased.

[0088] In some embodiments, the sliding assembly 40 comprises a guide 41 and a slider 42, the slider 42 comprises a first slider 421 and a second slider 422 oppositely arranged in a third direction, the guide 41 comprises a first guide rod 411 and a second guide rod 412 oppositely arranged in the third direction, the first slider 421 is slidingly connected to the first guide rod 411 and close to the first rope segment 3131, the second slider 422 is slidingly connected to the second guide rod 412 and close to the fourth rope segment 3232, the first rope segment 3131 is connected to the first slider 421, the fourth rope segment 3232 is connected to the second slider 422, and the first rope segment 3131 and the fourth rope segment 3232 are diagonally arranged, and the first direction, the second direction and the third direction are perpendicular to each other. Thus, by arranging the first transmission rope 313b, the second transmission rope 323b and the sliding part, the existing complex structure of multiple connecting rods can be replaced, the overall design of the robot 1000 is simplified, the maintenance cost and the operation difficulty are reduced, and the compact arrangement can allow the mechanical leg or the mechanical arm to realize sufficient stretching amount without increasing the volume of the robot 1000, effectively improving the activity ability of the robot 1000 in limited space and improving the space efficiency.

[0089] When the first motor 10 and the second motor 20 cooperate to drive the first transmission rope 313b and the second transmission rope 323b to rotate in the same direction and at the same speed, in opposite directions and at the same speed, in the same direction and at different speeds, or in opposite directions and at different speeds, the transmission mode of the first belt 313a and the second belt 323a is similar, which will not be described here.

[0090] In some embodiments, as shown in Figures 7-9 and Figure 15 The driving mechanism 100 further comprises a rack 60, the rack 60 comprises a base plate 61, a first side plate 62 and a second side plate 63 connected to the base plate 61; wherein the first side plate 62 and the second side plate 63 extend in a direction perpendicular to the base plate 61 and are oppositely arranged, the first side plate 62 is provided with a first mounting position 621 for mounting the first motor 10, the second side plate 63 is provided with a second mounting position 631 for mounting the second motor 20, the first mounting position 621 and the second mounting position 631 are oppositely arranged, so that the first motor 10 and the second motor 20 are coaxially arranged. By arranging the rack 60, the first motor 10 and the second motor 20 connected in parallel can be conveniently installed, thereby facilitating the improvement of the stability of the rotation of the first object 210. Moreover, by mounting the rack 60 on the body 300 of the robot 1000, the first motor 10 and the second motor 20 are oppositely mounted on the first side plate 62 and the second side plate 63, and the output shafts of the first motor 10 and the second motor 20 are coaxially arranged by the positioning shaft 50, thereby improving the structural stability.

[0091] In some embodiments, the substrate 61 is provided with a through hole 611 for mounting an auxiliary component 70 for limiting the axial movement of the first object 210 along the positioning shaft 50. Thus, the through hole 611 is formed in the substrate 61 to enable the mounting of the auxiliary component 70 and extend into the inside of the substrate 61 to guide the rotation of the first object 210 in a preset direction, thereby achieving compact structure and reducing volume. For example, when the driven object 200 is a mechanical leg of a robot 1000, the preset direction can be the front-back direction of the robot 1000 when the robot 1000 is in normal walking state, and the auxiliary component 70 is used to limit the swing of the first object 210 in the left-right direction.

[0092] In some embodiments, the first side plate 62 is provided with a first wire hole 622 for the wire of the driven object 200 to pass through so as to be electrically connected with the first motor 10.

[0093] In some embodiments, the second side plate 63 is provided with a second wire hole 632 for the wire of the driven object 200 to pass through so as to be electrically connected with the second motor 20.

[0094] In some embodiments, the frame 60 can further be provided with a limiting baffle 64, and the first object 210 is provided with a corresponding second limiting block 212. When the first object 210 rotates to a certain position, the second limiting block 212 abuts against the limiting baffle 64 to prevent the rotation of the first object 210 from causing the collision between the first object 210 and the frame 60 and resulting in the damage of the parts.

[0095] In the case of no contradiction, those skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples.

[0096] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any skilled person in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements shall be covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A drive mechanism characterized by, The utility model relates to a kind of motor drive mechanism, including: First motor; Second motor, with the first motor coaxial arrangement; Transmission mechanism, be connected to the output shaft of the first motor and the second motor, and for connecting driving object; Wherein, the first motor and the second motor are used to jointly cooperate driving transmission mechanism to drive the driving object to rotate, the first motor and the second motor are also used to jointly work cooperation driving transmission mechanism to drive the driving object to carry out linear extension and contraction movement; The rotation axis of the first motor and the second motor is used to be coaxial with the rotation axis of the driving object; The driving object includes first object and second object; The transmission mechanism includes first transmission assembly, second transmission assembly and sliding assembly, and the sliding assembly is arranged between the first object and the second object, to be used for sliding connection of the first object and the second object; The first transmission assembly is connected to the output shaft of the first motor, and is connected with the second object, and the second transmission assembly is connected to the output shaft of the second motor, and is connected with the second object; The first motor and the second motor are used to drive the first transmission assembly and the second transmission assembly respectively to jointly cooperate driving the first object and the second object to rotate as a whole, and the first motor and the second motor are also used to drive the first transmission assembly and the second transmission assembly respectively to jointly cooperate driving the second object to move linearly along first direction relative to first object, to realize the linear extension and contraction movement of the driving object, and the first direction is the extension direction of the sliding assembly.

2. The drive mechanism of claim 1, wherein, The first transmission assembly includes first transmission wheel, second transmission wheel and first flexible transmission part, and the first transmission wheel and the second transmission wheel are rotatably connected to the first object and are spaced apart along the first direction, the first transmission wheel is connected to the output shaft of the first motor, and the first flexible transmission part is connected between the first transmission wheel and the second transmission wheel and is used to be connected with the second object.

3. The drive mechanism of claim 2, wherein, The second transmission assembly includes third transmission wheel, fourth transmission wheel and second flexible transmission part, and the third transmission wheel and the fourth transmission wheel are rotatably connected to the first object and are spaced apart along the first direction, the third transmission wheel is connected to the output shaft of the second motor, and the first transmission wheel and the third transmission wheel are coaxial, and the second flexible transmission part is connected between the third transmission wheel and the fourth transmission wheel and is used to be connected with the second object.

4. The drive mechanism of claim 3, wherein, The first motor and the second motor are oppositely arranged and used to be arranged on opposite sides of the first object respectively, the arrangement direction of the first motor and the second motor is second direction, and the second direction is perpendicular to the first direction; In the second direction, the first transmission wheel and the second transmission wheel are used to be arranged on one side of the first object, and the third transmission wheel and the fourth transmission wheel are used to be arranged on the other side of the first object.

5. The drive mechanism of claim 4, wherein, The driving mechanism further comprises a positioning shaft, which is arranged between the output shafts of the first motor and the second motor and is rotationally connected with the first transmission wheel and the third transmission wheel; The positioning shaft is used for coaxially arranging the rotation axis of the first object with the rotation axes of the first motor and the second motor.

6. The drive mechanism of claim 3, wherein, The first motor and the second motor are used for driving the first flexible transmission member and the second flexible transmission member to rotate in the same direction and at the same speed, so as to drive the first object and the second object to rotate as a whole; The first motor and the second motor are further used for driving the first flexible transmission member and the second flexible transmission member to rotate in opposite directions and at the same speed, so as to drive the second object to move linearly in the first direction relative to the first object.

7. The drive mechanism of claim 3, wherein, The first motor and the second motor are further used for driving the first flexible transmission member and the second flexible transmission member to rotate in the same direction and at different speeds, so as to drive the second object to move linearly in the first direction relative to the first object while driving the first object and the second object to rotate as a whole.

8. The drive mechanism of claim 3, wherein, The first motor and the second motor are further used for driving the first flexible transmission member and the second flexible transmission member to rotate in opposite directions and at different speeds, so as to drive the second object to move linearly in the first direction relative to the first object while driving the first object and the second object to rotate as a whole.

9. The drive mechanism of claim 4, wherein, The first flexible transmission member comprises a first belt, which is rotationally arranged around the first transmission wheel and the second transmission wheel and is used for being connected with the second object, and the second flexible transmission member comprises a second belt, which is rotationally arranged around the third transmission wheel and the fourth transmission wheel and is used for being connected with the second object.

10. The drive mechanism of claim 9, wherein, The sliding assembly comprises a guide member and a sliding member, the sliding member comprises a first sliding block and a second sliding block arranged opposite to each other in a third direction, and the guide member comprises a first guide rod and a second guide rod arranged opposite to each other in the third direction; The first sliding block is slidingly connected with the first guide rod and is connected with one side of the first belt close to the first sliding block, and the second sliding block is slidingly connected with the second guide rod and is connected with one side of the second belt close to the second sliding block, and the first direction, the second direction and the third direction are perpendicular to each other in pairs.

11. The drive mechanism of claim 9, wherein, The second transmission wheel and the fourth transmission wheel are coaxially arranged; and / or the first belt and the second belt are arranged in parallel.

12. The drive mechanism of claim 4, wherein, The first flexible transmission member comprises a first transmission rope, the first transmission rope comprises a first rope segment and a second rope segment, one end of the first rope segment and one end of the second rope segment are fixed to the first transmission wheel, and one end of at least one of the first rope segment and the second rope segment is wound around the first transmission wheel, the other end of the first rope segment is connected to the other end of the second rope segment and is wound around the second transmission wheel, so that the first transmission wheel can drive the first transmission rope to rotate when the first transmission wheel rotates, thereby causing the first rope segment and the second rope segment to move in opposite directions in the first direction, one of the first rope segment and the second rope segment is used to be connected to the second object. The second flexible transmission member comprises a second transmission rope, the second transmission rope comprises a third rope segment and a fourth rope segment, one end of the third rope segment and one end of the fourth rope segment are fixed to the third transmission wheel, and one end of at least one of the third rope segment and the fourth rope segment is wound around the third transmission wheel, the other end of the third rope segment is connected to the other end of the fourth rope segment and is wound around the fourth transmission wheel, so that the second transmission wheel can drive the second transmission rope to rotate when the second transmission wheel rotates, thereby causing the third rope segment and the fourth rope segment to move in opposite directions in the first direction, one of the third rope segment and the fourth rope segment is used to be connected to the second object.

13. The drive mechanism of claim 12, wherein, The sliding assembly comprises a guide and a sliding member, the sliding member comprises a first sliding block and a second sliding block oppositely arranged in a third direction, the guide comprises a first guide rod and a second guide rod oppositely arranged in the third direction, the first sliding block is slidingly connected to the first guide rod and is close to the first rope segment, the second sliding block is slidingly connected to the second guide rod and is close to the fourth rope segment, the first rope segment is connected to the first sliding block, the fourth rope segment is connected to the second sliding block, and the first rope segment and the fourth rope segment are diagonally arranged, the first direction, the second direction and the third direction are perpendicular to each other.

14. The drive mechanism of claim 1, wherein, The driving mechanism further comprises; The rack comprises a base plate and first and second side plates connected to the base plate; The first side plate and the second side plate extend in a direction perpendicular to the base plate and are oppositely arranged, the first side plate is provided with a first mounting position for mounting the first motor, the second side plate is provided with a second mounting position for mounting the second motor, and the first mounting position and the second mounting position are oppositely arranged so that the first motor and the second motor are coaxially oppositely arranged.

15. The drive mechanism of claim 14, wherein, The base plate is provided with a through hole for mounting an auxiliary component for guiding the driving object to rotate in a predetermined direction; and / or The first side plate is provided with a first wiring hole for the lead of the driving object to pass through so as to be electrically connected with the first motor; and / or The second side plate is provided with a second wiring hole for the lead of the driving object to pass through so as to be electrically connected with the second motor.

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