Multi-module flexible motion mechanism

Abstract

The application provides a multi-module flexible motion mechanism, and relates to the technical field of motion mechanisms.The multi-module flexible motion mechanism comprises a first driving assembly and a carrying assembly.The carrying assembly comprises a plurality of carrying components, and the carrying components comprise a sliding piece, a bearing piece and a conveying piece.The conveying piece is installed on the sliding piece, and the output shaft of the conveying piece is connected to the bearing piece.The bearing piece is used for bearing target transportation articles.Under the driving of the conveying piece, the bearing piece can move relative to the sliding piece in at least two directions.The conveying piece is installed on the sliding piece, the output shaft of the conveying piece is connected to the bearing piece, and under the driving of the conveying piece, the bearing piece can move relative to the sliding piece in at least two directions, so as to increase the degrees of freedom of the target transportation articles, and further so that the plurality of target transportation articles can move in different motion directions or move in the same direction at different motion speeds.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of motion mechanism, and particularly relates to a multi-module flexible motion mechanism. BACKGROUND

[0002] In the related art, the motion of a single object in a plane is usually point-to-point, that is, the object moves from a starting position to a specified position. This motion mode is relatively simple, and many motion mechanisms can be used to achieve it, such as worm gear transmission, motor-driven ball screw transmission, gear and rack transmission, motor-driven synchronous wheel transmission, etc.

[0003] The motion of multiple objects in a plane is usually line-to-line, that is, the multiple objects are connected in series on a shaft and move from a starting position to a target position through a line. However, the motion of the multiple objects is limited to the same straight line and the same speed, such as motor-driven ball screw motion (with multiple sliding blocks), unidirectional equidistant module, three-dimensional variable pitch module, etc.

[0004] However, with the development of science and technology, there are more and more intelligent and personalized motion demand scenarios. The traditional point-to-point or line-to-line motion cannot fully meet the market demand. Moreover, the motion of multiple modules can only be concentrated on one axis, and multiple objects need to move at the same speed at the same time, and cannot deviate from the axis. SUMMARY

[0005] The present application aims to provide a multi-module flexible motion mechanism to increase the degree of freedom of the target transport objects, so that multiple target transport objects located on the same first axis can move towards different motion directions or move towards the same direction at different motion speeds, thereby delivering the multiple target transport objects to any specified position in the plane.

[0006] To solve the above technical problems, the technical scheme adopted by the present application is as follows:

[0007] The multi-module flexible motion mechanism provided by the embodiment of the present application comprises:

[0008] The carrying assembly comprises multiple carrying components. The carrying component comprises a sliding member, a bearing member and a conveying member. The conveying member is installed on the sliding member, the output shaft of the conveying member is connected to the bearing member, and the bearing member is used to carry the target transport object. Under the drive of the conveying member, the bearing member can move towards at least two directions relative to the sliding member.

[0009] The first driving assembly is used to drive the sliding members of the multiple carrying components to move synchronously along the first direction.

[0010] The carrying part further comprises a rotating member arranged on the sliding member; an output shaft of the rotating member is connected to the conveying member and used to drive the conveying member to rotate relative to the sliding member.

[0011] The carrying assembly is arranged in plurality, and the plurality of carrying assemblies are arranged side by side.

[0012] The carrying assembly further comprises a first shaft corresponding to the carrying assembly; the sliding member of the same carrying assembly is located on the same first shaft; and the first driving assembly is connected to the plurality of first shafts and used to drive the plurality of first shafts to move synchronously along a first direction.

[0013] The plurality of first shafts are arranged on the second shaft in an array, and the sliding member and the second shaft are in sliding connection.

[0014] The second shaft is arranged in plurality, and the plurality of second shafts are arranged side by side.

[0015] The plurality of second shafts are driven by the second driving assembly to move synchronously along a second direction.

[0016] The first driving assembly comprises a motor and a transmission member; the transmission member comprises a lead screw and a plurality of lead screw nuts corresponding to the first shafts; the lead screw nuts are sleeved on the lead screw; an output shaft of the motor is connected to the lead screw; and the lead screw is arranged along the first direction.

[0017] The transmission member is arranged in two, one of which is connected to one end of the first shaft, and the other is connected to the other end of the first shaft.

[0018] The first driving assembly is a linear motor.

[0019] The present application has at least the following beneficial effects:

[0020] The carrier is arranged in one-to-one correspondence with the sliding member, the carrier is installed on the sliding member, the plurality of sliding members are arranged in sliding mode on the first shaft, so that the plurality of carriers move along the axial direction of the first shaft, and in turn drive the plurality of target transport articles to move along the axial direction of the first shaft; the conveying member is arranged in one-to-one correspondence with the sliding member and the carrier, under the driving of the conveying member, the carrier can move relative to the sliding member towards at least two directions, so as to increase the freedom degree of the target transport article, and in turn make the plurality of target transport articles located on the same first shaft move towards different movement directions or move towards the same direction at different movement speeds, and in turn deliver the plurality of target transport articles to any specified position in the plane. BRIEF DESCRIPTION OF DRAWINGS

[0021] The application will be further described below in combination with the drawings and embodiments.

[0022] Figure 1 is the cooperation relationship between the carrying component of the multi-module flexible movement mechanism and the first shaft and the second shaft provided by the embodiment of the application Figure 1 ;

[0023] Figure 2 is the cooperation relationship between the carrying component of the multi-module flexible movement mechanism and the first shaft and the second shaft provided by the embodiment of the application Figure 2 ;

[0024] Figure 3 is the cooperation relationship between the rotating member, the conveying member and the carrier of the multi-module flexible movement mechanism provided by the embodiment of the application

[0025] Figure 4 is the cooperation relationship between the carrying assembly and the first driving assembly of the multi-module flexible movement mechanism provided by another embodiment of the application

[0026] Figure 5 is Figure 2 the enlarged view of the structure at A in

[0027] Figure 6 is the overall structure schematic diagram of the multi-module flexible movement mechanism provided by the embodiment of the application.

[0028] In the drawings, the following marks are marked:

[0029] 100, first driving assembly; 110, motor; 120, transmission member; 121, screw rod; 122, screw nut; 130, synchronous belt;

[0030] 200, carrier; 210, carrying part; 220, connecting part;

[0031] 300, conveying member;

[0032] 400, rotating member;

[0033] 500, support frame; 510, first support part; 520, second support part;

[0034] 610, first shaft; 620, second shaft; 630, second driving assembly;

[0035] 700, sliding member. DETAILED DESCRIPTION

[0036] This part will describe the specific embodiments of the present application in detail, the preferred embodiments of the present application are shown in the drawings, the role of the drawings is to supplement the description of the text part with graphics, so that people can intuitively and visually understand each technical feature and the overall technical scheme of the present application, but it cannot be understood as a limitation on the protection scope of the present application.

[0037] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right and the like, is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application.

[0038] In the description of the present application, if there is a word such as "several" described, the meaning is one or more, the meaning of more than two and more than, less than, more than, etc. is not included in the number, above, below, within, etc. is understood to include the number. If the first, second, third is described, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the order of indicated technical features.

[0039] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be understood broadly, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical scheme.

[0040] Reference Figures 1 to 6 , the following will give several embodiments of the multi-module flexible motion mechanism of the present application.

[0041] As Figures 1 to 6As shown, the multi-module flexible motion mechanism of the embodiment of the present application comprises a first driving assembly 100 and a carrying assembly, the carrying assembly comprises a plurality of carrying components, the carrying components comprise a sliding member 700, a bearing member 200 and a conveying member 300; the conveying member 300 is installed on the sliding member 700, and an output shaft of the conveying member 300 is connected to the bearing member 200; the bearing member 200 is used for bearing target transportation articles; under the driving of the conveying member 300, the bearing member 200 can move relative to the sliding member 700 in at least two directions; the first driving assembly 100 is used for driving the sliding members 700 of the plurality of carrying components to move synchronously in a first direction.

[0042] The first driving assembly 100 is used for driving the sliding members 700 of the plurality of carrying components to move synchronously in the first direction, so that the plurality of bearing members 200 move in the first direction, thereby driving the plurality of target transportation articles to move in the first direction; the conveying member 300 is installed on the sliding member 700, and an output shaft of the conveying member 300 is connected to the bearing member 200; under the driving of the conveying member 300, the bearing member 200 can move relative to the sliding member 700 in at least two directions, so as to increase the degrees of freedom of the target transportation articles, thereby enabling the plurality of target transportation articles to move in different directions of motion or to move in the same direction at different speeds of motion.

[0043] The conveying member 300 is installed on the sliding member 700, and an output shaft of the conveying member 300 is connected to the bearing member 200; the conveying member 300 drives the bearing member 200 to move relative to the sliding member 700; under the driving of the conveying member 300, the bearing member 200 can move relative to the sliding member 700 in at least two directions, that is, the driving direction of the conveying member 300 has at least two, that is, the driving direction of the conveying member 300 corresponding to the two bearing members 200 can be different, thereby enabling the two bearing members 200 to move in different directions.

[0044] In the related art, a plurality of objects are transported by using a linear module, which cannot adapt to the cases that the starting positions of the objects are dynamic, the motion trajectories are variable, there is no strict rule, some objects in multi-module motion need to deviate from the axis, and the speeds are required to be different.

[0045] The embodiment of the present application makes the movement of the plurality of carriers 200 controllable independently by the first driving assembly 100 and the conveying member 300, so that each carrier 200 has the characteristic of breaking through the traditional coaxial and same speed limit in the plane, facilitates the adjustment of the movement trajectory at any time, and can dynamically adjust the starting position of the plurality of objects; the first driving assembly 100 drives the plurality of sliding members 700 to move synchronously along the first direction, improving the transportation efficiency; the conveying member 300 drives the carrier 200 to move relative to the sliding member 700, so that each carrier 200 can be controlled independently, improving the freedom of the target transportation object on the carrier 200. The embodiment of the present application breaks through the coaxial and same speed limit of the traditional movement mechanism, and improves the freedom of the carrier 200 moving in the plane. The embodiment of the present application is suitable for scenes that cannot be realized by the traditional movement mechanism, such as disordered sorting of electronic components, dynamic target displacement of military, etc., can respond to external changes in real time, such as real-time updating of material position, etc., significantly improving the intelligence and adaptability of the movement mechanism; the carrying assembly transports the sliding member to the target area near the predetermined position, and through the cooperation of the rotating member 400 and the conveying member 300, the carrier 200 is fine-tuned, greatly shortening the movement cycle of the target transportation object.

[0046] As shown in Figures 1 to 3 In some embodiments, the carrying component further comprises a rotating member 400, which is arranged on the sliding member 700; the output shaft of the rotating member 400 is connected to the conveying member 300, and is used to drive the conveying member 300 to rotate relative to the sliding member 700, so as to change the relative angle between the conveying member 300 and the sliding member 700, and further change the driving direction of the conveying member 300; the rotating member 400 drives the conveying member 300 to move, and the conveying member 300 drives the carrier 200 to move relative to the sliding member 700, so that the carrier 200 can move in any direction along the circumferential direction of the sliding member 700, further improving the freedom of the carrier 200 movement; through the cooperation of the conveying member 300 and the rotating member 400, the target transportation object can move freely in the plane, and the axial constraint of the traditional mechanism is removed. Generally, the rotating member 400 is a pneumatic motor, an electric motor or a swing cylinder. The model of the rotating member 400 can be selected according to the actual working condition, and the embodiment of the present application does not make special limitation. It should be noted that, in order to avoid interference between the rotating member 400 and other components during transportation, the rotating member 400 should be selected as a small size device, preferably, the size of the rotating member 400 is smaller than the size of the sliding member 700.

[0047] As shown in Figure 1As shown in the first aspect and the second aspect, in some embodiments, the plurality of carrying assemblies are arranged side by side to realize batch transportation of the target transportation articles; by arranging the plurality of carrying assemblies, the plurality of target transportation articles can be transported in batches along the first direction, so that the transportation efficiency of the multi-module flexible motion mechanism can be improved; the carrying components of the plurality of carrying assemblies are combined to form a grid-shaped motion mechanism to cover the entire work plane, which is more conducive to delivering the target transportation articles to any point in the work plane and improving the transportation efficiency. The number of carrying components can be arranged according to actual working conditions, and the number of carrying components is not particularly limited in the embodiments of the present application.

[0048] As shown in the first aspect and the second aspect, Figure 1 and Figure 6 As shown in the first aspect and the second aspect, in some embodiments, the carrying assembly further comprises a first shaft 610 corresponding to the carrying assembly; the sliders 700 of the same carrying assembly are located on the same first shaft 610; the first driving assembly 100 is connected to the plurality of first shafts 610 and is used to drive the plurality of first shafts 610 to move synchronously along the first direction; the first shaft 610 serves as a transmission shaft to facilitate synchronous movement of the plurality of carrying components in the same carrying assembly and improve the carrying efficiency; the first driving assembly 100 drives the sliders 700 of the plurality of carrying components to move synchronously along the transmission direction through the first shaft 610, which can reduce the number of driving assemblies and reduce costs.

[0049] As shown in the first aspect and the second aspect, Figure 1 and Figure 6 As shown in the first aspect and the second aspect, in some embodiments, the first driving assembly 100 further comprises a second shaft 620 arranged along the first direction; the plurality of sliders 700 on the plurality of first shafts 610 are arranged on the second shaft 620, and the slider 700 and the second shaft 620 are in sliding connection, so that the plurality of sliders 700 located on the same second shaft 620 move along the axial direction of the second shaft 620.

[0050] As shown in the first aspect and the second aspect, Figure 1 and Figure 6 As shown in the first aspect and the second aspect, in some embodiments, the second shaft 620 is provided in plurality, and the plurality of second shafts 620 are arranged side by side; the plurality of second shafts 620 correspond to the plurality of sliders 700 on the same first shaft 610, and guide the movement direction of the plurality of sliders 700 on the plurality of first shafts 610 through the plurality of second shafts 620. The number of second shafts 620 can be arranged according to actual working conditions, and the number of second shafts 620 is not particularly limited in the embodiments of the present application.

[0051] As shown in the first aspect and the second aspect, Figure 1 and Figure 6As shown in some embodiments, the multi-module flexible motion mechanism further comprises a second driving assembly 630 for driving the plurality of second shafts 620 to move synchronously along a second direction, so that the plurality of carriers 200 move along the second direction, and in turn drive the plurality of target transport articles to move synchronously along the second direction, improving the movement efficiency of the plurality of target transport articles along the second direction.

[0052] As shown in some embodiments, the multi-module flexible motion mechanism further comprises a second driving assembly 630 for driving the plurality of second shafts 620 to move synchronously along a second direction, so that the plurality of carriers 200 move along the second direction, and in turn drive the plurality of target transport articles to move synchronously along the second direction, improving the movement efficiency of the plurality of target transport articles along the second direction. Figure 1 、 Figure 2 、 Figure 3 and Figure 6 As shown in some embodiments, the first shaft 610 and the second shaft 620 are vertically arranged in the working plane, and the first direction and the second direction are vertically arranged, so as to efficiently transport the target transport articles to any point on the working plane; taking the first direction as the X-axis and the second direction as the Y-axis, the first driving assembly 100 and the first shaft 610 drive the slider 700 to move along the X-axis direction, and the second driving assembly 630 and the second shaft 620 drive the slider 700 to move along the Y-axis direction, thereby realizing the movement of the slider 700 at any point on the working plane driven by the first driving assembly 100; the first driving assembly 100 can drive the plurality of target transport articles to move synchronously along the X-axis direction, and the conveying member 300 can control the carrier 200 individually, so as to realize the fine adjustment of the position of different target transport articles, thereby greatly improving the transportation efficiency of the target transport articles on the premise of transporting the target transport articles to any point in the working plane. The conveying member 300 is a single (double) pneumatic (electrical) cylinder, and the bidirectional pneumatic cylinder can drive the carrier 200 to move along two different directions, so that the movement of the carrier 200 is more flexible. Through the control of the bidirectional pneumatic cylinder, the positioning accuracy and the reset accuracy are improved, and high-precision operation is ensured. The embodiments of the present application can realize the traditional point-to-point or line-to-line movement, and through the conveying member 300 and the rotating member 400, the plurality of target transport articles are no longer limited by a single axis and the same speed, and can basically move to any position on the plane in the specified area, greatly expanding the movement range of the target transport articles, and meeting the requirements of many flexible, intelligent and personalized application places.

[0053] As shown in some embodiments, the multi-module flexible motion mechanism further comprises a second driving assembly 630 for driving the plurality of second shafts 620 to move synchronously along a second direction, so that the plurality of carriers 200 move along the second direction, and in turn drive the plurality of target transport articles to move synchronously along the second direction, improving the movement efficiency of the plurality of target transport articles along the second direction. Figure 1 、 Figure 2 、 Figure 3 and Figure 6As shown, in another embodiment of the present invention, by equipping each slider 700 on the first axis 610 of the multi-module flexible motion mechanism with a first drive unit, the first drive unit being an independent micro motor, the limitation of the slider 700 on the second axis 620 in the conventional structure to move in a single direction is removed, allowing each slider 700 to move freely and asynchronously on the first axis 610; at the same time, a conveyor 300 is superimposed, which is a bidirectional linear (pneumatic / electric) cylinder, thereby providing independent fine-tuning stroke in the direction of the second axis 620; the independent displacement of the slider 700 on the first axis 610 plus the independent fine-tuning of the slider 700 on the second axis 620 allows each slider 700 to break free from coaxial constraints and move to any specified position in the plane with almost no interference, greatly expanding the range and flexibility of movement of a single slider 700, while supporting path optimization and synchronous or step-by-step movement to improve efficiency.

[0054] like Figures 1 to 3 As shown, in this embodiment of the invention, the rotating component 400 and the conveying component 300 drive the carrier component 200 to move relative to the sliding component 700 along the X-axis or Y-axis direction, so as to fine-tune the specific position of the carrier component 200 individually, thereby achieving efficient delivery of the target transport item to any point in the working plane. Therefore, the minimum rotation angle of the rotating component 400 is generally 90 degrees. Initially, the starting position of each target transport item is adjusted according to customer needs, that is, the starting position of each carrier component 200 is adjusted. The first drive component 100 works, driving multiple target transport items to move synchronously in the X-axis direction, and the second drive component 630 works, driving the target transport items to move synchronously in the Y-axis direction; so that the target transport items are moved to the set position, that is, most modules are brought as close as possible to the final target position, and the linear cylinder stroke is minimized, so that all modules reach the final position in less time and the cycle is shorter. Next, through multiple conveying components 300 and rotating components 400, different carrying components 200 are individually controlled to move in different directions, so that the positions of multiple target transported items are finely adjusted to achieve their final target positions (such as...). Figure 1 and Figure 4 (As shown by the dotted line in the diagram). After all the planned processes are completed, all carrier components 200 are required to return to their original positions in sequence, ready to enter the next round of processes. If there are new or different requirements, the motion trajectory can be readjusted according to the new requirements. It can be seen that the multi-module flexible motion mechanism of this embodiment of the invention is fully adaptable to application scenarios with constantly changing motion trajectories.

[0055] For example, the shooting accuracy of a single or multiple students on a set of or multiple sets of displacement targets in a dynamic situation is tested, the number of targets can be set to 10 or 20 or more, and the target motion trajectory can be pre-set in multiple ways. The multiple module flexible motion mechanism of the embodiment of the application can be used to continuously input the changed target position for the student to shoot for training, which is a typical multi-module irregular motion.

[0056] As shown in Figure 6 In some embodiments, the first driving assembly 100 includes a motor 110 and a transmission member 120, the transmission member 120 includes a lead screw 121 and a plurality of lead screw nuts 122, the lead screw nuts 122 and the first shaft 610 are in one-to-one correspondence, and the lead screw nuts 122 are sleeved on the lead screw 121; the output shaft of the motor is connected to the lead screw 121, and the lead screw 121 is arranged along the first direction; the motor 110 works to drive the lead screw 121 to rotate, so that the first shaft 610 moves along the first direction, thereby driving the carrier 200 to move in the first direction with high transportation precision, and the highest precision can reach 0.01 mm.

[0057] As shown in Figure 6 In some embodiments, the transmission member 120 is provided with two, one of which is connected to one end of the first shaft 610, and the other is connected to the other end of the first shaft 610. The movement efficiency of the first shaft 610 can be improved by the two transmission members 120, and at the same time, the two transmission members 120 can support the two ends of the first shaft 610 to improve the stability of the movement of the first shaft 610. The ends of the two lead screws are fixed with synchronous wheels, and the first driving assembly 100 further includes two synchronous belts corresponding to the synchronous wheels; the synchronous belt 130 is wound on the output shaft of the motor 110 and the corresponding synchronous wheel to drive the corresponding lead screw to rotate, thereby driving the first shaft 610 to move. The specific structure of the second driving assembly 630 can be set with reference to the first driving assembly 100, and the embodiments of the application are not particularly limited.

[0058] As shown in Figure 4 In some embodiments, the first driving assembly 100 is a multi-module linear motor, which directly drives the movement of multiple carriers 200 through the multi-module linear motor.

[0059] In some embodiments, the first shaft 610 includes two first guide rods arranged side by side. A slider 700 is slidably mounted on the two first guide rods. The two first guide rods can improve the load-bearing capacity of the first shaft 610 and better guide the sliding of the slider 700, reducing vibrations during movement. A bearing can be installed in the first through hole to improve the smoothness of the slider 700's sliding on the first guide rods. Similarly, the second shaft 620 may also include two second guide rods arranged side by side. The slider 700 is slidably mounted on the second guide rods. The second guide rods improve the load-bearing capacity of the second shaft 620 and guide the sliding of the slider 700, reducing vibrations during movement. A bearing can be installed in the second through hole to improve the smoothness of the slider 700's sliding on the second guide rod.

[0060] like Figures 1 to 3 As shown, in some embodiments, the carrier 200 includes a carrier portion 210 and a connecting portion 220 connected together. The carrier portion 210 and the connecting portion 220 are bent to improve the structural strength of the carrier 200, thereby increasing its load-bearing capacity. The output shaft of the conveyor 300 is connected to the connecting portion 220. The target transport item is mounted on the carrier 200, and the target transport item is moved by driving the connecting portion 220. Generally, the carrier portion 210 and the connecting portion 220 are plate bodies to reduce the weight of the carrier 200. The carrier portion 210 and the connecting portion 220 are arranged vertically, and one end of the connecting portion 220 is connected to the edge of the carrier portion 210.

[0061] like Figures 1 to 3 As shown, in some embodiments, the multi-module flexible motion mechanism further includes a support frame 500, which includes a first support portion 510 and a second support portion 520 connected to each other. The first support portion 510 and the second support portion 520 are bent. The first support portion 510 is horizontally arranged and fixed to the output end of the rotating member 400, and the second support portion 520 is vertically arranged. The conveying member 300 is fixed to the second support portion 520, and the output shaft of the conveying member 300 is connected to the connecting portion 220 to drive the bearing member 200 to move relative to the sliding member 700. An installation space is formed between the first support portion 510 and the second support portion 520, and the conveying member 300 is installed in the installation space to avoid interference between the conveying member 300 and other components during operation.

[0062] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A multi-module flexible motion mechanism, characterized in that, include: A transport assembly includes multiple transport components; each transport component includes a sliding member, a carrier member, and a conveying member, wherein the conveying member is mounted on the sliding member, and the output shaft of the conveying member is connected to the carrier member, and the carrier member is used to carry the target transported item; A first driving component is used to drive the sliders of the plurality of transport components to move synchronously along a first direction; The transport component further includes a rotating component, which is disposed on the sliding component; the output shaft of the rotating component is connected to the conveying component and is used to drive the conveying component to rotate relative to the sliding component, so as to change the driving direction of the conveying component; Multiple transport components are provided, and the multiple transport components are arranged side by side; The carrier component further includes a first axis, which corresponds one-to-one with the carrier component; the sliders of the same carrier component are located on the same first axis; the first drive component connects to multiple first axes and is used to drive multiple first axes to move synchronously along a first direction; Driven by the conveyor, the carrier can move relative to the slider in at least two directions, so that multiple target transport items located on the same first axis can move in different directions or move in the same direction at different speeds.

2. The multi-module flexible motion mechanism according to claim 1, characterized in that, The multi-module flexible motion mechanism further includes a second axis, which is arranged along a first direction; the sliding members on the first axis are arranged on the second axis, and the sliding members and the second axis are slidably connected.

3. The multi-module flexible motion mechanism according to claim 2, characterized in that, There are multiple second axes, which are arranged side by side.

4. The multi-module flexible motion mechanism according to claim 3, characterized in that, The multi-module flexible motion mechanism further includes a second drive component, which is used to drive multiple second axes to move synchronously along a second direction.

5. The multi-module flexible motion mechanism according to claim 1, characterized in that, The first drive assembly includes a motor and a transmission component. The transmission component includes a lead screw and a plurality of lead screw nuts. Each lead screw nut corresponds to a first shaft, and the lead screw nut is sleeved on the lead screw. The output shaft of the motor is connected to the lead screw, and the lead screw is arranged along the first direction.

6. The multi-module flexible motion mechanism according to claim 5, characterized in that, The transmission component is provided in two parts, one of which is connected to one end of the first shaft and the other is connected to the other end of the first shaft.

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