Explosion-proof four-axis stand column robot and working method thereof

Abstract

An anti-explosion four-shaft stand column robot comprises a rack, a Z shaft, a wiring box I, a drag chain, a wiring box II, a shaft R1, a shaft R2 and a shaft R3. The Z shaft and the wiring box I are installed on the machine frame, the R1 shaft is installed on the Z shaft, the wiring box II is installed on the Z shaft, the drag chain is installed on the wiring box I and connected with the wiring box II, the R2 shaft is installed on the R1 shaft, and the R3 shaft is installed on the R2 shaft and used for achieving linear displacement of the R1 shaft, the R2 shaft and the R3 shaft in the Z shaft direction. The routing box I is used for cable penetration and path guidance, and is used as a fixed end for fixing a drag chain and providing mounting support for the drag chain; and the drag chain is arranged between the routing box I and the routing box II and is used as a core protection and guide part of the dynamic pipeline under Z-axis repeated vertical movement. The anti-explosion four-axis stand column robot has the advantages that the structure is compact, the action is flexible, the anti-explosion function is realized, the labor cost can be effectively reduced, and the safety production in a dangerous environment is realized.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to an explosion-proof four-axis column robot, and also to a method for operating the aforementioned explosion-proof four-axis column robot. Background Technology

[0002] As industrial production continues to move towards automation and intelligence, the demand for robots in many high-risk work scenarios is growing. These high-risk scenarios cover multiple industries such as chemical, petroleum, coal, and fireworks manufacturing. Their working environments are usually filled with flammable and explosive gases, dust, and other hazardous substances. Once an explosion occurs, it will not only cause serious casualties but also bring huge economic losses to enterprises and even cause irreversible damage to the surrounding environment.

[0003] Therefore, robots used in such scenarios must possess reliable explosion-proof performance to ensure safe and stable operation in hazardous environments. Thus, developing an explosion-proof four-axis column robot that integrates optimized explosion-proof sealing, improved multi-axis collaborative precision, closed-loop pipeline protection, and modular design is key to addressing the aforementioned technical challenges. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to address the shortcomings of the existing technology by providing an explosion-proof four-axis column robot that integrates core features such as intrinsically safe explosion protection, four-axis linkage operation, high-precision motion control and optimized pipeline layout. It can serve as a core support equipment for the intelligent transformation of high-risk industries, help realize human-machine substitution in more high-risk operation scenarios, and drive the dual improvement of safety production efficiency and industrial operation efficiency.

[0005] Another technical problem to be solved by the present invention is to provide a working method for the above-mentioned explosion-proof four-axis column robot.

[0006] The technical problem to be solved by the present invention is achieved through the following technical solution. The present invention is an explosion-proof four-axis column robot, including a frame (1), Z-axis (2), wiring box I (3), cable chain (4), wiring box II (5), R1 axis (6), R2 axis (7), and R3 axis (8); The Z-axis (2) and cable tray I (3) are mounted on the frame (1), the R1 axis (6) is mounted on the Z-axis (2), the cable tray II (5) is mounted on the Z-axis (2), the cable chain (4) is mounted on the cable tray I (3) and connected to the cable tray II (5), the R2 axis (7) is mounted on the R1 axis (6), and the R3 axis (8) is mounted on the R2 axis (7), which are used to enable the R1 axis (6), R2 axis (7) and R3 axis (8) to achieve linear displacement in the Z-axis direction; The cable box I (3) is used for cable routing and path guidance, and serves as a fixed end for fixing the cable chain (4), providing installation support for the cable chain (4); The cable chain (4) is set between cable box I (3) and cable box II (5) and is used as the core protection and guiding component of the dynamic pipeline under repeated vertical movement of Z axis (2); The cable tray II (5) is used for cable routing and path guidance. As a fixed end, it introduces the cable in the drag chain (4) into the equipment body through the sealed interface. The R1 axis (6) is used to form a four-axis linkage with the Z axis (2), R2 (7) and R3 (8) to realize complex spatial trajectory motion; The R2 axis (7) serves as an intermediate swing joint, used to form a four-axis linkage with the R1 axis (6), Z axis (2), and R3 axis (8) to achieve complex spatial trajectory motion; The R3 axis (8) serves as the end effector joint of the explosion-proof four-axis column robot, and is used to form a four-axis linkage with the R1 axis (6), R2 axis (7), and Z axis (2) to achieve complex spatial trajectory motion.

[0007] The technical problem to be solved by the present invention can also be further realized by the following technical solutions. For the explosion-proof four-axis column robot described above, the frame (1) includes a bottom mounting plate (1.1), a vertical plate (1.2), a front lower connecting plate (1.3), a rear lower connecting plate (1.4), a middle connecting plate (1.5), a column guide rail mounting plate (1.6), a lower guard plate (1.7), a rear cover plate (1.8), and a column upper cover plate (1.9). The upright plate (1.2) is installed on the bottom mounting plate (1.1), and the front lower connecting plate (1.3), the rear lower connecting plate (1.4), the middle connecting plate (1.5), the column guide rail mounting plate (1.6), the lower guard plate (1.7), the rear cover plate (1.8), and the column upper cover plate (1.9) are installed on the upright plate (1.2); With the bottom mounting plate (1.1) fixed, the upright plate (1.2), the front lower connecting plate (1.3), the rear lower connecting plate (1.4), the middle connecting plate (1.5), the column guide rail mounting plate (1.6), the lower guard plate (1.7), the rear cover plate (1.8), and the column upper cover plate (1.9) are connected in sequence to provide a stable installation reference for each functional unit.

[0008] The technical problem to be solved by the present invention can also be further realized by the following technical solutions. For the explosion-proof four-axis column robot described above, the Z-axis (2) includes an explosion-proof servo motor (2.1), a servo motor planetary reducer (2.2), a reducer mounting base (2.3), a ball screw fixing base (2.4), a ball screw support base (2.5), a ball screw (2.6), a screw nut seat (2.7), a screw nut (2.8), a connecting plate (2.9), a slider (2.10), a guide rail (2.11), a lifting motor mounting plate I (2.12), a lifting seat support plate (2.13), a lifting motor mounting plate II (2.14), a gland head (2.15), and a cable connector (2.16). The reducer mounting base (2.3), ball screw fixing base (2.4), and ball screw support base (2.5) are mounted on the vertical plate (1.2). The explosion-proof servo motor (2.1) is mounted on the servo motor planetary reducer (2.2). The servo motor planetary reducer (2.2) is mounted on the reducer mounting base (2.3). The ball screw (2.6) is mounted on the ball screw fixing base (2.4) and the ball screw support base (2.5) and connected to the servo motor planetary reducer (2.2). The screw nut (2.8) is mounted on the ball screw (2.6), and the screw nut seat (2.7) is mounted on the screw nut seat (2.8). On 2.8), the connecting plate (2.9) is installed on the screw nut seat (2.7), the slider (2.10) is installed on the connecting plate (2.9), the guide rail (2.11) is installed on the column guide rail mounting plate (1.6), the slider (2.10) is installed in conjunction with the guide rail (2.11), the lifting motor mounting plate I (2.12), the lifting motor mounting plate II (2.14), and the lifting seat support plate (2.13) are installed on the connecting plate (2.9), the gland head (2.15) is installed on the lifting motor mounting plate I (2.12), and the cable connector (2.16) is installed on the lifting motor mounting plate II (2.14); Driven by the explosion-proof servo motor (2.1), the power is transmitted to the connecting plate (2.9) in sequence through the servo motor planetary reducer (2.2), ball screw (2.6), screw nut (2.8), and screw nut seat (2.7), which drives the robotic arm to move in a high-precision linear direction in the vertical direction, providing height adjustment and vertical support for the load of the whole machine.

[0009] The technical problem to be solved by the present invention can also be further realized by the following technical solutions. For the explosion-proof four-axis column robot described above, the R1 axis (6) includes a joint arm reducer mounting plate (6.1), a swing arm 1 cable inlet plate (6.2), a section of plane bearing mounting plate (6.3), a swing arm support plate (6.4), an electrical elbow (6.5), a gland (6.6), a joint cable outlet plate (6.7), a harmonic reducer (6.8), an explosion-proof servo motor (6.9), a plane bearing mounting pin cover (6.10), a plane bearing mounting pin (6.11), and a thrust ball bearing (6.12). The gland head (6.6) is mounted on the explosion-proof servo motor (6.9), which is mounted on the harmonic reducer (6.8). The harmonic reducer (6.8) is mounted on the upper surface of the lifting motor mounting plate I (2.12). A joint arm reducer mounting plate (6.1) is mounted on the lower surface of the harmonic reducer (6.8). The gland head (6.6) is mounted on the upper surface of the joint arm reducer mounting plate (6.1). The swing arm support plate (6.4) is mounted on the lower surface of the joint arm reducer mounting plate (6.1). The joint cable outlet plate (6.7) is mounted on the swing arm support plate (6.4). The electrical elbow (6.5) The first joint cable outlet plate (6.7) is installed on the first joint cable outlet plate (6.7), the first joint cable inlet plate (6.2) is installed under the first joint support plate (6.4), the electrical elbow (6.5) is installed under the first joint cable inlet plate (6.2), the first joint plane bearing mounting plate (6.3) is installed on the lower surface of the first joint support plate (6.4), the plane bearing mounting pin cover (6.10) is installed on the first joint plane bearing mounting plate (6.3), the thrust ball bearing (6.12) is installed under the first joint plane bearing mounting plate (6.3) and on the lifting motor mounting plate I (2.12), and the plane bearing mounting pin (6.11) is installed under the lifting motor mounting plate II (2.14). Driven by the explosion-proof servo motor (6.9), the power is transmitted to the articulated arm reducer mounting plate (6.1) through the harmonic reducer (6.8), which expands the working range through horizontal rotation and provides an orientation reference for subsequent joints.

[0010] The technical problem to be solved by the present invention can also be further realized by the following technical solutions. For the explosion-proof four-axis column robot described above, the wiring box I (3) is installed on the upright plate (1.2), and the external power supply cable is centrally connected. The cable redundancy space is reserved, and the output cable is directly connected to the fixed end of the drag chain. The drag chain drives the pipeline to follow the Z-axis movement, ensuring that the dynamic pipeline has no stress concentration.

[0011] The technical problem to be solved by the present invention can also be further realized by the following technical solutions. For the explosion-proof four-axis column robot described above, the drag chain (4) includes a drag chain body (4.1). The drag chain body (4.1) is installed on the wiring box I (3) and wiring box II (5) to store the explosion-proof cable, air pipe and signal line required for the four-axis movement of the robot.

[0012] The technical problem to be solved by the present invention can also be further realized by the following technical solutions. For the explosion-proof four-axis column robot described above, the wiring box II (5) includes a main inlet junction box (5.1), a main inlet junction box cover (5.2), a wiring pipe (5.3), and an electrical bend connector (5.4). The main incoming junction box (5.1) is installed below the lifting motor mounting plate II (2.14), the main incoming junction box cover (5.2) is installed on the main incoming junction box (5.1), the cable conduit (5.3) is installed on the upper surface of the main incoming junction box (5.1), and the electrical bend connector (5.4) is installed on the lifting motor mounting plate II (2.14). It is the transfer hub of the upper dynamic pipeline in the explosion-proof four-axis column robot.

[0013] 8. The explosion-proof four-axis column robot according to claim 1, characterized in that: the R2 axis (7) includes a two-joint arm reducer mounting plate (7.1), a swing arm II inlet plate (7.2), a two-section plane bearing mounting plate (7.3), a swing arm II support plate (7.4), an electrical elbow (7.5), a gland (7.6), a swing arm II outlet plate (7.7), a harmonic reducer (7.8), an explosion-proof servo motor (7.9), a plane bearing mounting pin cover (7.10), a plane bearing mounting pin (7.11), and a thrust ball bearing (7.12); The gland head (7.6) is mounted on the explosion-proof servo motor (7.9), which is mounted on the harmonic reducer (7.8). The harmonic reducer (7.8) is mounted on the upper surface of the first articulated arm reducer mounting plate (6.1), and the second articulated arm reducer mounting plate (7.1) is mounted on the lower surface of the harmonic reducer (7.8). The gland head (7.6) is mounted on the upper surface of the second articulated arm reducer mounting plate (7.1), the swing arm II support plate (7.4) is mounted on the lower surface of the second articulated arm reducer mounting plate (7.1), the swing arm II cable outlet plate (7.7) is mounted on the swing arm II support plate (7.4), and the electrical elbow (7.5) is mounted on the second articulated arm reducer mounting plate (7.5). Installed on the swing arm II outlet plate (7.7), the swing arm II inlet plate (7.2) is installed under the swing arm II support plate (7.4), the electrical elbow (7.5) is installed under the swing arm II inlet plate (7.2), the two-joint plane bearing mounting plate (7.3) is installed on the lower surface of the swing arm II support plate (7.4), the plane bearing mounting pin cover (7.10) is installed on the two-joint plane bearing mounting plate (7.3), the thrust ball bearing (7.12) is installed under the two-joint plane bearing mounting plate (7.3) and on the one-joint plane bearing mounting plate (6.3), and the plane bearing mounting pin (7.11) is installed under the one-joint plane bearing mounting plate (6.3); Driven by the explosion-proof servo motor (7.9), the power is transmitted to the two-joint arm reducer mounting plate (7.1) through the harmonic reducer (7.8). In the four-axis linkage scenario, the R2 axis (7) cooperates with the R1 axis (6), Z axis (2), and R3 axis (8) to achieve multi-axis synchronous interpolation motion.

[0014] 9. The explosion-proof four-axis column robot according to claim 1, characterized in that: the R3 axis (8) includes a three-joint arm reducer mounting plate (8.1), a swing arm II cable outlet plate (8.2), a three-section plane bearing mounting plate (8.3), a swing arm 3 support plate (8.4), an electrical elbow (8.5), a gland (8.6), a harmonic reducer (8.7), an explosion-proof servo motor (8.8), a plane bearing mounting pin cover (8.9), a plane bearing mounting pin (8.10), a thrust ball bearing (8.11), and a docking flange (8.12); The gland head (8.6) is mounted on the explosion-proof servo motor (8.8), which is mounted on the harmonic reducer (8.7). The harmonic reducer (8.7) is mounted on the upper surface of the two-joint arm reducer mounting plate (7.1), and the three-joint arm reducer mounting plate (8.1) is mounted on the lower surface of the harmonic reducer (8.7). The gland head (8.6) is mounted on the upper surface of the three-joint arm reducer mounting plate (8.1), the swing arm 3 support plate (8.4) is mounted on the lower surface of the three-joint arm reducer mounting plate (8.1), and the swing arm II cable outlet plate (8.2) is mounted on the swing arm 3 support plate (8.8). .4) On the upper part, the electrical elbow (8.5) is installed on the outlet plate (8.2) of the swing arm II, the electrical elbow (8.5) is installed under the outlet plate (8.2) of the swing arm II, the three-joint plane bearing mounting plate (8.3) is installed on the lower surface of the support plate (8.4) of the swing arm 3, the plane bearing mounting pin cover (8.9) is installed on the three-joint plane bearing mounting plate (8.3), the thrust ball bearing (8.11) is installed under the three-joint plane bearing mounting plate (8.3) and on the two-joint plane bearing mounting plate (7.3), and the plane bearing mounting pin (8.10) is installed under the two-joint plane bearing mounting plate (7.3); Driven by the explosion-proof servo motor (8.8), the power is transmitted to the three-joint arm reducer mounting plate (8.1) through the harmonic reducer (8.7), so as to realize the high-precision attitude fine adjustment and complex trajectory adaptation of the end tool, and work with the R2 axis (7) to build the robot's spatial motion capability.

[0015] The technical problem to be solved by the present invention can also be further achieved through the following technical solution: For the explosion-proof four-axis column robot described above, a working method for the explosion-proof four-axis column robot is provided, the steps of which are as follows: (1) The explosion-proof servo motor (2.1) of the Z-axis (2) drives the R1 axis (6), R2 axis (7), and R3 axis (8) to make vertical reciprocating linear motion along the column guide rail through the ball screw (2.6); (2) The explosion-proof servo motor (6.9) of the R1 axis is driven by the harmonic reducer (6.8) to make the R2 axis (7) and R3 axis (8) swing in the plane. The swing direction is perpendicular to the rotation plane of the R1 axis (6), forming a spatial attitude adjustment capability. (3) The explosion-proof servo motor (7.9) of the R2 axis (7) is driven by the harmonic reducer (7.8) to form a 2R series structure with the R3 axis (8), which meets the requirements of complex trajectory generation and shortens the inertia of the transmission chain; (4) The explosion-proof servo motor (8.8) of the R3 axis (8) transmits power to the actuator mounting flange at the end of the R3 axis (8) through the harmonic reducer (8.7), driving the gripper to complete the spatial attitude fine adjustment, forming a 2R series collaborative mechanism with the R2 axis (7), and cooperating with the horizontal swing of the R1 axis (6) and the vertical lifting of the Z axis (2) to realize the complex motion of circular interpolation in three-dimensional space, adapting to the attitude adaptation requirements of handling and assembly operations in high-risk environments.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) This invention constructs a precise transmission system between the Z-axis and the swing axis by rigidly coupling the explosion-proof servo motor with the ball screw and the high-precision harmonic reducer respectively: driving the Z-axis to achieve stable vertical lifting and reciprocating motion, and driving the swing axis to complete precise planar swing. In high-risk environments such as explosive gases and high dust in Zone 2, it can efficiently complete operations such as material handling and precision assembly, which not only meets the explosion-proof compliance requirements, but also ensures the accuracy of operation and the stability of operation through backlash-free transmission and collaborative control. (2) The present invention utilizes the Z-axis explosion-proof servo motor installed in the frame and connected to the ball screw, which greatly reduces the external space occupied by the whole machine and makes the whole machine structure more compact. The frame provides a "physical isolation barrier" for the motor to block the erosion of dust, corrosive gases, splashing water and other substances in high-risk environments. (3) The present invention adopts a rigid coupling design of explosion-proof servo motor and high-precision harmonic reducer. Relying on the ultra-low backlash of ≤1 arc minute, high transmission efficiency of ≥90% and lightweight and compact structure of harmonic reducer, the meshing gap of traditional gear transmission is completely eliminated, and a fast response of micro-angle adjustment ≤30ms is achieved, which accurately matches the precision attitude control requirements of explosion-proof four-axis column robot in high-risk environments. (4) The present invention innovatively adopts an inter-axis integrated rack wiring layout, which integrates the power cables, control signal lines and pneumatic pipes of the R1, R2, R3 axes and the Z axis into the rack’s preset layered isolation channel, forming a “full-path closed-loop pipeline protection system” with wiring box I, wiring box II, explosion-proof drag chain and rotary sealing joint. (5) This invention uses 7075-T6 high-strength aluminum alloy as the core structural substrate to build the robot frame body, R1, R2, R3 axis support frame, Z-axis lifting slider and key transmission component mounting base. Relying on the material properties of 7075 aluminum alloy and structural optimization design, it achieves multiple technological breakthroughs in "strength-lightweight-precision-explosion-proof compatibility". Attached Figure Description

[0017] Figure 1 This is a schematic diagram of one structure of the present invention; Figure 2 This is a schematic diagram of the frame structure of the present invention; Figure 3This is a side view of the frame structure of the present invention; Figure 4 This is a schematic diagram of the Z-axis structure of the present invention; Figure 5 This is a side view of the Z-axis structure of the present invention; Figure 6 This is a schematic diagram of the wiring box I, cable chain, and wiring box II of the present invention; Figure 7 This is a side view of the structure of cable tray I, cable chain, and cable tray II of the present invention; Figure 8 This is a schematic diagram of the structure of the R1 axis of the present invention; Figure 9 This is a side view of the structure of the R1 axis of the present invention; Figure 10 This is a schematic diagram of the R2 axis of the present invention; Figure 11 This is a side view of the structure of the R2 axis of the present invention; Figure 12 This is a schematic diagram of the R3 shaft of the present invention; Figure 13 This is a side view of the structure of the R3 axis of the present invention; The attached diagram shows the following components: 1. Frame; 2. Z-axis; 3. Cable tray I; 4. Cable chain; 5. Cable tray II; 6. R1 axis; 7. R2 axis; 8. R3 axis; 1.1. Bottom mounting plate; 1.2. Vertical plate; 1.3. Front lower connecting plate; 1.4. Rear lower connecting plate; 1.5. Middle connecting plate; 1.6. Column guide rail mounting plate; 1.7. Lower guard plate; 1.8. Rear cover plate; 1.9. Column upper cover plate; 2.1. Explosion-proof servo motor; 2.2. Servo motor planetary reducer; 2.3. Reducer mounting base; 2.4. Ball screw fixing base; 2.5. Ball screw support. 2.6 Support; 2.7 Ball screw; 2.8 Screw nut seat; 2.9 Screw nut; 2.10 Connecting plate; 2.11 Slider; 2.12 Guide rail; 2.13 Lifting motor mounting plate I; 2.14 Lifting seat support plate; 2.15 Lifting motor mounting plate II; 2.16 Gland head; 2.17 Cable connector; 3.1 Cable junction box I body; 4.1 Cable chain body; 5.2 Main inlet junction box cover; 5.3 Cable conduit; 5.4 Electrical bend connector; 6.1 Articulated arm reducer mounting plate; 6.2 Swing arm... 6.3. Arm 1 Inlet Plate; 6.4. One-Section Flat Bearing Mounting Plate; 6.5. Swing Arm Support Plate; 6.6. Electrical Elbow; 6.7. Gland Head; 6.8. One-Joint Outlet Plate; 6.9. Harmonic Reducer; 6.0. Explosion-proof Servo Motor; 6.10. Flat Bearing Mounting Pin Cover; 6.11. Flat Bearing Mounting Pin; 6.12. Thrust Ball Bearing; 7.1. Two-Joint Arm Reducer Mounting Plate; 7.2. Swing Arm II Inlet Plate; 7.3. Two-Section Flat Bearing Mounting Plate; 7.4. Swing Arm II Support; 7.5. Electrical Elbow; 7.6. Gland Head; 7.7. Swing Arm II Outlet Plate 7.8 Harmonic reducer; 7.9 Explosion-proof servo motor; 7.10 Plane bearing mounting pin cover; 7.11 Plane bearing mounting pin; 7.12 Thrust ball bearing; 8.1 Three-joint arm reducer mounting plate; 8.2 Swing arm II cable outlet plate; 8.3 Three-section plane bearing mounting plate; 8.4 Swing arm 3 support plate; 8.5 Electrical elbow; 8.6 Gland; 8.7 Harmonic reducer; 8.8 Explosion-proof servo motor; 8.9 Plane bearing mounting pin cover; 8.10 Plane bearing mounting pin; 8.11 Thrust ball bearing; 8.12 Connecting flange. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0020] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0021] Combination Figure 1 An explosion-proof four-axis column robot is provided, including a frame 1, a Z-axis 2, a wiring box I3, a cable chain 4, a wiring box II5, an R1 axis 6, an R2 axis 7, and an R3 axis 8; the Z-axis 2 and the wiring box I3 are mounted on the frame 1, the R1 axis 6 is mounted on the Z-axis 2, the wiring box II5 is mounted on the Z-axis 2, the cable chain 4 is mounted on the wiring box I3 and connected to the wiring box II5, the R2 axis 7 is mounted on the R1 axis 6, and the R3 axis 8 is mounted on the R2 axis 7; The frame 1 is the core load-bearing and structural reference component, providing installation support for each functional unit; The Z-axis 2 enables linear displacement of the R1 axis 6, R2 axis 7 and R3 axis 8 in the Z-axis 2 direction, adapting to different workstation height requirements; The cable box I3 is used for cable routing and path guidance, optimizes the wiring structure, and ensures the stable operation of the equipment. The cable box serves as a fixed end to fix the cable chain 4 and provides installation support for the cable chain 4. The drag chain 4 is the core protection and guiding component of the dynamic pipeline. It is used between cable box I3 and cable box II5 to protect and guide the dynamic pipeline under repeated vertical movement of Z-axis 2. The cable box II5 is used for cable routing and path guidance, optimizes the wiring structure, and ensures stable operation of the equipment. The cable box serves as a fixed end, and the cable in the drag chain is introduced into the equipment body through the sealed interface. The R1 axis 6, together with the Z axis 2, R2 axis 7, and R3 axis 8, forms a four-axis linkage to realize complex spatial trajectory motion; The R2 axis 7 is an intermediate swing joint, which is the core component for achieving fine adjustment of spatial posture. It is used to form a four-axis linkage with the R1 axis 8, Z axis 2, and R3 axis 8 to achieve complex spatial trajectory motion. The R3 axis 8, as the end effector joint of the explosion-proof four-axis column robot, is the core component for achieving fine adjustment of the tool's posture. It is used to form a four-axis linkage with the R1 axis 6, R2 axis 7, and Z axis 2 to achieve complex spatial trajectory motion.

[0022] Combination Figure 2-3 The frame 1 includes a bottom mounting plate 1.1, an upright plate 1.2, a front lower connecting plate 1.3, a rear lower connecting plate 1.4, a middle connecting plate 1.5, a column guide rail mounting plate 1.6, a lower guard plate 1.7, a rear cover plate 1.8, and a column upper cover plate 1.9. The upright plate 1.2 is installed on the bottom mounting plate 1.1, and the front lower connecting plate 1.3, the rear lower connecting plate 1.4, the middle connecting plate 1.5, the column guide rail mounting plate 1.6, the lower guard plate 1.7, the rear cover plate 1.8, and the column upper cover plate 1.9 are installed on the upright plate 1.2. With the bottom mounting plate 1.1 fixed, the upright plate 1.2, the front lower connecting plate 1.3, the rear lower connecting plate 1.4, the middle connecting plate 1.5, the column guide rail mounting plate 1.6, the lower guard plate 1.7, the rear cover plate 1.8, and the column upper cover plate 1.9 are connected in sequence to provide a stable installation reference for each functional unit.

[0023] Furthermore, combined Figure 4-5 The Z-axis 2 includes an explosion-proof servo motor 2.1, a servo motor planetary reducer 2.2, a reducer mounting base 2.3, a ball screw fixing base 2.4, a ball screw support base 2.5, a ball screw 2.6, a screw nut seat 2.7, a screw nut 2.8, a connecting plate 2.9, a slider 2.10, a guide rail 2.11, a lifting motor mounting plate I 2.12, a lifting seat support plate 2.13, a lifting motor mounting plate II 2.14, a gland head 2.15, and a cable connector 2.16. The reducer mounting base 2.3, ball screw fixing base 2.4, and ball screw support base 2.5 are mounted on the vertical plate 1.2. The explosion-proof servo motor 2.1 is mounted on the servo motor planetary reducer 2.2, which is mounted on the reducer mounting base 2.3. The ball screw 2.6 is mounted on the ball screw fixing base 2.4 and the ball screw support base 2.5, and is connected to the servo motor planetary reducer 2.2. The screw nut 2.8 is mounted on the ball screw 2.6, and the screw nut seat 2.7 is mounted on the screw nut seat. On the female 2.8, the connecting plate 2.9 is installed on the lead screw nut 2.7, the slider 2.10 is installed on the connecting plate 2.9, the guide rail 2.11 is installed on the column guide rail mounting plate 1.6, the slider 2.10 is installed in conjunction with the guide rail 2.11, the lifting motor mounting plate I 2.12, the lifting motor mounting plate II 2.14, and the lifting seat support plate 2.13 are installed on the connecting plate 2.9, the gland head 2.15 is installed on the lifting motor mounting plate I 2.12, and the cable connector 2.16 is installed on the lifting motor mounting plate II 2.14; Driven by the explosion-proof servo motor 2.1, the power is transmitted to the connecting plate 2.9 in sequence through the servo motor planetary reducer 2.2, ball screw 2.6, screw nut 2.8, and screw nut seat 2.7, which drives the robotic arm to make high-precision linear displacement in the vertical direction, providing height adjustment and vertical load support functions for the whole machine operation.

[0024] Furthermore, combined Figure 8-9 The R1 shaft 6 includes a joint arm reducer mounting plate 6.1, a swing arm 1 cable inlet plate 6.2, a section of flat bearing mounting plate 6.3, a swing arm support 6.4, an electrical elbow 6.5, a gland 6.6, a joint cable outlet plate 6.7, a harmonic reducer 6.8, an explosion-proof servo motor 6.9, a flat bearing mounting pin cover 6.10, a flat bearing mounting pin 6.11, and a thrust ball bearing 6.12; The gland head 6.6 is mounted on the explosion-proof servo motor 6.9, which is mounted on the harmonic reducer 6.8. The harmonic reducer 6.8 is mounted on the upper surface of the lifting motor mounting plate I2.12. The articulated arm reducer mounting plate 6.1 is mounted on the lower surface of the harmonic reducer 6.8. The gland head 6.6 is mounted on the upper surface of the articulated arm reducer mounting plate 6.1, the swing arm support plate 6.4 is mounted on the lower surface of the articulated arm reducer mounting plate 6.1, the articulated cable outlet plate 6.7 is mounted on the swing arm support plate 6.4, and the electrical elbow 6.5... The cable outlet plate 6.7 of the first joint is installed on the first joint, the cable inlet plate 6.2 of the first swing arm is installed under the swing arm support plate 6.4, the electrical elbow 6.5 is installed under the cable inlet plate 6.2 of the first swing arm, the first joint plane bearing mounting plate 6.3 is installed on the lower surface of the swing arm support 6.4, the plane bearing mounting pin cover 6.10 is installed on the first joint plane bearing mounting plate 6.3, the thrust ball bearing 6.12 is installed under the first joint plane bearing mounting plate 6.3 and on the lifting motor mounting plate I2.12, and the plane bearing mounting pin 6.11 is installed under the lifting motor mounting plate II2.14. Driven by the explosion-proof servo motor 6.9, the power is transmitted to the articulated arm reducer mounting plate 6.1 through the harmonic reducer 6.8. The working range can be extended by horizontal rotation, and an orientation reference is provided for subsequent joints. Furthermore, combined Figure 6-7 The cable tray I3 includes a cable tray I body, which is mounted on the vertical plate 1.2 and centrally connected to the external power supply cable. It reserves redundant space for the cable and the output cable is directly connected to the fixed end of the cable chain. The cable chain drives the pipeline to follow the Z-axis movement, ensuring that the dynamic pipeline has no stress concentration. The cable chain includes a cable chain. The cable chain 4 includes a cable chain body 4.1, which is installed on cable tray I3 and cable tray II5 to house the explosion-proof cables, air pipes, and signal lines required for the robot's four-axis motion. This prevents the pipelines from being directly exposed to flammable and explosive gases, dust, or corrosive environments, and prevents pipeline damage caused by friction, pulling, or impact. It also blocks the risk of internal circuit spark leakage, ensuring pipeline safety and working in conjunction with the overall explosion-proof system to ensure the continuous and stable operation of the equipment in the high-risk environment of Zone 2. The wiring box II5 includes a main inlet junction box 5.1, a main inlet junction box cover 5.2, a wiring conduit 5.3, and an electrical bend connector 5.4; The main inlet junction box 5.1 is installed below the lifting motor mounting plate II2.14, the main inlet junction box cover 5.2 is installed on the main inlet junction box 5.1, the cable conduit 5.3 is installed on the upper surface of the main inlet junction box 5.1, and the electrical bend connector 5.4 is installed on the lifting motor mounting plate II2.14. It is the transfer hub of the upper dynamic pipeline in the explosion-proof four-axis column robot, connecting the Z-axis 2 lifting mechanism with the joint pipelines of R1 axis 6, R2 axis 7, and R3 axis 8. Its core function is to realize the explosion-proof sealing, branching and conversion, and motion adaptation of the pipeline in dynamic scenarios. Together with the cable conduit I3, it forms a "fixed-dynamic" dual-node protection to ensure the safety of the pipeline throughout the entire process in the explosion-proof environment of Zone 2. Furthermore, combined Figure 10-11 The R2 shaft 7 includes a two-joint arm reducer mounting plate 7.1, a swing arm II inlet plate 7.2, a two-section plane bearing mounting plate 7.3, a swing arm II support 7.4, an electrical elbow 7.5, a gland 7.6, a swing arm II outlet plate 7.7, a harmonic reducer 7.8, an explosion-proof servo motor 7.9, a plane bearing mounting pin cover 7.10, a plane bearing mounting pin 7.11, and a thrust ball bearing 7.12; The gland 7.6 is mounted on the explosion-proof servo motor 7.9, which is mounted on the harmonic reducer 7.8. The harmonic reducer 7.8 is mounted on the upper surface of the first articulated arm reducer mounting plate 6.1, and the second articulated arm reducer mounting plate 7.1 is mounted on the lower surface of the harmonic reducer 7.8. The gland 7.6 is mounted on the upper surface of the second articulated arm reducer mounting plate 7.1, the swing arm II support plate 7.4 is mounted on the lower surface of the second articulated arm reducer mounting plate 7.1, the swing arm II cable outlet plate 7.7 is mounted on the swing arm II support plate 7.4, and the electrical elbow 7.5 is mounted on the second articulated arm reducer mounting plate 7.5. The cable outlet plate 7.7 of the swing arm II is installed on the swing arm II cable inlet plate 7.2, which is installed under the swing arm II support plate 7.4. The electrical elbow 7.5 is installed under the swing arm II cable inlet plate 7.2. The two-joint plane bearing mounting plate 7.3 is installed on the lower surface of the swing arm II support 7.4. The plane bearing mounting pin cover 7.10 is installed on the two-joint plane bearing mounting plate 7.3. The thrust ball bearing 7.12 is installed under the two-joint plane bearing mounting plate 7.3 and on the one-joint plane bearing mounting plate 6.3. The plane bearing mounting pin 7.11 is installed under the one-joint plane bearing mounting plate 6.3. Driven by the explosion-proof servo motor 7.9, the power is transmitted to the two-joint arm reducer mounting plate 7.1 through the harmonic reducer 7.8. In the four-axis linkage scenario, the R2 axis 7 cooperates with the R1 axis 6, Z axis 2, and R3 axis 8 to achieve multi-axis synchronous interpolation motion and reduce inertial impact. Furthermore, combined Figure 12-13The R3 shaft 8 includes a three-joint arm reducer mounting plate 8.1, a swing arm II cable outlet plate 8.2, a three-section plane bearing mounting plate 8.3, a swing arm 3 support plate 8.4, an electrical elbow 8.5, a gland 8.6, a harmonic reducer 8.7, an explosion-proof servo motor 8.8, a plane bearing mounting pin cover 8.9, a plane bearing mounting pin 8.10, a thrust ball bearing 8.11, and a docking flange 8.12; The gland head 8.6 is mounted on the explosion-proof servo motor 8.8, which is mounted on the harmonic reducer 8.7. The harmonic reducer 8.7 is mounted on the upper surface of the two-joint arm reducer mounting plate 7.1, and the three-joint arm reducer mounting plate 8.1 is mounted on the lower surface of the harmonic reducer 8.7. The gland head 8.6 is mounted on the upper surface of the three-joint arm reducer mounting plate 8.1, the swing arm 3 support plate 8.4 is mounted on the lower surface of the three-joint arm reducer mounting plate 8.1, and the swing arm II cable outlet plate 8.2 is mounted on the swing arm II support plate. On 8.4, the electrical elbow 8.5 is installed on the swing arm II outlet plate 8.2, the electrical elbow 8.5 is installed below the swing arm II outlet plate 8.2, the three-joint plane bearing mounting plate 8.3 is installed on the lower surface of the swing arm 3 support plate 8.4, the plane bearing mounting pin cover 8.9 is installed on the three-joint plane bearing mounting plate 8.3, the thrust ball bearing 8.11 is installed below the three-joint plane bearing mounting plate 8.3 and on the two-joint plane bearing mounting plate 7.3, and the plane bearing mounting pin 8.10 is installed below the two-joint plane bearing mounting plate 7.3; Driven by the explosion-proof servo motor 8.8, the power is transmitted to the three-joint arm reducer mounting plate 8.1 through the harmonic reducer 8.7, so as to realize the high-precision attitude fine adjustment and complex trajectory adaptation of the end tool, and work with the R2 axis 7 to build the robot's spatial motion capability. To illustrate further, the explosion-proof four-axis column robot of the present invention is described in this example. The product is a cartridge containing explosive powder, which is grasped and transported using a pneumatic gripper. The specific operation is as follows: Step 1: The explosion-proof servo motor of the Z-axis is rigidly coupled with the ball screw to drive the moving platform equipped with the R1, R2 and R3 axes to make vertical reciprocating linear motion along the column guide rail, and accurately adjust the pneumatic gripper to the preset gripping height to meet the vertical position reference requirements for picking up and placing the cartridge. Step 2: The explosion-proof servo motor of the R1 axis drives the R2 and R3 axes to rotate along the horizontal plane with the base through a high-precision harmonic reducer, realizing the coarse positioning adjustment of the pneumatic gripper on the horizontal plane, laying the orientation foundation for subsequent precise alignment. Step 3: The explosion-proof servo motor of the R2 axis is driven by a harmonic reducer and forms a 2R series structure with the R3 axis. The spatial attitude of the gripper is initially calibrated by swinging to adapt to the orientation requirements of the explosion-proof window working space. Step 4: The explosion-proof servo motor of the R3 axis transmits low backlash and high rigidity power through the harmonic reducer, which ultimately acts on the actuator mounting flange at the end of the R3 axis, driving the pneumatic gripper to complete the spatial attitude fine adjustment and accurately extend into the preset cartridge gripping position inside the explosion-proof window. Step 5: The pneumatic gripper starts to pick up the cartridge case. Through the four-axis linkage interpolation motion of the R3, R2, R1 and Z axes, the cartridge case is smoothly removed according to the preset trajectory and finally accurately placed at the designated work station, completing one complete pick-and-place cycle.

[0025] This invention possesses core features such as reliable explosion-proof performance, excellent positioning accuracy, optimized structure and pipeline design, and adaptability to operational safety. It provides core support equipment for the intelligent transformation of high-risk industries, facilitating human-machine substitution in more high-risk work scenarios and driving a dual improvement in safety production efficiency and industrial operation efficiency.

[0026] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention without departing from its spirit and scope should be included within the protection scope of the present invention.

Claims

1. An explosion-proof four-axis column robot, characterized by: It includes rack (1), Z axis (2), wiring box I (3), drag chain (4), wiring box II (5), R1 axis (6), R2 axis (7), R3 axis (8). The Z axis (2) and wiring box I (3) are installed on the rack (1), the R1 axis (6) is installed on the Z axis (2), the wiring box II (5) is installed on the Z axis (2), the drag chain (4) is installed on the wiring box I (3) and connected with the wiring box II (5), the R2 axis (7) is installed on the R1 axis (6), and the R3 axis (8) is installed on the R2 axis (7), so that the R1 axis (6), the R2 axis (7) and the R3 axis (8) realize linear displacement in the Z axis direction. The wiring box I (3) is used for cable passing and path guiding, and is fixed as a fixed end of the drag chain (4) to provide mounting support for the drag chain (4). The drag chain (4) is arranged between the wiring box I (3) and the wiring box II (5), and is used as a core protection and guiding component of a dynamic pipeline under repeated vertical movement of the Z axis (2). The wiring box II (5) is used for cable passing and path guiding, and is used as a fixed end to introduce the cable in the drag chain (4) into the equipment body through a sealed interface. The R1 axis (6) is used to form a four-axis linkage with the Z axis (2), the R2 (7) and the R3 (8) to realize complex space trajectory movement. The R2 axis (7) is used as an intermediate swing joint to form a four-axis linkage with the R1 axis (6), the Z axis (2) and the R3 axis (8) to realize complex space trajectory movement. The R3 axis (8) is used as an end effector joint of the explosion-proof four-axis column robot to form a four-axis linkage with the R1 axis (6), the R2 axis (7) and the Z axis (2) to realize complex space trajectory movement.

2. The explosion-proof four-jawed column robot according to claim 1, characterized in that: The rack (1) includes a bottom mounting plate (1.1), a vertical plate (1.2), a front lower connecting plate (1.3), a rear lower connecting plate (1.4), an intermediate connecting plate (1.5), a column guide rail mounting plate (1.6), a lower guard plate (1.7), a rear cover plate (1.8) and a column upper cover plate (1.9). The vertical plate (1.2) is installed on the bottom mounting plate (1.1), and the front lower connecting plate (1.3), the rear lower connecting plate (1.4), the intermediate connecting plate (1.5), the column guide rail mounting plate (1.6), the lower guard plate (1.7), the rear cover plate (1.8) and the column upper cover plate (1.9) are installed on the vertical plate (1.2). Under the fixation of the bottom mounting plate (1.1), the vertical plate (1.2), the front lower connecting plate (1.3), the rear lower connecting plate (1.4), the intermediate connecting plate (1.5), the column guide rail mounting plate (1.6), the lower guard plate (1.7), the rear cover plate (1.8) and the column upper cover plate (1.9) are sequentially connected to provide stable mounting reference for each functional unit.

3. The explosion-proof four-axle column robot according to claim 2, characterized in that: The Z axis (2) comprises an explosion-proof servo motor (2.1), a servo motor planetary reducer (2.2), a reducer mounting seat (2.3), a ball screw fixing seat (2.4), a ball screw support seat (2.5), a ball screw (2.6), a screw nut seat (2.7), a screw nut (2.8), a connecting plate (2.9), a sliding block (2.10), a guide rail (2.11), a lifting motor mounting plate I (2.12), a lifting seat support plate (2.13), a lifting motor mounting plate II (2.14), a gland head (2.15), and a cable joint (2.16); The reducer mounting seat (2.3), the ball screw fixing seat (2.4), and the ball screw support seat (2.5) are installed on the vertical plate (1.2), the explosion-proof servo motor (2.1) is installed on the servo motor planetary reducer (2.2), the servo motor planetary reducer (2.2) is installed on the reducer mounting seat (2.3), the ball screw (2.6) is installed on the ball screw fixing seat (2.4) and the ball screw support seat (2.5) and connected with the servo motor planetary reducer (2.2), the screw nut (2.8) is installed on the ball screw (2.6), the screw nut seat (2.7) is installed on the screw nut (2.8), the connecting plate (2.9) is installed on the screw nut seat (2.7), the sliding block (2.10) is installed on the connecting plate (2.9), the guide rail (2.11) is installed on the column guide rail mounting plate (1.6), the sliding block (2.10) is installed in cooperation with the guide rail (2.11), the lifting motor mounting plate I (2.12), the lifting motor mounting plate II (2.14), and the lifting seat support plate (2.13) are installed on the connecting plate (2.9), the gland head (2.15) is installed on the lifting motor mounting plate I (2.12), and the cable joint (2.16) is installed on the lifting motor mounting plate II (2.14); Under the drive of the explosion-proof servo motor (2.1), power is sequentially transmitted to the connecting plate (2.9) through the servo motor planetary reducer (2.2), the ball screw (2.6), the screw nut (2.8), and the screw nut seat (2.7), driving the mechanical arm to move in a vertical direction with high precision, providing height adjustment and vertical load support for the whole machine.

4. The explosion-proof four-axle column robot according to claim 3, characterized in that: The R1 axis (6) comprises a joint arm reducer mounting plate (6.1), a swing arm 1 wire inlet plate (6.2), a joint plane bearing mounting plate (6.3), a swing arm support plate (6.4), an electrical elbow (6.5), a gland head (6.6), a joint wire outlet plate (6.7), a harmonic reducer (6.8), an explosion-proof servo motor (6.9), a plane bearing mounting pin cover (6.10), a plane bearing mounting pin (6.11), and a thrust ball bearing (6.12). The gran head (6.6) is installed on the explosion-proof servo motor (6.9), the explosion-proof servo motor (6.9) is installed on the harmonic reducer (6.8), the harmonic reducer (6.8) is installed on the upper surface of the lifting motor mounting plate I (2.12), a joint arm reducer mounting plate (6.1) is installed on the lower surface of the harmonic reducer (6.8), the gran head (6.6) is installed on the upper surface of the joint arm reducer mounting plate (6.1), the swing arm support plate (6.4) is installed on the lower surface of the joint arm reducer mounting plate (6.1), a joint wire outlet plate (6.7) is installed on the swing arm support plate (6.4), the electrical elbow (6.5) is installed on the joint wire outlet plate (6.7), the swing arm 1 wire inlet plate (6.2) is installed below the swing arm support plate (6.4), the electrical elbow (6.5) is installed below the swing arm 1 wire inlet plate (6.2), a joint plane bearing mounting plate (6.3) is installed on the lower surface of the swing arm support plate (6.4), the plane bearing mounting pin cover (6.10) is installed on the joint plane bearing mounting plate (6.3), the thrust ball bearing (6.12) is installed on the joint plane bearing mounting plate (6.3) and the lifting motor mounting plate I (2.12), and the plane bearing mounting pin (6.11) is installed on the lifting motor mounting plate II (2.14); Under the drive of the explosion-proof servo motor (6.9), power is transmitted to the joint arm reducer mounting plate (6.1) through the harmonic reducer (6.8), the horizontal rotation expands the working range, and provides a bearing reference for the subsequent joints.

5. The explosion-proof four-column robot of claim 2, wherein: The wiring box I (3) is installed on the vertical plate (1.2), concentrates the access of external power supply cables, reserves cable redundancy space, and directly connects the output cable to the fixed end of the drag chain, which drives the pipeline to follow the Z-axis movement, ensuring that the dynamic pipeline has no stress concentration.

6. The explosion-proof four-column robot of claim 1, wherein: The drag chain (4) includes a drag chain body (4.1), which is installed on the wiring box I (3) and the wiring box II (5) to accommodate the explosion-proof cables, air pipes and signal lines required for the four-axis movement of the robot.

7. The explosion-proof four-column robot of claim 3, wherein: The wiring box II (5) includes a total wire inlet junction box (5.1), a total wire inlet junction box cover plate (5.2), a wiring tube (5.3) and an electrical elbow joint (5.4). The total wire inlet junction box (5.1) is installed below the lifting motor mounting plate II (2.14), the total wire inlet junction box cover plate (5.2) is installed on the total wire inlet junction box (5.1), the wiring tube (5.3) is installed on the upper surface of the total wire inlet junction box (5.1), and the electrical elbow joint (5.4) is installed on the upper surface of the lifting motor mounting plate II (2.14), which is the transfer hub of the upper dynamic pipeline of the explosion-proof four-axis column robot.

8. The explosion-proof four-column robot of claim 4, wherein: The R2 shaft (7) comprises a two-joint arm reducer mounting plate (7.1), a swing arm II wire inlet plate (7.2), a two-joint plane bearing mounting plate (7.3), a swing arm II support plate (7.4), an electrical elbow (7.5), a gland head (7.6), a swing arm II wire outlet plate (7.7), a harmonic reducer (7.8), an explosion-proof servo motor (7.9), a plane bearing mounting pin cover (7.10), a plane bearing mounting pin (7.11), and a thrust ball bearing (7.12); The gland head (7.6) is mounted on the explosion-proof servo motor (7.9), the explosion-proof servo motor (7.9) is mounted on the harmonic reducer (7.8), the harmonic reducer (7.8) is mounted on the upper surface of the one-joint arm reducer mounting plate (6.1), the two-joint arm reducer mounting plate (7.1) is mounted on the lower surface of the harmonic reducer (7.8), the gland head (7.6) is mounted on the upper surface of the two-joint arm reducer mounting plate (7.1), the swing arm II support plate (7.4) is mounted on the lower surface of the two-joint arm reducer mounting plate (7.1), the swing arm II wire outlet plate (7.7) is mounted on the swing arm II support plate (7.4), the electrical elbow (7.5) is mounted on the swing arm II wire outlet plate (7.7), the swing arm II wire inlet plate (7.2) is mounted below the swing arm II support plate (7.4), the electrical elbow (7.5) is mounted below the swing arm II wire inlet plate (7.2), the two-joint plane bearing mounting plate (7.3) is mounted on the lower surface of the swing arm II support plate (7.4), the plane bearing mounting pin cover (7.10) is mounted on the two-joint plane bearing mounting plate (7.3), and the thrust ball bearing (7.12) is mounted on the one-joint plane bearing mounting plate (6.3) below the two-joint plane bearing mounting plate (7.3); Under the drive of the explosion-proof servo motor (7.9), power is transmitted to the two-joint arm reducer mounting plate (7.1) through the harmonic reducer (7.8), and in the four-axis linkage scene, the R2 shaft (7) cooperates with the R1 shaft (6), the Z-axis (2), and the R3 shaft (8) to realize multi-axis synchronous interpolation motion.

9. The explosion-proof four-column robot according to claim 8, characterized in that: The R3 shaft (8) comprises a three-joint arm reducer mounting plate (8.1), a swing arm II wire outlet plate (8.2), a three-joint plane bearing mounting plate (8.3), a swing arm 3 support plate (8.4), an electrical elbow (8.5), a gland head (8.6), a harmonic reducer (8.7), an explosion-proof servo motor (8.8), a plane bearing mounting pin cover (8.9), a plane bearing mounting pin (8.10), a thrust ball bearing (8.11), and a butt flange (8.12); The gran head (8.6) is installed on the explosion-proof servo motor (8.8), the explosion-proof servo motor (8.8) is installed on the harmonic reducer (8.7), the harmonic reducer (8.7) is installed on the two-joint arm reducer mounting plate (7.1) upper surface, the three-joint arm reducer mounting plate (8.1) is installed on the harmonic reducer (8.7) lower surface, the gran head (8.6) is installed on the three-joint arm reducer mounting plate (8.1) upper surface, the swing arm 3 support plate (8.4) is installed on the three-joint arm reducer mounting plate (8.1) lower surface, the swing arm II outlet plate (8.2) is installed on the swing arm 3 support plate (8.4), the electrical elbow (8.5) is installed on the swing arm II outlet plate (8.2), the electrical elbow (8.5) is installed on the swing arm II outlet plate (8.2), the three-joint plane bearing mounting plate (8.3) is installed on the swing arm 3 support plate (8.4) lower surface, the plane bearing mounting pin cover (8.9) is installed on the three-joint plane bearing mounting plate (8.3), the thrust ball bearing (8.11) is installed on the three-joint plane bearing mounting plate (8.3) lower surface, the two-joint plane bearing mounting plate (7.3) upper surface, the plane bearing mounting pin (8.10) is installed on the two-joint plane bearing mounting plate (7.3) lower surface. Under the drive of the explosion-proof servo motor (8.8), the power is transmitted to the three-joint arm reducer mounting plate (8.1) through the harmonic reducer (8.7), realizing the high-precision pose fine adjustment of the end tool and the complex trajectory adaptation, and cooperating with the R2 shaft (7) to build the spatial motion ability of the robot.

10. A method of working the explosion-proof four-axle column robot according to any one of claims 1-9, characterized in that: The method steps are as follows: (1) The explosion-proof servo motor (2.1) of the Z-axis (2) drives the R1 shaft (6), the R2 shaft (7) and the R3 shaft (8) to make vertical reciprocating linear motion along the column guide rail through the ball screw (2.6); (2) The explosion-proof servo motor (6.9) of the R1 shaft drives the R2 shaft (7) and the R3 shaft (8) to swing in the plane through the harmonic reducer (6.8), the swing direction is perpendicular to the rotation plane of the R1 shaft (6), forming the spatial pose adjustment ability; (3) The explosion-proof servo motor (7.9) of the R2 shaft (7) drives the R3 shaft (8) to form a 2R series structure through the harmonic reducer (7.8), meeting the complex trajectory generation requirement and shortening the transmission chain inertia; (4) The explosion-proof servo motor (8.8) of the R3 shaft (8) transmits power to the actuator mounting flange at the end of the R3 shaft (8) through the harmonic reducer (8.7), drives the clamping jaw to complete the spatial pose fine adjustment, forms a 2R series cooperation mechanism with the R2 shaft (7), cooperates with the horizontal swing of the R1 shaft (6) and the vertical lifting of the Z-axis (2), realizes the complex motion of three-dimensional space circular arc interpolation, and adapts to the pose adaptation requirement of the operation of carrying and assembling in high-risk environment.

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