Four-axis robot

Abstract

The invention relates to a four-axis robot. The four-axis robot comprises a base, a lifting mechanism, a first mechanical arm mechanism and a second mechanical arm mechanism. Wherein the lifting mechanism is connected with the base and used for driving the base to do lifting motion; the first mechanical arm mechanism comprises a first mechanical arm, and the first end of the first mechanical arm is connected with the base; the second mechanical arm mechanism is connected with the second end, away from the base, of the first mechanical arm and comprises a second mechanical arm, a first power assembly and a first speed reduction assembly; the second end of the first mechanical arm is connected with the connecting end of the second mechanical arm. The first power assembly is arranged at the connecting end of the second mechanical arm; the input end of the first speed reduction assembly is connected with the first power assembly, and the output end is connected with the second end of the first mechanical arm so as to drive the first mechanical arm to rotate relative to the second mechanical arm under driving of the first power assembly. In this way, the four-axis robot tail end is compact in structure, suitable for working scenes with narrow space and capable of achieving high-precision transmission.

Description

Technical Field

[0001] This application relates to the field of robot technology, and particularly to a four-axis robot. Background Art

[0002] With the rapid development of technology, robot technology is increasingly widely used in production and life. Especially in the field of industrial automation, the horizontally articulated (SCARA) robot is widely used in industries such as handling, processing, assembly, and education due to its flexible movement, high speed, and high repeat positioning accuracy. The SCARA robot usually consists of a base, a large arm, and a small arm to form the main structure, and adopts a form of four-joint-axis drive. Among them, the upper and lower Z axes and the rotating R axis are usually arranged at the end to achieve the corresponding movement of the robot. Summary of the Invention

[0003] The main technical problem to be solved by this application is to provide a four-axis robot, which can make the end structure compact, be suitable for working scenarios with narrow space, and can achieve high-precision transmission.

[0004] To achieve the above object, this application provides a four-axis robot, which includes a base, a lifting mechanism, a first robotic arm mechanism, and a second robotic arm mechanism; wherein, the lifting mechanism is connected to the base and is used to drive the base to make a lifting movement; the first robotic arm mechanism includes a first robotic arm, and the first end of the first robotic arm is connected to the base; the second robotic arm mechanism is connected to the second end of the first robotic arm far from the base and includes a second robotic arm, a first power component, and a first reduction component; wherein, the second end of the first robotic arm is connected to the connecting end of the second robotic arm; the first power component is arranged at the connecting end of the second robotic arm; the input end of the first reduction component is connected to the first power component, and the output end is connected to the second end of the first robotic arm to drive the first robotic arm to rotate relative to the second robotic arm under the drive of the first power component.

[0005] Further, the second robotic arm mechanism further includes a second power component and a synchronous belt component; the second power component is arranged at the connecting end of the second robotic arm and is close to the first power component; the synchronous belt component is arranged along the second robotic arm, and the input end of the synchronous belt component is connected to the output end of the second power component and is used to output a rotational movement from the output end of the synchronous belt component under the drive of the second power component to drive the end working part of the four-axis robot to rotate.

[0006] Further, the second robotic arm mechanism further includes a second reduction component; the second reduction component is arranged at the connecting end of the second robotic arm close to the first robotic arm, and the input end of the second reduction component is connected to the output end of the second power component, and the output end is connected to the input end of the synchronous belt component to transmit the power of the second power component to the synchronous belt component.

[0007] Furthermore, the second robotic arm mechanism further includes a second deceleration component; the second deceleration component is disposed at the working end of the second robotic arm away from the first robotic arm. Wherein, the input end of the second deceleration component is connected to the output end of the synchronous belt component, and is configured to receive the power of the second power component transmitted by the synchronous belt component to drive the end working part to rotate.

[0008] Specifically, the synchronous belt component includes a first synchronous pulley, a second synchronous pulley and a synchronous belt; the first synchronous pulley is connected to the output end of the second power component to receive the power output by the second power component; the second synchronous pulley is disposed at the working end of the second robotic arm; the synchronous belt is disposed along the length direction of the second robotic arm, and one end thereof is connected to the first synchronous pulley and the other end is connected to the second synchronous pulley, and is configured to transmit the power output by the second power component from the first synchronous pulley to the second synchronous pulley.

[0009] Specifically, the base includes a housing, a third power component and a third deceleration component; the housing defines an accommodation space and is connected to the lifting mechanism; the third power component is disposed in the accommodation space; the input end of the third deceleration component is connected to the output end of the third power component, and the output end is connected to the first end of the first robotic arm to drive the first robotic arm to rotate relative to the housing under the drive of the third power component.

[0010] Specifically, the lifting mechanism includes a lifting bracket, a lifting power component, a lifting mounting part and a lifting transmission component; the lifting bracket defines an installation space; the lifting power component is mounted on the lifting bracket; the lifting mounting part is disposed in the installation space and is connected to the base; the lifting transmission component is disposed in the installation space, the input end thereof is connected to the lifting power component, and the output end is connected to the lifting mounting part to drive the lifting mounting part to perform a lifting movement under the drive of the lifting power component.

[0011] Specifically, the lifting transmission component is a ball screw, and the lifting bracket further includes a linear guide rail matching the lifting mounting part. The ball screw drives the lifting mounting part to perform a lifting movement along the guide rail under the drive of the lifting power component.

[0012] Specifically, both the first robotic arm and the second robotic arm are robotic arms made of profiled bars with a fixed cross-section.

[0013] Specifically, the materials of both the first robotic arm and the second robotic arm are extruded aluminum profiles.

[0014] The beneficial effects of the present application are as follows: Different from the prior art, the four-axis robot of the present application includes a base, a lifting mechanism, a first robotic arm mechanism, and a second robotic arm mechanism. Among them, the lifting mechanism is connected to the base and is used to drive the base to move up and down. The first robotic arm mechanism includes a first robotic arm, and the first end of the first robotic arm is connected to the base. The second robotic arm mechanism is connected to the second end of the first robotic arm away from the base and includes a second robotic arm, a first power component, and a first reduction component. The second end of the first robotic arm is connected to the connection end of the second robotic arm. The first power component is arranged at the connection end of the second robotic arm. The input end of the first reduction component is connected to the first power component, and the output end is connected to the second end of the first robotic arm to drive the first robotic arm to rotate relative to the second robotic arm under the drive of the first power component. In the above manner, the lifting mechanism realizes the lifting movement by driving the base, and the base is arranged at a position of the first robotic arm away from the second robotic arm. Therefore, the lifting mechanism is arranged away from the end of the four-axis robot. In this way, the present application avoids arranging the up-and-down Z-axis at the end, which is beneficial to the compactness of the end structure and can be applied to working scenarios with narrow spaces. In addition, the rotation of the second robotic arm relative to the first robotic arm is realized by the power component and the reduction component, which can further improve the compactness of the overall structure and the accuracy of transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features, and advantages of the exemplary embodiments of the present disclosure will become readily understood. In the drawings, several embodiments of the present disclosure are shown by way of illustration and not limitation, and like or corresponding reference numerals indicate like or corresponding parts, wherein:

[0016] Figure 1 is a schematic structural diagram of an embodiment of the four-axis robot of the present application;

[0017] Figure 2 is a partial structural sectional view of an embodiment of the four-axis robot of the present application;

[0018] Figure 3 is a partial structural schematic diagram of an embodiment of the four-axis robot of the present application;

[0019] Figure 4 is a partial structural schematic diagram of an embodiment of the four-axis robot of the present application;

[0020] Figure 5 is a sectional view of the first robotic arm in an embodiment of the four-axis robot of the present application;

[0021] Figure 6 is a sectional view of the second robotic arm in an embodiment of the four-axis robot of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] Next, in combination with the accompanying drawings in the embodiments of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present disclosure.

[0023] The following will describe in detail the specific implementation manners of the present disclosure in combination with the accompanying drawings.

[0024] Please refer to Figure 1-2 , this application provides a four-axis robot. In one embodiment, the four-axis robot includes a base 10, a first robotic arm mechanism 20, a second robotic arm mechanism 30, and a lifting mechanism 40.

[0025] Among them, the base 10 can provide a connection foundation for the four-axis robot, connecting the first robotic arm mechanism 20, the second robotic arm mechanism 30, and the lifting mechanism 40 together.

[0026] The lifting mechanism 40 is disposed on one side of the base 10 and is connected to the base 10 to drive the base 10 to perform a lifting motion. Specifically, the lifting mechanism 40 may include relevant drive mechanisms such as motors, etc., to directly or indirectly output lifting power to drive the base 10, the first robotic arm mechanism 20, the second robotic arm mechanism 30, etc. to lift according to the working requirements of the four-axis robot.

[0027] The first robotic arm mechanism 20 and the second robotic arm mechanism 30 are the core moving components of the four-axis robot in this embodiment, and the two work together to achieve precise positioning and movement of the robot. Among them, the first robotic arm mechanism 20 is the main support arm mechanism of the robot, connecting the base 10 and the second robotic arm mechanism 30, and providing a large range of horizontal movement. The second robotic arm mechanism 30 is the secondary arm mechanism of the robot, which can further expand the movement range on the basis of the first robotic arm mechanism 20 and can precisely position the end effector. And tools such as grippers, suction cups, welding heads, or nozzles can be further installed at the end of the second robotic arm mechanism 30 for performing tasks such as grasping, assembling, welding, and spraying.

[0028] Specifically, the first robotic arm mechanism 20 includes a first robotic arm 21. Among them, the first end 211 of the first robotic arm 21 is connected to the base 10 and is set to be rotatable relative to the base 10, such as horizontal rotation. The second robotic arm mechanism 30 is connected to the second end 212 of the first robotic arm 21 away from the base 10 and includes a second robotic arm 31, a first power component 32, and a first reduction component 33.

[0029] Among them, the second end 212 of the first robotic arm 21 is connected to the connection end 311 of the second robotic arm 31, such as a horizontal rotational connection. The first power assembly 32 is disposed at the connection end 311 of the second robotic arm 31. The first power assembly 32 can be a motor, such as a servo motor, a stepper motor, etc., and can be fixedly connected to a flange. The input end of the first reduction assembly 33, such as a speed reducer, is connected to the output end of the first power assembly 32, and the output end is connected to the second end 212 of the first robotic arm 21. Thus, the power output by the first power assembly 32 can be transmitted to the first robotic arm 21 through the first reduction assembly 33, and further drive the first robotic arm 21 to rotate relative to the second robotic arm 31, that is, to realize the second-axis movement of the four-axis robot.

[0030] Specifically, in one embodiment, the second robotic arm mechanism 30 further includes an end cap 34, a hood 35, etc. Among them, the first power assembly 32 can be covered within the hood 35, thereby protecting related structures.

[0031] It should be noted that in the related art, there are certain limitations in the structural design of SCARA robots. Since the upper and lower Z axes are usually arranged at the end, the structural space of the end effector is relatively large, making it difficult to enter narrow spaces for operations. For example, in scenarios such as the assembly of electronic components and the processing of precision parts, the robot end needs to enter narrow cavities or gaps for operation, while the end structures of related SCARA robots often cannot meet such requirements. In addition, the complexity of the end structure will increase the overall weight of the robot, affecting its movement speed and accuracy. In the above embodiments of the present application, the lifting mechanism 40 is connected to the base 10, and the base 10 is connected to the end of the first robotic arm 21 far from the second robotic arm 31. That is to say, the lifting mechanism 40 is arranged far from the end, so that the end structure of the robot can be greatly simplified, making the end structure compact, so as to be applicable to working scenarios with narrow spaces, such as carrying, loading and unloading, and assembly tasks in narrow working scenarios.

[0032] In addition, in this embodiment, the relative rotation between the first robotic arm 21 and the second robotic arm 31 is realized through the cooperation of corresponding power assemblies and reduction assemblies, which can bear a large load and meet the requirements of high-precision motion control.

[0033] In one embodiment, both the first robotic arm 21 and the second robotic arm 31 are robotic arms with constant cross-section profiles, and the corresponding cross-sections are respectively as Figure 5 、 Figure 6 shown.

[0034] In this way, after selecting the profiles of the required length and performing simple machining, the required first robotic arm 21 and second robotic arm 31 can be quickly obtained, so that a robotic system with different arm lengths and loads can be quickly assembled, thereby improving production efficiency, reducing the production cost of enterprises, and meeting different operation requirements; moreover, by only adjusting the lengths of the robotic arms and the length of the synchronous belt, a robotic system with other arm lengths can be generalized, which has a high degree of generalizability.

[0035] Furthermore, the materials of the first robotic arm 21 and the second robotic arm 31 are both extruded aluminum profiles.

[0036] It should be noted that in the related art, the robotic arms of four-axis robotic systems are mostly machined or cast. The directly machined robotic arms usually have high costs, poor rigidity, and slow delivery times, while the die costs for cast robotic arms are expensive. Through the above method, the large and small arms of the low-cost horizontal joint four-axis robot proposed in this application are processed from extruded aluminum profiles, which not only have low costs but also good rigidity and fast delivery times. They can quickly respond to orders during mass production and have higher precision.

[0037] In an embodiment, the second robotic arm mechanism 30 further includes a second power component 36 and a synchronous belt component 37. The second power component 36 is disposed on the second robotic arm 31 and is disposed close to the first power component 32 for providing power output. The synchronous belt component 37 is disposed along the second robotic arm 31, and its input end is connected to the output end of the second power component 36 for outputting a rotational motion through the output end of the synchronous belt component 37 under the drive of the second power component 36, thereby driving the end working part of the four-axis robot to rotate.

[0038] Specifically, the second power component 36 can be a motor, such as a servo motor, a stepper motor, etc. The motor can be fixed to the connection end 311 of the second robotic arm 31 through a flange or other structures, and its output shaft is connected to the input end of the synchronous belt component 37.

[0039] In an embodiment, the synchronous belt component 37 includes a first synchronous belt pulley 371, a synchronous belt 372, and a second synchronous belt pulley 373.

[0040] The first synchronous pulley 371 is connected to the output end of the second power assembly 36, and specifically, it can be connected to the output shaft of the motor to receive the power output by the second power assembly 36. One end of the synchronous belt 372 is connected to the first synchronous pulley 371, and the end far from the first synchronous pulley 371 is connected to the second synchronous pulley 373. In this way, the synchronous belt 372 can transmit the power received by the first synchronous pulley 371 from the second power assembly 36 to the second synchronous pulley 373, so that the second synchronous pulley 373 rotates with the first synchronous pulley 371. The diameter and number of teeth of the second synchronous pulley 373 are matched with those of the first synchronous pulley 371 to ensure the tension and transmission efficiency of the synchronous belt 372. Further, the second synchronous pulley 373 can be connected to the end working part to drive the end working part to rotate.

[0041] Further, the second robotic arm mechanism 30 may further include a second reduction assembly 38.

[0042] In one embodiment, as Figure 2 shown, the second reduction assembly 38 is disposed at the connection end 311 of the second robotic arm 31, that is, the end close to the first robotic arm 21. At this time, the input end of the second reduction assembly 38 is connected to the output end of the second power assembly 36, and the output end is connected to the input end of the synchronous belt assembly 37 for transmitting the power of the second power assembly 36 to the synchronous belt assembly 37.

[0043] Specifically, the second reduction assembly 38 can be a reduction gear. The second reduction assembly 38 can be fixedly connected to the flange to achieve high-precision and high-torque transmission. Its output end can be fixedly connected to the first synchronous pulley 371, so that the power output by the second power assembly 36 is transmitted to the synchronous belt assembly 37 after being reduced by the second reduction assembly 38. In this embodiment, one end of the second synchronous pulley 373 is fixedly connected to the end flange. In this way, the end flange can rotate synchronously with the second synchronous pulley 373, thereby realizing the output of the end rotational motion.

[0044] Further, the second robotic arm mechanism 30 further includes a wire pipe 391 and a wire pipe bracket 392. The wire pipe 391 is fixedly connected to the second robotic arm through the wire pipe bracket 392, thereby playing a role in protecting the end cables.

[0045] In another embodiment, the second reduction assembly 38 is disposed at the working end 312 of the second robotic arm 31, that is, at the end of the second robotic arm 31 far from the first robotic arm 21. At this time, the input end of the second reduction assembly 38 is connected to the output end of the synchronous belt assembly 37 for receiving the power of the second power assembly 36 transmitted by the synchronous belt assembly 37 and further reducing the speed to drive the end working part to rotate.

[0046] Specifically, the second deceleration component 38 can be a speed reducer, specifically a harmonic speed reducer, to replace the end flange. In an application scenario, the output end of the second power component 36 is directly fixedly connected to the first synchronous pulley 371, driving the first synchronous pulley 371 to rotate, and transmitting power to the second synchronous pulley 373 through a synchronous belt to drive the second synchronous pulley 373 to rotate. One end of the second synchronous pulley 373 is connected to the input end of the harmonic speed reducer, so that the output end of the harmonic speed reducer rotates synchronously with the second synchronous pulley 373, thereby realizing the output of the end rotational motion of the four-axis robot. This embodiment can handle scenarios with a larger end load inertia.

[0047] In addition, in order to adapt to different working requirements, the output end of the second deceleration component 38 can be designed as a standardized interface to support the quick replacement of different end working parts.

[0048] In addition, both the first power component 32 and the second power component 36 are arranged at the connection end 311 of the second robotic arm 31. Specifically, the first power component 32 is fixedly connected close to the second power component 36, so that the center of mass of the second robotic arm 31 moves significantly closer to the second axis joint of the four-axis robot, greatly reducing the moment of inertia of the first axis joint and the second axis joint, thereby providing basic conditions for the speed increase of the four-axis robot.

[0049] In one embodiment, the base 10 includes a housing 11, a third power component 12, and a third deceleration component 13. Among them, the housing 11 defines an accommodation space 11a and is connected to the lifting mechanism 40. Specifically, in an application scenario, the housing 11 of the base 10 can be composed of a bottom plate 111, a base cylinder 112, and a top plate 113 through methods such as screwing and welding, and the three jointly define the accommodation space 11a. In addition, the base 10 further includes an adapter plate 114. One side of the adapter plate 114 is connected to the base cylinder 112, and the other side is connected to the lifting mechanism 40. In another application scenario, the housing 11 of the base 10 can be composed of a bottom plate 111, a base cylinder 112, a top plate 113, and an adapter plate 114 through methods such as screwing and welding, and the four jointly define the accommodation space 11a, that is, the adapter plate 114 serves as a part of the housing 11 of the base 10 and is connected to the lifting mechanism 40. Specifically, the connection between the two can be a fixed connection.

[0050] The third power component 12 is arranged in the accommodation space 11a. The third power component 12 can be a motor, such as a servo motor or a stepper motor, and can be fixedly connected to a flange. The third deceleration component 13, such as a speed reducer, has its input end connected to the output end of the third power component 12, and its output end connected to the first end 211 of the first robotic arm 21. Thus, the power output by the third power component 12 can be transmitted to the first robotic arm 21 through the third deceleration component 13, driving the first robotic arm 21 to rotate relative to the base 10 to realize the first axis movement of the four-axis robot.

[0051] In addition, the first robotic arm mechanism 20 may further include two end caps 22, which are respectively fixed to both ends of the first robotic arm 21 to achieve the spatial sealing of the first robotic arm mechanism 20.

[0052] In one embodiment, please refer to Figure 4 , the lifting mechanism 40 includes a lifting bracket 41, a lifting power component 42, a lifting mounting part 43 and a lifting transmission component 44.

[0053] Among them, the lifting bracket 41 is a vertical bracket that provides support for the overall four-axis robot. The robot is placed on the ground or a workbench through the lifting bracket 41. Specifically, the lifting bracket 41 may include a top plate 411, side plates 412, a bottom plate 413, etc., and defines an installation space 41a to provide space for the installation of relevant power components.

[0054] The lifting power component 42 is installed on the lifting bracket 41. Specifically, the lifting power component 42 can be a motor, such as a stepper motor or a servo motor, which can be installed on the top plate 411 of the lifting bracket 41 and can be located outside the installation space 41a.

[0055] The lifting transmission component 44 is arranged in the installation space 41a, and its input end is connected to the lifting power component 42, and the output end is connected to the lifting mounting part 43, and is used to receive the power output of the lifting power component 42 and convert it into a lifting motion, that is, a linear motion.

[0056] The lifting mounting part 43 is arranged in the installation space 41a, one side is connected to the lifting transmission component 44, and the other side is connected to the base 10, and is used to connect the base 10 to the lifting mechanism 40, so as to further drive the base 10, and the first robotic arm mechanism 20 and the second robotic arm mechanism 30 to perform a lifting motion under the drive of the lifting transmission component 44.

[0057] In one embodiment, the lifting transmission component 44 can be a ball screw, and the lifting bracket 41 further includes a linear guide rail 415 that matches the lifting mounting part 43. The ball screw drives the lifting mounting part 43 to move up and down along the guide rail under the drive of the lifting power component 42.

[0058] Specifically, the lifting bracket 41 may further include a mounting plate 414, and the ball screw is installed on the mounting plate 414. The ball screw can be connected to the output shaft of the lifting power component 42, such as a motor, through a coupling. The rotation of the output shaft of the motor can drive the coupling and the ball screw to rotate synchronously. Further, the lifting mounting part 43 is connected, such as fixedly connected, to the nut of the ball screw, thereby converting the rotational motion of the ball screw into a linear motion of the lifting mounting part 43 moving up and down in the Z-axis direction, that is, a lifting motion.

[0059] Further, the linear guide rail 415 can be arranged on the mounting plate 414, and the extending direction of the guide rail is parallel to the ball screw. The cooperation between the lifting mounting part 43 and the guide rail can further improve the rigidity and stability when the lifting mounting part 43 moves up and down along the Z-axis direction, and reduce jitter.

[0060] Further, limit blocks can be installed on both the upper side and the lower side of the screw mounting plate 414 to achieve the function of hard limiting the lifting mounting part 43.

[0061] In an embodiment, the lifting mechanism 40 is connected to the base 10 through a drag chain 50, and a wire threading pipe 60 is further provided between the base 10 and the second robotic arm mechanism 30, so as to realize the electrical connection between the lifting mechanism 40 and the second robotic arm mechanism 30.

[0062] It should be further noted that in the design of four-axis robots in the related art, almost no consideration is given to the later generalization. When dealing with customized requirements, the design cycle is long, and it is difficult to quickly construct a robot system required by customers based on the existing solutions. However, the modular horizontal joint four-axis robot proposed in this application adopts a modular design concept, and can quickly and efficiently build robot systems with different arm lengths and loads by only changing a few components, so as to meet the customized requirements of customers.

[0063] In the above description of this specification, unless otherwise clearly specified and limited, terms such as "fixed", "installed", "connected" or "coupled" should be understood in a broad sense. For example, for the term "connected", it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the communication inside two components or the interaction relationship between two components. Therefore, unless otherwise clearly limited in this specification, those skilled in the art can understand the specific meanings of the above terms in this application according to specific situations.

[0064] According to the above description of this specification, those skilled in the art can also understand the following terms used, such as "upper", "lower", "front", "rear", "left", "right", "length", "width", "thickness", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", "center", "longitudinal", "transverse", "clockwise" or "counterclockwise", etc. The terms indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings of this specification. It is only for the purpose of facilitating the description of the solution of this application and simplifying the description, rather than explicitly or implicitly indicating that the device or component involved must have the specific orientation, be constructed and operate in the specific orientation. Therefore, the above terms indicating the orientation or position relationship cannot be understood or interpreted as a limitation to the solution of this application.

[0065] In addition, the terms "first" or "second" and other terms used to refer to numbers or ordinals in this specification are for descriptive purposes only and should not be construed as explicitly or implicitly indicating relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this specification, the meaning of "a plurality" is at least two, such as two, three or more, etc., unless otherwise specifically defined.

[0066] Although this specification has shown and described multiple embodiments of the present application, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art will think of many changes, alterations and alternative ways without departing from the spirit and idea of the present application. It should be understood that various alternative solutions to the embodiments of the present application described herein may be adopted in the process of practicing the present application. The appended claims are intended to define the protection scope of the present application and thus cover the module compositions, equivalents or alternative solutions within the scope of these claims.

Claims

1. A four-axis robot, characterized in that: include: Base; A lifting mechanism connected to the base, used to drive the base to perform lifting motion; A first mechanical arm mechanism, comprising a first mechanical arm, wherein a first end of the first mechanical arm is connected to the base; and The second mechanical arm mechanism is connected to a second end of the first mechanical arm away from the base, and comprises: A second mechanical arm, wherein the second end of the first mechanical arm is connected to the connecting end of the second mechanical arm; A first power assembly is disposed at the connection end of the second mechanical arm; and A first reduction assembly, wherein an input end of the first reduction assembly is connected to the first power assembly, and an output end is connected to the second end of the first mechanical arm, so as to drive the first mechanical arm to rotate relative to the second mechanical arm under the drive of the first power assembly.

2. The four-axis robot according to claim 1, characterized in that: The second mechanical arm mechanism also includes: a second power assembly, disposed on the second mechanical arm and close to the first power assembly; and A synchronous belt assembly is arranged along the second robotic arm, wherein the input end of the synchronous belt assembly is connected to the output end of the second power assembly, and is used to output rotational motion from the output end of the synchronous belt assembly under the drive of the second power assembly to drive the end working part of the four-axis robot to rotate.

3. The four-axis robot according to claim 2, characterized in that: The second mechanical arm mechanism also includes: A second reduction assembly is arranged at the connection end of the second robotic arm close to the first robotic arm, wherein the input end of the second reduction assembly is connected to the output end of the second power assembly, and the output end is connected to the input end of the synchronous belt assembly, for transmitting the power of the second power assembly to the synchronous belt assembly.

4. The four-axis robot according to claim 2, characterized in that: The second mechanical arm mechanism also includes: A second deceleration assembly is arranged at the working end of the second robotic arm away from the first robotic arm, wherein the input end of the second deceleration assembly is connected to the output end of the synchronous belt assembly for receiving power of the second power assembly transmitted by the synchronous belt assembly to drive the end working part to rotate.

5. The four-axis robot according to claim 2, characterized in that: The synchronous belt assembly comprises: A first synchronous pulley connected to an output end of the second power assembly to receive power output by the second power assembly; A second synchronous pulley is provided at the working end of the second mechanical arm and is connected to the end working part of the four-axis robot; and A synchronous belt is arranged along the length direction of the second robotic arm, and one end is connected to the first synchronous pulley, and the other end is connected to the second synchronous pulley, and is used to transmit the power output by the second power component from the first synchronous pulley to the second synchronous pulley.

6. The four-axis robot according to claim 1, characterized in that: The base comprises: A housing defines a receiving space and is connected to the lifting mechanism; A third power assembly is disposed in the accommodation space; and A third reduction assembly has an input end connected to the output end of the third power assembly, and an output end connected to the first end of the first mechanical arm, so as to drive the first mechanical arm to rotate relative to the housing under the drive of the third power assembly.

7. The four-axis robot according to claim 1, characterized in that: The lifting mechanism comprises: Lifting bracket, defined with installation space; A lifting power assembly is installed on the lifting bracket; A lifting installation part is arranged in the installation space and connected to the base; and The lifting transmission component is arranged in the installation space, the input end is connected to the lifting power component, and the output end is connected to the lifting installation part, so as to drive the lifting installation part to perform lifting movement under the drive of the lifting power component.

8. The four-axis robot according to claim 7, characterized in that: The lifting transmission assembly is a ball screw, and the lifting bracket also includes a linear guide rail matched with the lifting installation part. The ball screw drives the lifting installation part to perform lifting movement along the guide rail under the drive of the lifting power assembly.

9. The four-axis robot according to claim 1, characterized in that: The first robotic arm and the second robotic arm are both fixed-section profile robotic arms.

10. The four-axis robot according to claim 1, characterized in that: The first robotic arm and the second robotic arm are both made of extruded aluminum profiles.

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