CN218810184U - Supporting mechanism and robot of robot - Google Patents

Abstract

The application relates to the technical field of warehousing robots, in particular to a supporting mechanism of a robot and the robot. The supporting mechanism comprises a base; the at least two supporting components are distributed on two opposite sides of the base and can slide relative to the base; the driving device is arranged on the base and can drive the supporting components to mutually move away from each other until the supporting components are abutted against the goods shelf or mutually move close to each other until the supporting components are separated from the goods shelf; after the driving device drives the at least two supporting assemblies to be in contact with the corresponding goods shelf, the driving device can drive the at least two supporting assemblies to move towards the direction close to the goods shelf at the same time for a preset distance. This application passes through two supporting component of drive arrangement drive all with goods shelves contact back, drives two supporting component again and continues to move certain displacement and goods shelves butt towards goods shelves direction simultaneously, avoids appearing the supporting component and goods shelves counterbalance of one side, the supporting component of opposite side not with the problem that goods shelves counterbalance, improves supporting mechanism's reliability and the adaptability of robot to the environment.

Description

Supporting mechanism and robot of robot

Technical Field

The application relates to the technical field of warehousing robots, in particular to a supporting mechanism of a robot and the robot.

Background

At present, intelligent storage robots are increasingly widely applied to industries such as e-commerce, shoes, clothes, books, express delivery, manufacturing and the like. Along with the improvement of the automation level of the industry, the requirement on the storage space utilization rate is more and more obvious, and the lifting height of the robot is higher and higher. However, the higher the lifting height of the robot, the larger the deflection of the tip, the less accurate the gripping of the article, and the more likely it is to collide with the rack. Therefore, the stability of the lifting stand column of the robot becomes a key index for measuring the overall quality of the robot.

SUMMERY OF THE UTILITY MODEL

The application provides a supporting mechanism and robot of robot aims at improving the stability when the supporting mechanism of robot and goods shelves butt.

The application provides a supporting mechanism of robot, supporting mechanism includes:

a base;

the at least two supporting components are distributed on two opposite sides of the base and can slide relative to the base;

the driving device is arranged on the base and can drive the at least two supporting assemblies to be away from each other to be abutted against the goods shelf or to be close to each other to be separated from the goods shelf;

after the driving device drives at least two supporting assemblies to be in contact with the corresponding goods shelf, the driving device can drive the at least two supporting assemblies to move a preset distance towards the direction close to the goods shelf at the same time.

In a possible design, the support assembly comprises a support for abutting against the shelf, and the drive means comprises a first spring capable of pressing the support to the shelf by its own spring force.

In one possible design, the supporting assembly comprises a pushing frame and a second elastic piece, the pushing frame is connected with the base in a sliding mode, and the supporting piece is mounted on the pushing frame and can move relative to the pushing frame;

when the supporting piece is abutted against the goods shelf, the supporting piece can overcome the elastic force of the second elastic piece to move towards the direction far away from the goods shelf.

In one possible design, the support assembly further comprises a guide rod, and the guide rod is mounted on the push frame;

the supporting piece is arranged on the guide rod and can move along the guide rod;

the second elastic piece is compressed between the end part of the guide rod and the supporting piece.

In one possible design, the support comprises a connecting rod and a rubber roller;

the connecting rod is connected with the guide rod;

the rubber roll is sleeved on the connecting rod and can rotate relative to the connecting rod.

In one possible design, the supporting mechanism further comprises a position sensor and a processor, the position sensor is mounted on the pushing frame, and the processor is mounted on the base;

at least part of the supporting piece extends out of the pushing frame, when the supporting piece moves to be detected by the position sensor, the position sensor can transmit a detection signal to the processor, and the processor can control the driving device to drive the at least two supporting assemblies to move towards the position close to the goods shelf for a preset distance.

In one possible design, the driving devices are provided in at least two, and at least two driving devices can drive the corresponding supporting assemblies respectively;

the driving device further comprises a driving piece, a screw rod, a nut and a pushing piece, the driving piece can drive the screw rod to rotate, the nut is sleeved on the screw rod, and the pushing piece is connected with the nut and the corresponding supporting component;

when the screw rod is driven to rotate, the nut can drive the pushing piece to move along the screw rod, and the pushing piece drives the supporting component to move.

In a possible design, the first elastic member is disposed between the nut and the pushing member, and the nut pushes the pushing member to move through the first elastic member.

In one possible design, the driving device further comprises an inductive switch and an inductive sheet, the inductive switch is mounted on the base, and the inductive sheet is mounted on the pushing member;

when the inductive switch detects the inductive sheet, the pushing piece is located at the initial position.

In a possible design, the pushing frame is provided with an anti-collision piece, the base is provided with at least two limiting pieces, and the at least two limiting pieces are distributed along the length direction of the supporting mechanism;

when the at least two supporting assemblies are close to each other, the at least two limiting parts can be abutted to the corresponding anti-collision parts so as to limit the at least two supporting assemblies to collide.

In one possible design, the push frame includes a connecting portion and a supporting portion, the connecting portion being perpendicular to the supporting portion;

the supporting parts are arranged in the supporting part in the width direction of the supporting mechanism;

the connecting portion are provided with slide rails, the base is provided with slide blocks, and the slide blocks are located in the slide rails and can move along the slide rails.

The present application further provides a robot, the robot includes:

moving the chassis;

the supporting mechanism is the supporting mechanism;

the supporting mechanism is provided with a mounting seat, and the mounting seat is mounted on the movable chassis.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

FIG. 1 is a schematic structural diagram of a robot located in a rack roadway provided by the present application;

FIG. 2 is a schematic view of the robot of the present application in contact with two side racks;

FIG. 3 is a schematic diagram of a robot provided in the present application;

FIG. 4 is a schematic structural diagram of a support mechanism provided herein;

FIG. 5 is an enlarged view of portion A of FIG. 4;

FIG. 6 is an enlarged view of the portion B of FIG. 4;

FIG. 7 is a schematic view of the structure of FIG. 4 from another perspective;

fig. 8 is an enlarged schematic view of the portion C in fig. 7.

Reference numerals:

1-a support mechanism;

11-a base;

111-a stop;

112-a slider;

12-a support assembly;

121-a pushing frame;

121 a-bumper;

121 b-a connecting portion;

121b 1-sliding rail;

121 c-a support;

122-a support;

122 a-connecting rod;

122 b-a rubber roller;

123-a second elastic member;

124-a guide rod;

13-a drive device;

131-a drive member;

132-a screw rod;

133-a nut;

134-a pusher;

135-a first elastic member;

136-a sensing switch;

137-induction sheet;

138-coupling;

14-a position sensor;

15-a processor;

16-a mounting seat;

17-a drag chain;

2-a goods shelf;

3-moving the chassis.

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

Detailed Description

For better understanding of the technical solutions of the present application, the following detailed descriptions of the embodiments of the present application are provided with reference to the accompanying drawings.

It should be understood that the embodiments described are only a few embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It should be noted that the terms "upper", "lower", "left", "right", and the like used in the embodiments of the present application are described in terms of the angles shown in the drawings, and should not be construed as limiting the embodiments of the present application. In addition, in this context, it will also be understood that when an element is referred to as being "on" or "under" another element, it can be directly on "or" under "the other element or be indirectly on" or "under" the other element through intervening elements.

As shown in fig. 1 to 3, the present embodiment provides a robot, which may be an intelligent storage robot, and is used in industries such as e-commerce, shoes and clothes, books, express delivery, and manufacturing. The robot comprises a moving chassis 3 and a supporting mechanism 1, wherein the supporting mechanism 1 is installed on the moving chassis 3, the moving chassis 3 can move according to a received instruction and reach a position where an article needs to be carried, and the supporting mechanism 1 is used for establishing association between the robot and a goods shelf 2 so as to maintain the stability of the robot by utilizing the stability of the goods shelf 2 and prevent the robot from shaking. That is, when the robot needs to take and put higher position articles to generate shaking, the supporting mechanism 1 can be controlled to move to the position which is offset with the two goods shelves 2 on the two sides, relative supporting force is formed by the two goods shelves 2, the shaking of the robot is avoided, and the working safety and stability of the robot are improved when the articles are carried.

Specifically, as shown in fig. 4 and 5, the support mechanism 1 includes a base 11, at least two support assemblies 12, and at least two driving devices 13. At least two support members 12 are distributed on opposite sides of the base 11 and are slidable relative to the base 11 for abutting against the shelf 2. The driving device 13 is mounted on the base 11 and is capable of driving the at least two support assemblies 12 so that the at least two support assemblies 12 move away from each other to abut against the shelf 2 or move close to each other to be separated from the shelf 2. After the driving device 13 drives the at least two support assemblies 12 to contact with the corresponding shelf 2, the driving device 13 can drive the at least two support assemblies 12 to move a preset distance towards the direction close to the shelf 2 at the same time.

In this embodiment, after the driving device 13 drives the two supporting components 12 to contact with the corresponding shelf 2, the two supporting components 12 are driven to move to a certain displacement and abut against the shelf 2 in the direction of the shelf 2, so that the two supporting components 12 abut against the corresponding shelf 2 respectively, and the two supporting components 12 can be pressed tightly on the corresponding shelf 2. When having avoided the robot to walk in goods shelves 2 tunnel, because the walking precision of robot itself, and the robot itself is rocking in the walking, the distance inequality to goods shelves 2 of the robot left and right sides appears support component 12 and goods shelves 2 of 11 one sides of base and offsets, the problem that support component 12 of opposite side did not offset with goods shelves 2 improves the reliability of supporting mechanism 1 and the adaptability of robot to the environment.

Wherein, the driving device 13 can be arranged as one, and one driving device 13 controls the movement of the two supporting components 12. Alternatively, the driving means 13 are provided in a number corresponding to the number of support assemblies 12, so that the support assemblies 12 are controlled by the respective driving means 13.

Further, the support assembly 12 comprises a support 122, the support 122 is used for abutting against the shelf 2, and the support 122 abuts against the shelf 2, so that the risk of shaking of the robot is reduced. The driving device 13 comprises a first elastic member 135, and the first elastic member 135 can press the supporting member 122 to the shelf 2 by its own elastic force, thereby ensuring the robot supporting stability.

As shown in fig. 5, the supporting assembly 12 further includes a pushing frame 121 and a second elastic member 123, the pushing frame 121 is slidably connected to the base 11, and the supporting member 122 is mounted on the pushing frame 121 and can move relative to the pushing frame 121; at least a part of the supporting member 122 extends out of the pushing frame 121, and when the supporting member 122 abuts against the shelf 2, the supporting member 122 can move in a direction away from the shelf 2 against the elastic force of the second elastic member 123.

In this embodiment, when the support assembly 12 is not moved toward the shelf 2, part of the support members 122 extend out of the pushing frame 121 toward the shelf 2, and when the driving device 13 drives the support assembly 12 to abut against the shelf 2, the pushing frame 121 moves toward the shelf 2, and simultaneously, the support members 122 are pushed by the shelf 2 to move away from the shelf 2 and press the second elastic members 123. At this time, the support member 122 is initially contacted with the shelf 2, and the abutting pressure between the support member 122 and the shelf 2 is small, so that both the two support assemblies 12 are contacted with the corresponding shelf 2, so that the two support assemblies 12 are driven to move simultaneously in the following process. In addition, the elastic support is adopted by the embodiment to abut against the goods shelf 2, so that the problems of lateral movement, inclination and the like of the robot caused by overlarge force application are avoided. In addition, when the robot finishes taking and placing the article and the driving device 13 controls the support assembly 12 to be separated from the shelf 2, the support member 122 can return to the initial position by the elastic force of the second elastic member 123.

As shown in fig. 5, the supporting assembly 12 further includes a guide rod 124, and the guide rod 124 is mounted to the pushing frame 121. The support 122 is mounted at both ends thereof to the guide rods 124 and can move along the guide rods 124. The second elastic member 123 is compressed between the end of the guide rod 124 and the support 122, and guides the movement of the support 122 by providing the guide rod 124.

As shown in fig. 5, the supporting member 122 includes a connecting rod 122a and a rubber roller 122b, and the connecting rod 122a is connected to the guide rod 124, such that one end of the second elastic member 123 is connected to the connecting rod 122a, and the other end is connected to an end of the guide rod 124. The rubber roller 122b is sleeved on the connecting rod 122a and can rotate relative to the connecting rod 122 a. The rubber roller 122b is covered with rubber, and the rubber roller 122b is abutted with the goods shelf 2, so that rigid support with the goods shelf 2 is avoided. Further, after the support member 122 contacts the shelf 2, the driving of the pushing frame 121 is stopped to continue to move toward the shelf 2. As shown in fig. 4, the supporting mechanism 1 further includes a position sensor 14 and a processor 15, the position sensor 14 is mounted on the pushing frame 121, and the processor 15 is mounted on the base 11; when the supporting member 122 moves to be detected by the position sensor 14, the position sensor 14 can transmit a detection signal to the processor 15, and the processor 15 can control the driving device 13 to drive the at least two supporting assemblies 12 to move towards the position close to the shelf 2 by a preset distance at the same time, so as to ensure that the supporting assemblies 12 on both sides of the base 11 are abutted to the corresponding shelf 2.

In this embodiment, during the process that the driving device 13 drives the supporting assembly 12 to contact with the shelf 2, the supporting member 122 is pushed by the shelf 2 to move relative to the pushing frame 121, when the supporting member 122 moves along the pushing frame 121 and can be detected by the position sensor 14, the position sensor 14 transmits a detection signal to the processor 15, and the processor 15 controls the driving device 13 to stop driving. After the supporting components 12 on the two sides of the base 11 all trigger the position sensor 14 to stop, the supporting components 12 on the two sides of the base 11 all contact with the corresponding shelf 2, and the processor 15 controls the driving device 13 again to drive the at least two supporting components 12 to synchronously move for a certain fixed distance and then stop, so that the supporting components 12 on the two sides of the base 11 are all tightly pressed on the corresponding shelf 2, the supporting mechanism 1 of the robot is limited between the shelves 2, and the robot is prevented from shaking.

The position sensor 14 may detect the movement of the second elastic member 123 to determine that the supporting member 122 is in contact with the shelf 2.

As shown in fig. 5 and 6, the driving device 13 further includes a driving element 131, a screw 132, a nut 133 and a pushing element 134, the driving element 131 can drive the screw 132 to rotate, the nut 133 is sleeved on the screw 132, and the pushing element 134 is connected with the nut 133 and the corresponding support assembly 12; when the screw 132 is driven to rotate, the nut 133 can drive the pushing member 134 to move along the screw 132, and the pushing member 134 drives the supporting component 12 to move.

In this embodiment, the driving member 131 is a motor, and a coupling 138 is disposed between the motor and the lead screw 132 to eliminate a concentricity error and protect the motor. An avoiding long hole is formed in the base 11, and the pushing piece 134 penetrates through the avoiding long hole to be connected with the supporting component 12, so that when the screw rod 132 rotates, the pushing piece 134 can move along the screw rod 132 by rotating the screw to push the supporting component 12 to move relative to the base 11.

As shown in fig. 6, the first elastic member 135 is disposed between the nut 133 and the pushing member 134, and the nut 133 pushes the pushing member 134 to move through the first elastic member 135. During the process that the processor 15 controls the driving device 13 to push the supporting component 12 to move towards the direction of the shelf 2, the nut 133 moves along the screw 132 and pushes the pushing member 134 to move through the first elastic member 135, so that the pushing member 134 pushes the supporting component 12 to move towards the direction close to the shelf 2 until the supporting component 12 contacts with the shelf 2, the position sensor 14 detects the position of the supporting component 12, the position sensor 14 transmits a detection signal to the processor 15, and the processor 15 controls the driving device 13 to stop pushing the supporting component 12. After both support members 12 contact the shelf 2, the processor 15 again drives the driving device 13 to move both support members 12 towards the shelf 2. In this embodiment, after all moving supporting component 12 and the goods shelf 2 that corresponds contact, redriving supporting component 12 moves towards the direction of goods shelf 2 simultaneously, further butt with goods shelf 2, when having avoided the robot to walk in goods shelf 2 tunnel, because the walking precision of robot itself, and the robot itself is rocking in the walking, the distance inequality to goods shelf 2 of the left and right sides of the robot, the supporting component 12 and the goods shelf 2 of base 11 one side offset appear, the supporting component 12 of opposite side does not offset with goods shelf 2 problem. In the process that the driving device 13 pushes the two supporting assemblies 12 to move towards the direction of the shelf 2 again, the thrust applied to the first elastic member 135 by the driving device 13 is gradually increased until the supporting assemblies 12 move for the preset distance, the driving device 13 stops pushing the supporting assemblies 12, at this time, the thrust applied to the first elastic member 135 by the driving device 13 is a fixed value, the compression amount of the first elastic member 135 is kept at a certain fixed value, the first elastic member 135 can press the corresponding supporting assemblies 12 to the shelf 2 through the elastic force of the first elastic member 135, and finally, the force pressed on the shelf 2 is a fixed value, so that the stability of the supporting mechanism 1 is ensured.

As shown in fig. 6, in a possible design, the driving device 13 further includes a sensing switch 136 and a sensing piece 137, the sensing switch 136 is mounted on the base 11, and the sensing piece 137 is mounted on the pushing piece 134; when the sensing switch 136 detects the sensing piece 137, the pushing piece 134 is located at the initial position.

In this embodiment, the sensing switch 136 is a groove-type photoelectric switch, and when the pushing element 134 is located at the initial position, the sensing piece 137 is located in a groove of the groove-type photoelectric switch, that is, the supporting mechanism 1 is located at the zero point position. When the pushing member 134 moves, the sensing piece 137 is separated from the slot-type photoelectric switch, and when the sensing piece 137 returns to the slot-type photoelectric switch again, it indicates that all the components of the supporting mechanism 1 return to the initial positions.

The pushing frame 121 is provided with an anti-collision member 121a, the base 11 is provided with at least two limiting members 111, and the at least two limiting members 111 are distributed along the length direction Y of the supporting mechanism 1; when the at least two support assemblies 12 approach each other, the at least two limiting members 111 can abut against the corresponding anti-collision member 121a to limit the at least two support assemblies 12 from colliding. This embodiment adopts the stopper to restrict two and pushes away frame 121 and continue to be close to each other, and when avoiding the procedure to take place the mistake, two push away the frame 121 and collide.

As shown in fig. 6, in one possible design, the pushing frame 121 includes a connecting portion 121b and a supporting portion 121c, and the connecting portion 121b is perpendicular to the supporting portion 121c; a plurality of the supporting members 122 are arranged in the supporting portion 121c in the width direction X of the supporting mechanism 1; the connecting portion 121b is provided with a sliding rail 121b1, the base 11 is provided with a sliding block 112, and the sliding block 112 is located in the sliding rail 121b1 and can move along the sliding rail 121b1, so as to realize the sliding connection between the base 11 and the pushing frame 121.

As shown in fig. 7 and 8, the support mechanism 1 further comprises a drag chain 17 for accommodating the wire harness, the drag chain 17 moving with the movement of the support assembly 12.

As shown in fig. 7 and 8, the supporting mechanism 1 is provided with a mounting base 16, and the mounting base 16 is fixed on the base 11 and used for fixing the moving chassis 3 and the supporting mechanism 1.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (12)

1. A support mechanism of a robot, characterized in that the support mechanism (1) comprises:

a base (11);

at least two supporting components (12), wherein the at least two supporting components (12) are distributed on two opposite sides of the base (11) and can slide relative to the base (11);

the driving device (13) is arranged on the base (11) and can drive at least two supporting assemblies (12) to move away from each other to be abutted against the goods shelf (2) or to move close to each other to be separated from the goods shelf (2);

after the driving device (13) drives at least two supporting assemblies (12) to be in contact with the corresponding goods shelf (2), the driving device (13) can drive the at least two supporting assemblies (12) to move towards the direction close to the goods shelf (2) at the same time for a preset distance.

2. The support mechanism of a robot according to claim 1, characterized in that the support assembly (12) comprises a support (122), the support (122) being intended to abut against the pallet (2), and in that the drive means (13) comprise a first spring (135), the first spring (135) being able to press the support (122) against the pallet (2) by its own spring force.

3. The support mechanism of the robot as claimed in claim 2, wherein the support assembly (12) further comprises a push frame (121) and a second elastic member (123), the push frame (121) is slidably connected with the base (11), the support member (122) is mounted on the push frame (121) and can move relative to the push frame (121);

when the supporting member (122) abuts against the shelf (2), the supporting member (122) can move in a direction away from the shelf (2) against the elastic force of the second elastic member (123).

4. The support mechanism of the robot as claimed in claim 3, characterized in that the support assembly (12) further comprises a guide rod (124), the guide rod (124) being mounted to the push frame (121);

the support (122) is mounted on the guide rod (124) and can move along the guide rod (124);

the second elastic member (123) is compressed between the end of the guide rod (124) and the support member (122).

5. The support mechanism of the robot according to claim 4, characterized in that the support (122) comprises a connecting rod (122 a) and a rubber roller (122 b);

the connecting rod (122 a) is connected with the guide rod (124);

the rubber roller (122 b) is sleeved on the connecting rod (122 a) and can rotate relative to the connecting rod (122 a).

6. The support mechanism of the robot according to claim 3, characterized in that the support mechanism (1) further comprises a position sensor (14) and a processor (15), the position sensor (14) being mounted to the push frame (121), the processor (15) being mounted to the base (11);

at least part of the supporting member (122) extends out of the pushing frame (121), when the supporting member (122) moves to be detected by the position sensor (14), the position sensor (14) can transmit a detection signal to the processor (15), and the processor (15) can control the driving device (13) to drive at least two supporting assemblies (12) to move a preset distance towards a position close to the shelf (2).

7. The support mechanism of a robot according to any one of claims 2 to 6, characterized in that said drive means (13) are provided in at least two, at least two of said drive means (13) being capable of driving the respective corresponding support assembly (12);

the driving device (13) further comprises a driving piece (131), a lead screw (132), a nut (133) and a pushing piece (134), the driving piece (131) can drive the lead screw (132) to rotate, the nut (133) is sleeved on the lead screw (132), and the pushing piece (134) is connected with the nut (133) and the corresponding supporting component (12);

when the screw rod (132) is driven to rotate, the nut (133) can drive the pushing piece (134) to move along the screw rod (132), and the pushing piece (134) drives the supporting component (12) to move.

8. The support mechanism of the robot according to claim 7, characterized in that the first elastic member (135) is disposed between the nut (133) and the pushing member (134), and the nut (133) pushes the pushing member (134) to move by the first elastic member (135).

9. The support mechanism of the robot according to claim 7, characterized in that the drive means (13) further comprises an inductive switch (136) and an inductive blade (137), the inductive switch (136) being mounted to the base (11), the inductive blade (137) being mounted to the push member (134);

when the inductive switch (136) detects the inductive sheet (137), the pushing piece (134) is located at the initial position.

10. The supporting mechanism of the robot according to any one of claims 3 to 6, characterized in that the pushing frame (121) is provided with an anti-collision member (121 a), the base (11) is provided with at least two limiting members (111), and the at least two limiting members (111) are distributed along the length direction (Y) of the supporting mechanism (1);

when the at least two supporting assemblies (12) are close to each other, the at least two limiting pieces (111) can be abutted against the corresponding anti-collision pieces (121 a) so as to limit the at least two supporting assemblies (12) from colliding.

11. The support mechanism of the robot according to claim 3, wherein the push frame (121) includes a connecting portion (121 b) and a support portion (121 c), the connecting portion (121 b) being perpendicular to the support portion (121 c);

a plurality of the supporting pieces (122) are arranged on the supporting part (121 c) in an arrangement manner along the width direction (X) of the supporting mechanism (1);

the connecting portion (121 b) is provided with a sliding rail (121 b 1), the base (11) is provided with a sliding block (112), and the sliding block (112) is located in the sliding rail (121 b 1) and can move along the sliding rail (121 b 1).

12. A robot, characterized in that the robot comprises:

a mobile chassis (3);

a support mechanism (1), the support mechanism (1) being a support mechanism (1) according to any one of claims 1 to 11;

the supporting mechanism (1) is provided with a mounting seat (16), and the mounting seat (16) is mounted on the movable chassis (3).

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