Linear drive device and robot

Abstract

The present invention relates to the field of robotics technology, and in particular to a linear drive device and a robot, comprising a device body, wherein a reduction gear and a multi-stage linear transmission segment are provided on the device body, and a transmission mechanism and a synchronous belt mechanism are provided in the device body; the reduction gear can drive the transmission mechanism to rotate; the transmission mechanism can drive the synchronous belt mechanism to move forward; the synchronous belt mechanism includes a first synchronous belt mechanism and a second synchronous belt mechanism, the first synchronous belt mechanism and the second synchronous belt mechanism can extend into the multi-stage linear transmission segment and be connected to the multi-stage linear transmission segment, and can drive the multi-stage linear transmission segment to extend and retract; a supporting structure is provided in the multi-stage linear transmission segment, so that a segmented multi-stage setting is adopted in the linear part, so that it can be extended and retracted during work, thereby being stored in a very small space; by arranging the first synchronous belt mechanism and the second synchronous belt mechanism which are relatively arranged, transmission failure caused by unilateral instability can be effectively avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a linear drive device and a robot. Background Art

[0002] With the rapid development of robotics technology, robots are increasingly used in industries such as industry, healthcare, and services. In order to achieve efficient and precise motion control, the drive device has become a key component in the robotic system. At present, robot drive devices mainly include two categories: rotational drive and linear drive. Existing robots often have multiple rotational joints and translational joints. Rotational joints are mostly driven by motors and reducers, while translational joints are mostly driven by motors, gear racks or motors and ball screws. The drive of rotational joints is relatively mature, but the linear drive solution has some shortcomings.

[0003] For example, Chinese patent publication number CN107127749A discloses an articulated robot and a linear actuator thereof, which drives linear motion through a screw and a push rod. This or similar designs have the following defects:

[0004] 1. The distance of linear motion and the distance size of the structure are too large. Due to the limitations of guide rails, ball screws, and rack and pinion, the distance of motion often requires a rack or screw that is farther than the distance of motion, resulting in the structural size of the linear transmission part being too large.

[0005] 2. Unstable movement. There are transmission solutions that use drag chains to drive linear motion. However, the existence of chain links in the drag chain transmission makes the transmission unstable. There are gaps between the superimposed chain links, which affects the transmission accuracy.

[0006] 3. The structure cannot be retracted. Linear drive devices cannot be stored in a very small volume due to the rigid structure. Drag chains cannot be stored in a very small volume due to the large chain links. Summary of the Invention

[0007] In view of the above problems, the present invention provides a linear drive device and a robot.

[0008] The technical solution adopted is a linear drive device, comprising a device body, a reduction gear box provided on one side of the device body, a multi-stage linear transmission section provided on the other side of the device body, and a transmission mechanism and a synchronous belt mechanism provided in the device body;

[0009] The reduction box can drive the transmission mechanism to rotate;

[0010] The transmission mechanism can drive the synchronous belt mechanism to move forward;

[0011] The synchronous belt mechanism includes a first synchronous belt mechanism and a second synchronous belt mechanism, and the first synchronous belt mechanism and the second synchronous belt mechanism are arranged opposite to each other, and the first synchronous belt mechanism and the second synchronous belt mechanism can extend into the multi-stage linear transmission section and be connected to the multi-stage linear transmission section, and can drive the multi-stage linear transmission section to extend and retract;

[0012] A supporting structure is provided in the multi-stage linear transmission section, and the supporting structure can support the first synchronous belt mechanism and the second synchronous belt mechanism.

[0013] Optionally, the transmission mechanism includes a first synchronous pulley, a first gear, a second gear, a third gear, a second synchronous pulley and a reduction gearbox output shaft;

[0014] The reduction gearbox output shaft is connected to the power output end of the reduction gearbox;

[0015] The second gear is sleeved on the output shaft of the reduction gearbox, and the second gear is meshed with the third gear;

[0016] The third gear is meshed with the first gear;

[0017] The second synchronous pulley is coaxially connected to the third gear, and the second synchronous pulley can drive the second synchronous belt mechanism to move forward;

[0018] The first synchronous pulley is coaxially connected to the first gear, and the first synchronous pulley can drive the first synchronous belt mechanism to move forward.

[0019] Optionally, the transmission mechanism includes a first synchronous pulley, a first gear, a second gear, a third gear, a second synchronous pulley and a reduction gearbox output shaft;

[0020] The reduction gearbox output shaft is connected to the power output end of the reduction gearbox;

[0021] The second gear is sleeved on the output shaft of the reduction gearbox, and the second gear is meshed with the first gear;

[0022] The first gear is meshed with the third gear;

[0023] The second synchronous pulley is coaxially connected to the third gear, and the second synchronous pulley can drive the second synchronous belt mechanism to move forward;

[0024] The first synchronous pulley is coaxially connected to the first gear, and the first synchronous pulley can drive the first synchronous belt mechanism to move forward.

[0025] Optionally, the first gear and the third gear are symmetrically arranged in the upper and lower parts, and the number of teeth and the module of the first gear and the third gear are the same.

[0026] Optionally, the first synchronous belt mechanism includes a first synchronous belt, a first spring, a first rotating shaft and a first arc-shaped stainless steel belt;

[0027] The first curved stainless steel belt is bonded to one side of the first synchronous belt, and one end of the first curved stainless steel belt is connected to the first mainspring;

[0028] The first mainspring can drive the first rotating shaft to rotate;

[0029] The first rotating shaft and the first synchronous pulley are located on the same side of the device body;

[0030] The first synchronous belt is provided with teeth on the other side thereof, and can be engaged with the first synchronous belt pulley through the teeth;

[0031] The second synchronous belt mechanism includes a second synchronous belt, a second spring, a second rotating shaft and a second arc-shaped stainless steel belt;

[0032] The second curved stainless steel belt is bonded to one side of the second synchronous belt, and one end of the second curved stainless steel belt is connected to the second mainspring;

[0033] The second mainspring can drive the second rotating shaft to rotate;

[0034] The second rotating shaft and the second synchronous pulley are located on the same side of the device body;

[0035] The second synchronous belt is provided with belt teeth on the other side, and can be engaged with the second synchronous belt pulley through the belt teeth.

[0036] Optionally, the second rotating shaft and the first rotating shaft are symmetrically arranged, and the meshing position of the first synchronous belt and the first synchronous pulley faces the multi-stage linear transmission section;

[0037] The meshing position of the second synchronous belt and the second synchronous pulley faces the multi-stage linear transmission section.

[0038] Optionally, the other ends of the first arcuate stainless steel belt and the second arcuate stainless steel belt are connected to the end of the multi-stage linear transmission segment through a connecting terminal.

[0039] Optionally, the multi-stage linear transmission segment includes a first linear transmission segment, a second linear transmission segment, a third linear transmission segment and a fourth linear transmission segment;

[0040] The fourth linear transmission section is connected to the device body;

[0041] The third linear transmission segment can be inserted into the fourth linear transmission segment, and a third support column is provided at the end of the third linear transmission segment located within the fourth linear transmission segment;

[0042] The second linear transmission section can be inserted into the third linear transmission section, and a second support column is provided at the end of the second linear transmission section located within the third linear transmission section;

[0043] The first linear transmission segment can be inserted into the second linear transmission segment, and a first support column is provided at the end of the first linear transmission segment located within the second linear transmission segment, and the other end of the first linear transmission segment is connected to the connecting terminal;

[0044] The first synchronous belt mechanism and the second synchronous belt mechanism can both pass through the first support column, the second support column and the third support column.

[0045] Optionally, the support structure is provided on the first support column, the second support column and the third support column, and the support structure on each support column includes two support units, one support unit is used for the first synchronous belt mechanism to pass through the support column, and the other support unit is used for the second synchronous belt mechanism to pass through the support column;

[0046] Each of the support units includes a first support and a second support, which respectively support the arc-shaped stainless steel belt and the synchronous belt.

[0047] The present application also provides a robot comprising the above-mentioned linear drive device.

[0048] The benefits of the present invention include:

[0049] 1. The straight part adopts a segmented multi-level setting, so that it can be extended and retracted during work, so as to be stored in a very small space;

[0050] 2. By setting the first synchronous belt mechanism and the second synchronous belt mechanism in opposite positions, transmission failure caused by unilateral instability can be effectively avoided;

[0051] 3. Based on the design of multi-stage segmented straight segments, the entire transmission system can be accommodated in a very small space by taking advantage of the bendable characteristics of the curved stainless steel belt and the synchronous belt;

[0052] 4. Use the characteristics of the curved stainless steel belt that can withstand pressure when straightened to generate thrust, and use the characteristics of the curved stainless steel belt itself to generate tension;

[0053] 5. By setting up a two-way support structure, during the process of linear motion generating expansion and contraction, the two-way support avoids the instability of the arc-shaped stainless steel belt caused by excessive transmission distance, thereby ensuring effective transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is an axonometric drawing of a linear drive device;

[0055] Figure 2 is a cross-sectional view of a linear drive device;

[0056] Figure 3 This is a schematic diagram of the adhesion structure between the synchronous belt and the curved stainless steel belt;

[0057] Figure 4This is a cross-sectional view of the adhesion structure between the synchronous belt and the curved stainless steel belt;

[0058] Figure 5 It is a schematic diagram of the extension of the linear drive device;

[0059] Figure 6 for Figure 5 Enlarged view of area A in the middle;

[0060] Figure 7 Schematic diagram of the movement direction of each component during contraction;

[0061] Figure 8 Schematic diagram of the movement direction of each component during linear motion;

[0062] Figure 9 This is a schematic diagram of the end structure of a linear drive device.

[0063] The figure marks are: 1 is the first synchronous belt, 2 is the first spring, 3 is the first rotating shaft, 4 is the first curved stainless steel belt, 5 is the first synchronous pulley, 6 is the first gear, 7 is the second gear, 8 is the output shaft of the reduction gearbox, 9 is the third gear, 10 is the second synchronous pulley, 11 is the second curved stainless steel belt, 12 is the second rotating shaft, 13 is the second spring, 14 is the second synchronous belt, 15 is the first support, 16 is the second support, 17 is the first linear transmission section, 18 is the second linear transmission section, 19 is the belt teeth, 20 is the third linear transmission section, 21 is the fourth linear transmission section, 22 is the first support column, 23 is the second support column, 24 is the third support column, 25 is the device body, 26 is the reduction gearbox, and 27 is the connecting terminal. DETAILED DESCRIPTION

[0064] The following describes the embodiments of the present invention through specific examples. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the details in this specification may be modified or altered based on different perspectives and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features within these embodiments may be combined unless they conflict.

[0065] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components relevant to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0066] like Figures 1 to 3 and Figure 9As shown, a linear drive device and a robot include a device body 25, a reduction gearbox 26 is provided on one side of the device body 25, and a multi-stage linear transmission section is provided on the other side of the device body 25, and a transmission mechanism and a synchronous belt mechanism are provided in the device body 25;

[0067] The reduction box 26 can drive the transmission mechanism to rotate;

[0068] The transmission mechanism can drive the synchronous belt mechanism to move forward;

[0069] The synchronous belt mechanism includes a first synchronous belt mechanism and a second synchronous belt mechanism, and the first synchronous belt mechanism and the second synchronous belt mechanism are arranged opposite to each other, and the first synchronous belt mechanism and the second synchronous belt mechanism can extend into the multi-stage linear transmission section and be connected to the multi-stage linear transmission section, and can drive the multi-stage linear transmission section to extend and retract;

[0070] A supporting structure is provided in the multi-stage linear transmission section, and the supporting structure can support the first synchronous belt mechanism and the second synchronous belt mechanism.

[0071] The purpose of this design is to adopt a segmented multi-level setting in the straight part, so that it can be extended and retracted during work, thereby being stored in a very small space; by arranging the first synchronous belt mechanism and the second synchronous belt mechanism in a relatively arranged manner, transmission failure caused by unilateral instability can be effectively avoided.

[0072] In this embodiment, a specific structure of a transmission mechanism is provided, which includes a first synchronous pulley 5, a first gear 6, a second gear 7, a third gear 9, a second synchronous pulley 10 and a reduction gearbox output shaft 8;

[0073] The reduction gearbox output shaft 8 is connected to the power output end of the reduction gearbox 26;

[0074] The second gear 7 is sleeved on the reduction gear output shaft 8, and the second gear 7 is meshed with the third gear 9;

[0075] The third gear 9 is meshed with the first gear 6;

[0076] The second synchronous pulley 10 is coaxially connected to the third gear 9, and the second synchronous pulley 10 can drive the second synchronous belt mechanism to move;

[0077] The first synchronous pulley 5 is coaxially connected to the first gear 6 , and the first synchronous pulley 5 can drive the first synchronous belt mechanism to move forward.

[0078] In this embodiment, another specific structure of a transmission mechanism is provided, which includes a first synchronous pulley 5, a first gear 6, a second gear 7, a third gear 9, a second synchronous pulley 10 and a reduction gearbox output shaft 8;

[0079] The reduction gearbox output shaft 8 is connected to the power output end of the reduction gearbox 26;

[0080] The second gear 7 is sleeved on the output shaft 8 of the reduction gearbox, and the second gear 7 is meshed with the first gear 6;

[0081] The first gear 6 is meshed with the third gear 9;

[0082] The second synchronous pulley 10 is coaxially connected to the third gear 9, and the second synchronous pulley 10 can drive the second synchronous belt mechanism to move;

[0083] The first synchronous pulley 5 is coaxially connected to the first gear 6 , and the first synchronous pulley 5 can drive the first synchronous belt mechanism to move forward.

[0084] It should be pointed out that the principles of the two transmission mechanisms are the same, but the difference is the synchronous pulley driven by the output shaft of the reduction gearbox.

[0085] In this embodiment, the first synchronous belt mechanism includes a first synchronous belt 1, a first spring 2, a first rotating shaft 3 and a first arc-shaped stainless steel belt 4;

[0086] The first curved stainless steel belt 4 is bonded to one side of the first synchronous belt 1, and one end of the first curved stainless steel belt 4 is connected to the first clockwork spring 2;

[0087] The first mainspring 2 can drive the first rotating shaft 3 to rotate;

[0088] The first rotating shaft 3 and the first synchronous pulley 5 are located on the same side of the device body 25;

[0089] The first synchronous belt 1 is provided with teeth 19 on the other side thereof, and can mesh with the first synchronous pulley 5 through the teeth 19;

[0090] The second synchronous belt mechanism includes a second synchronous belt 14, a second spring 13, a second rotating shaft 12 and a second arc-shaped stainless steel belt 11;

[0091] The second curved stainless steel belt 11 is bonded to one side of the second synchronous belt 14, and one end of the second curved stainless steel belt 11 is connected to the second spring 13;

[0092] The second mainspring 13 can drive the second rotating shaft 12 to rotate;

[0093] The second rotating shaft 12 and the second synchronous pulley 10 are located on the same side of the device body 25;

[0094] The second synchronous belt 14 is provided with belt teeth 19 on the other side thereof, and can mesh with the second synchronous pulley 10 through the belt teeth 19 .

[0095] The second rotating shaft 12 is symmetrically arranged with the first rotating shaft 3, and the meshing position of the first synchronous belt 1 and the first synchronous pulley 5 faces the multi-stage linear transmission section;

[0096] The meshing position of the second synchronous belt 14 and the second synchronous pulley 10 faces the multi-stage linear transmission section.

[0097] It should be noted that, since the entire device is linearly driven, the parts of the first synchronous belt and the second synchronous belt located in the multi-stage linear transmission section are symmetrical and extend linearly.

[0098] The purpose of this design is to accommodate the entire transmission system into a very small space based on the design of multi-stage segmented straight segments, by taking advantage of the bendable characteristics of the curved stainless steel belt and the synchronous belt; to use the curved stainless steel belt's ability to withstand pressure when straightened to generate thrust, and to use the curved stainless steel belt's own characteristics to generate tension.

[0099] like Figure 4 As shown, the curved stainless steel belt protrudes upward, and the teeth 19 on the synchronous belt resist the force in the direction f1, making it less likely to deform. However, when the structure receives the force in the direction f2, the curved stainless steel belt resists the force less and easily deforms.

[0100] like Figure 5 and Figure 6 As shown, this embodiment provides a four-segment linear transmission segment, including a first linear transmission segment 17, a second linear transmission segment 18, a third linear transmission segment 20 and a fourth linear transmission segment 21;

[0101] The fourth linear transmission section 21 is connected to the device body 25;

[0102] The third linear transmission segment 20 can be inserted into the fourth linear transmission segment 21, and a third support column 24 is provided at the end of the third linear transmission segment 20 located in the fourth linear transmission segment 21;

[0103] The second linear transmission section 18 can be inserted into the third linear transmission section 20, and a second support column 23 is provided at the end of the second linear transmission section 18 located in the third linear transmission section 20;

[0104] The first linear transmission section 17 can be inserted into the second linear transmission section 18, and the end of the first linear transmission section 17 located in the second linear transmission section 18 is provided with a first support column 22, and the other end of the first linear transmission section 17 is connected to the connection terminal 27;

[0105] The first synchronous belt mechanism and the second synchronous belt mechanism can both pass through the first support column 22, the second support column 23 and the third support column 24. The support structure is provided on the first support column 22, the second support column 23 and the third support column 24, and the support structure on each support column includes two support units, one support unit is used for the first synchronous belt mechanism to pass through the support column, and the other support unit is used for the second synchronous belt mechanism to pass through the support column;

[0106] Each of the support units includes a first support 15 and a second support 16, which respectively support the arc-shaped stainless steel belt and the synchronous belt. The first support 15 and the second support 16 are arc-shaped.

[0107] The purpose of this design is to set up a two-way support structure. During the expansion and contraction process of the linear motion, the two-way support can avoid the instability of the arc-shaped stainless steel belt caused by excessive transmission distance, thereby ensuring effective transmission.

[0108] It should be pointed out that the support units act on the first synchronous belt and the second synchronous belt respectively. Since the positions of the two synchronous belts are different, there are differences in the positions of the first support and the second support in each support unit. At the same time, the four-stage linear transmission segment selected in this embodiment, in actual use, the first linear transmission segment 17, the second linear transmission segment 18 and the third linear transmission segment 20 can be retracted into the fourth linear transmission segment 21 in sequence, and in order to improve the mechanical strength of each linear transmission segment, support columns are provided between the two linear transmission segments.

[0109] like Figure 7 As shown, the movement of each component during contraction is that when the output shaft of the motor and the reducer rotates in the direction of r1, the second gear rotates in the direction of r1, and at the same time, the third gear and the second synchronous pulley rotate in the direction of r2. At this time, the second synchronous belt moves in the direction of p1. Driven by the second spring, the second rotating shaft rotates in the direction of r3. The synchronous belt and the arc-shaped stainless steel belt adhesion structure are wound around the second rotating shaft, producing a storage effect.

[0110] At the same time, the first gear and the first synchronous pulley rotate in the r4 direction. The first synchronous belt moves in the p2 direction. Driven by the first mainspring, the first shaft rotates in the r5 direction. The first synchronous belt and the first curved stainless steel belt are adhered to the first shaft, creating a storage effect. At this point, the first transmission section experiences a pull in the p3 direction, moving in this direction. Because the single drive is transmitted to both sides, it ultimately converges into a single linear drive.

[0111] like Figure 8As shown, the movement of each component during linear motion is as follows: when the output shaft of the motor and the reducer rotates around the direction of r6, the second gear rotates in the direction of r6, and at the same time, the third gear and the second synchronous pulley rotate in the direction of r7. At this time, the second synchronous belt moves toward the direction of p4. Driven by the second spring, the second rotating shaft rotates in the direction of r8, and the adhesion structure of the synchronous belt and the arc-shaped stainless steel belt is pulled out on the second rotating shaft.

[0112] At the same time, the first gear and the first synchronous pulley generate a rotation in the direction of r9. At this time, the first synchronous belt moves toward the direction of p5. Driven by the first spring, the first shaft generates r 10 When the first synchronous belt and the first curved stainless steel belt are rotated in the direction of p6, the adhesion structure of the first synchronous belt and the first curved stainless steel belt is pulled out on the first rotating shaft, producing an extension effect. At this time, the first curved stainless steel belt and the second curved stainless steel belt generate a thrust in the direction of p6, and the first transmission section moves in the direction of p6 due to the thrust in the direction of p6.

[0113] In this embodiment, a robot is also provided, which uses the linear drive device in the above embodiment.

[0114] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A linear drive device, comprising a device body (25), wherein a reduction gear box (26) is provided on one side of the device body (25), characterized in that: A multi-stage linear transmission section is provided on the other side of the device body (25), and a transmission mechanism and a synchronous belt mechanism are provided inside the device body (25); The reduction box (26) can drive the transmission mechanism to rotate; The transmission mechanism can drive the synchronous belt mechanism to move forward; The synchronous belt mechanism includes a first synchronous belt mechanism and a second synchronous belt mechanism, and the first synchronous belt mechanism and the second synchronous belt mechanism are arranged opposite to each other, and the first synchronous belt mechanism and the second synchronous belt mechanism can extend into the multi-stage linear transmission section and be connected to the multi-stage linear transmission section, and can drive the multi-stage linear transmission section to extend and retract; A support structure is provided in the multi-stage linear transmission section, and the support structure can support the first synchronous belt mechanism and the second synchronous belt mechanism; Wherein, the first synchronous belt mechanism comprises a first synchronous belt (1), a first spring (2), a first rotating shaft (3) and a first arc-shaped stainless steel belt (4); The first curved stainless steel belt (4) is bonded to one side of the first synchronous belt (1), and one end of the first curved stainless steel belt (4) is connected to the first spring (2); The first synchronous belt (1) has belt teeth (19) arranged on the other side thereof, and can mesh with the first synchronous belt pulley (5) through the belt teeth (19); The second synchronous belt mechanism comprises a second synchronous belt (14), a second spring (13), a second rotating shaft (12) and a second arc-shaped stainless steel belt (11); The second curved stainless steel belt (11) is bonded to one side of the second synchronous belt (14), and one end of the second curved stainless steel belt (11) is connected to the second spring (13); The second synchronous belt (14) is provided with belt teeth (19) on the other side, and can be meshed with the second synchronous belt pulley (10) through the belt teeth (19).

2. A linear drive device according to claim 1, characterized in that: The transmission mechanism comprises a first synchronous pulley (5), a first gear (6), a second gear (7), a third gear (9), a second synchronous pulley (10) and a reduction gearbox output shaft (8); The reduction gearbox output shaft (8) is connected to the power output end of the reduction gearbox (26); The second gear (7) is sleeved on the output shaft (8) of the reduction gearbox, and the second gear (7) is meshed with the third gear (9); The third gear (9) is meshed with the first gear (6); The second synchronous pulley (10) is coaxially connected to the third gear (9), and the second synchronous pulley (10) can drive the second synchronous belt mechanism to move forward; The first synchronous pulley (5) is coaxially connected to the first gear (6), and the first synchronous pulley (5) can drive the first synchronous belt mechanism to move forward.

3. A linear drive device according to claim 1, characterized in that: The transmission mechanism comprises a first synchronous pulley (5), a first gear (6), a second gear (7), a third gear (9), a second synchronous pulley (10) and a reduction gearbox output shaft (8); The reduction gearbox output shaft (8) is connected to the power output end of the reduction gearbox (26); The second gear (7) is sleeved on the output shaft (8) of the reduction gearbox, and the second gear (7) is meshed with the first gear (6); The first gear (6) is meshed with the third gear (9); The second synchronous pulley (10) is coaxially connected to the third gear (9), and the second synchronous pulley (10) can drive the second synchronous belt mechanism to move forward; The first synchronous pulley (5) is coaxially connected to the first gear (6), and the first synchronous pulley (5) can drive the first synchronous belt mechanism to move forward.

4. A linear drive device according to claim 2 or 3, characterized in that: The first gear (6) and the third gear (9) are symmetrically arranged in a vertical direction, and the number of teeth and the module of the first gear (6) and the third gear (9) are the same.

5. A linear drive device according to claim 4, characterized in that: The first mainspring (2) can drive the first rotating shaft (3) to rotate; The first rotating shaft (3) and the first synchronous pulley (5) are located on the same side of the device body (25); The second mainspring (13) can drive the second rotating shaft (12) to rotate; The second rotating shaft (12) and the second synchronous pulley (10) are located on the same side of the device body (25).

6. A linear drive device according to claim 5, characterized in that: The second rotating shaft (12) and the first rotating shaft (3) are symmetrically arranged, and the meshing position of the first synchronous belt (1) and the first synchronous pulley (5) faces the multi-stage linear transmission section; The meshing point between the second synchronous belt (14) and the second synchronous pulley (10) faces the multi-stage linear transmission section.

7. The linear drive device according to claim 5, characterized in that: The other ends of the first arc-shaped stainless steel belt (4) and the second arc-shaped stainless steel belt (11) are connected to the end of the multi-stage linear transmission section via a connecting terminal (27).

8. The linear drive device according to claim 7, characterized in that: The multi-stage linear transmission section comprises a first linear transmission section (17), a second linear transmission section (18), a third linear transmission section (20) and a fourth linear transmission section (21); The fourth linear transmission section (21) is connected to the device body (25); The third linear transmission section (20) can be inserted into the fourth linear transmission section (21), and a third support column (24) is provided at the end of the third linear transmission section (20) located in the fourth linear transmission section (21); The second linear transmission section (18) can be inserted into the third linear transmission section (20), and a second support column (23) is provided at the end of the second linear transmission section (18) located in the third linear transmission section (20); The first linear transmission section (17) can be inserted into the second linear transmission section (18), and a first support column (22) is provided at the end of the first linear transmission section (17) located in the second linear transmission section (18), and the other end of the first linear transmission section (17) is connected to the connection terminal (27); The first synchronous belt mechanism and the second synchronous belt mechanism can both pass through the first support column (22), the second support column (23) and the third support column (24).

9. The linear drive device according to claim 8, characterized in that: The support structure is provided on a first support column (22), a second support column (23) and a third support column (24), and the support structure on each support column includes two support units, one support unit is used for the first synchronous belt mechanism to pass through the support column, and the other support unit is used for the second synchronous belt mechanism to pass through the support column; Each of the support units comprises a first support (15) and a second support (16), which respectively support the arc-shaped stainless steel belt and the synchronous belt, and the first support (15) and the second support (16) are arc-shaped.

10. A robot, characterized in that: The device comprises a linear drive device according to any one of claims 1 to 9.

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