Four-axis robot

Abstract

The utility model 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 robotics, and in particular to a four-axis robot. Background Technology

[0002] With the rapid development of science and technology, the application of robotics in production and daily life is becoming increasingly widespread, especially in the field of industrial automation. Horizontal multi-joint (SCARA) robots are widely used in industries such as material handling, processing, assembly, and education due to their flexible movements, high speed, and high repeatability. SCARA robots typically consist of a base, an upper arm, and a lower arm, and employ a four-joint axis drive system. The vertical Z-axis and the rotary R-axis are usually located at the end effector to achieve the corresponding movements of the robot. Summary of the Invention

[0003] The main technical problem addressed by this application is to provide a four-axis robot with a compact end effector structure, suitable for working environments with limited space, and capable of high-precision transmission.

[0004] To achieve the above objectives, 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. The lifting mechanism is connected to the base and drives the base to perform lifting movements. The first robotic arm mechanism includes a first robotic arm, with its first end 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 deceleration component. The second end of the first robotic arm is connected to the connecting end of the second robotic arm. The first power component is disposed at the connecting end of the second robotic arm. The input end of the first deceleration component is connected to the first power component, and its output end is connected to the second end of the first robotic arm, so that the first robotic arm rotates relative to the second robotic arm under the drive of the first power component.

[0005] Furthermore, the second robotic arm mechanism also includes a second power component and a timing belt component; the second power component is located at the connection end of the second robotic arm and close to the first power component; the timing belt component is arranged along the second robotic arm, wherein the input end of the timing belt component is connected to the output end of the second power component, and is used to output rotational motion from the output end of the timing belt component under the drive of the second power component, so as to drive the end-effector of the four-axis robot to rotate.

[0006] Furthermore, the second robotic arm mechanism also includes a second deceleration assembly; the second deceleration assembly is disposed at the connection end of the second robotic arm near the first robotic arm, wherein the input end of the second deceleration 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.

[0007] Furthermore, the second robotic arm mechanism also includes a second deceleration assembly; the second deceleration assembly 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 assembly is connected to the output end of the synchronous belt assembly, and is used to receive the power of the second power assembly transmitted by the synchronous belt assembly to drive the end working part to rotate.

[0008] Specifically, the synchronous belt assembly 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 assembly to receive the power output by the second power assembly; 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, with one end connected to the first synchronous pulley and the other end connected to the second synchronous pulley, for transmitting the power output by the second power assembly from the first synchronous pulley to the second synchronous pulley.

[0009] Specifically, the base includes a housing, a third power component, and a third reduction component; the housing defines an accommodating space and is connected to a lifting mechanism; the third power component is disposed within the accommodating space; the input end of the third reduction 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, so as 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 located within the installation space and connected to the base; the lifting transmission component is located within the installation space, with its input end connected to the lifting power component and its output end connected to the lifting mounting part, so as to drive the lifting mounting part to perform lifting movements under the drive of the lifting power component.

[0011] Specifically, the lifting transmission component is a ball screw, and the lifting bracket also includes a linear guide rail that matches the lifting mounting part. Under the drive of the lifting power component, the ball screw drives the lifting mounting part to move up and down along the guide rail.

[0012] Specifically, both the first and second robotic arms are fixed-section profile robotic arms.

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

[0014] The beneficial effects of this application are as follows: Unlike the prior art, the four-axis robot of this application 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 perform lifting and lowering movements; the first robotic arm mechanism includes a first robotic arm, wherein 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 deceleration 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 disposed at the connecting end of the second robotic arm; the input end of the first deceleration component is connected to the first power component, and the output end is connected to the second end of the first robotic arm, so as 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 method, the lifting mechanism achieves lifting motion by driving the base, and the base is set at a position away from the second robotic arm of the first robotic arm. Therefore, the lifting mechanism is set away from the end of the four-axis robot. In this way, this application avoids setting the upper and lower Z axes at the end, which is conducive to the compact end structure and can be used in work scenarios with limited space. In addition, the rotation of the second robotic arm relative to the first robotic arm is achieved by the power component and the deceleration component, which can further improve the compactness of the overall structure and the accuracy of transmission. Attached Figure Description

[0015] The above and other objects, features, and advantages of exemplary embodiments of the present disclosure will become readily apparent upon reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the present disclosure are illustrated by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein:

[0016] Figure 1 This is a structural schematic diagram of one embodiment of the four-axis robot of this application;

[0017] Figure 2 This is a partial structural cross-sectional view of one embodiment of the four-axis robot of this application;

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

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

[0020] Figure 5 This is a cross-sectional schematic diagram of the first robotic arm in one embodiment of the four-axis robot of this application;

[0021] Figure 6 This is a cross-sectional schematic diagram of the second robotic arm in one embodiment of the four-axis robot of this application. Detailed Implementation

[0022] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0023] The specific embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0024] Please see 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] The base 10 provides 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 located on one side of the base 10 and connected to the base 10 to drive the base 10 to perform lifting movements. Specifically, the lifting mechanism 40 may include related drive mechanisms such as motors 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 needs of the four-axis robot.

[0027] The first robotic arm mechanism 20 and the second robotic arm mechanism 30 are the core motion components of the four-axis robot in this embodiment. They work together to achieve precise positioning and movement of the robot. The first robotic arm mechanism 20 is the robot's main support arm mechanism, connecting the base 10 and the second robotic arm mechanism 30, and providing a wide range of horizontal movement. The second robotic arm mechanism 30 is the robot's secondary arm mechanism, capable of further extending the range of motion based on the first robotic arm mechanism 20, and able to precisely position the end effector. Furthermore, the end effector of the second robotic arm mechanism 30 can be further equipped with tools such as grippers, suction cups, welding heads, or spray nozzles for performing tasks such as grasping, assembly, welding, and spraying.

[0028] Specifically, the first robotic arm mechanism 20 includes a first robotic arm 21, wherein a first end 211 of the first robotic arm 21 is connected to the base 10 and is configured to be rotatable relative to the base 10, such as horizontally. 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 assembly 32, and a first reduction assembly 33.

[0029] In this design, the second end 212 of the first robotic arm 21 is connected to the connecting end 311 of the second robotic arm 31, for example, via a horizontal rotational connection. A first power assembly 32 is disposed at the connecting end 311 of the second robotic arm 31. This first power assembly 32 can be a motor, such as a servo motor or stepper motor, and can be fixed to a flange. The input end of a first reduction assembly 33, such as a speed reducer, is connected to the output end of the first power assembly 32, and its 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, thereby causing the first robotic arm 21 to rotate relative to the second robotic arm 31, thus realizing the second-axis movement of the four-axis robot.

[0030] Specifically, in one embodiment, the second robotic arm mechanism 30 also includes an end cap 34, a cover 35, etc., wherein the first power assembly 32 can be housed inside the cover 35 to protect the relevant structure.

[0031] It should be noted that SCARA robots in related technologies have certain limitations in structural design. Since the vertical Z-axis is typically located at the end effector, the structural space of the end effector is relatively large, making it difficult to operate in confined spaces. For example, in scenarios such as the assembly of electronic components and the machining of precision parts, the robot end effector needs to enter narrow cavities or gaps to operate, and the end effector structure of related SCARA robots often cannot meet such requirements. Furthermore, the complexity of the end effector structure increases the overall weight of the robot, affecting its movement speed and accuracy. In the above embodiment of this application, the lifting mechanism 40 is connected to the base 10, which is connected to the end of the first robotic arm 21 away from the second robotic arm 31. That is, the lifting mechanism 40 is located away from the end effector, which greatly simplifies the robot's end effector structure, making it compact and suitable for working in confined spaces, such as handling, loading / unloading, and assembly tasks in such environments.

[0032] Furthermore, in this embodiment, the relative rotation between the first robotic arm 21 and the second robotic arm 31 is achieved through the cooperation of corresponding power components and deceleration components, which can withstand 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 fixed-section profile robotic arms, with corresponding cross-sections as shown below. Figure 5 , Figure 6 As shown.

[0034] In this way, after selecting the required profile length and performing simple machining, the required first robotic arm 21 and second robotic arm 31 can be quickly obtained, thereby enabling the rapid assembly of robot systems with different arm lengths and loads, thus improving production efficiency, reducing enterprise production costs, and meeting different operational needs; and by simply adjusting the length of the robotic arm and the length of the timing belt, it can be generalized into robot systems with other arm lengths, demonstrating high generalizability.

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

[0036] It should be noted that in related technologies, the robotic arms of four-axis robot systems are mostly machined or cast. Directly machined robotic arms are usually expensive, have poor rigidity, and slow delivery time, while the molds required for cast robotic arms are costly. Through the above methods, the large and small arms of the low-cost horizontal articulated four-axis robot proposed in this application are processed from extruded aluminum profiles, which not only has low cost and good rigidity, but also fast delivery time, enabling rapid response to orders in mass production, and higher precision.

[0037] In one embodiment, the second robotic arm mechanism 30 further includes a second power assembly 36 and a timing belt assembly 37. The second power assembly 36 is disposed on the second robotic arm 31 and close to the first power assembly 32, and is used to provide power output. The timing belt assembly 37 is disposed along the second robotic arm 31, and its input end is connected to the output end of the second power assembly 36, so that under the drive of the second power assembly 36, the output end of the timing belt assembly 37 outputs rotational motion, thereby driving the end effector of the four-axis robot to rotate.

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

[0039] In one embodiment, the timing belt assembly 37 includes a first timing pulley 371, a timing belt 372, and a second timing pulley 373.

[0040] The first synchronous pulley 371 is connected to the output end of the second power assembly 36, specifically to the output shaft of the motor, thereby receiving power output from the second power assembly 36. One end of the synchronous belt 372 is connected to the first synchronous pulley 371, and the end away from the first synchronous pulley 371 is connected to the second synchronous pulley 373. Thus, 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, causing the second synchronous pulley 373 to rotate with the first synchronous pulley 371. The diameter and number of teeth of the second synchronous pulley 373 match those of the first synchronous pulley 371 to ensure the tension and transmission efficiency of the synchronous belt 372. Furthermore, the second synchronous pulley 373 can be connected to the end working part to drive the end working part to rotate.

[0041] Furthermore, the second robotic arm mechanism 30 may also include a second deceleration assembly 38.

[0042] In one implementation, such as Figure 2 As shown, the second deceleration assembly 38 is disposed at the connection end 311 of the second robotic arm 31, that is, at the end close to the first robotic arm 21. At this time, the input end of the second deceleration 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 speed reducer. This 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 reduced in speed by the second reduction assembly 38 and then transmitted to the synchronous belt assembly 37. In this embodiment, one end of the second synchronous pulley 373 is fixedly connected to the end flange, so that the end flange can rotate synchronously with the second synchronous pulley 373, thereby realizing the output of end rotational motion.

[0044] Furthermore, the second robotic arm mechanism 30 also includes a cable guide tube 391 and a cable guide tube bracket 392. The cable guide tube 391 is fixed to the second robotic arm through the cable guide tube bracket 392, thereby protecting the end cable.

[0045] In another embodiment, the second deceleration component 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 away from the first robotic arm 21. In this case, the input end of the second deceleration component 38 is connected to the output end of the synchronous belt component 37, and is used to receive the power of the second power component 36 transmitted by the synchronous belt component 37, and further decelerate to drive the end working part to rotate.

[0046] Specifically, the second reduction assembly 38 can be a speed reducer, specifically a harmonic speed reducer, to replace the end flange. In one application scenario, the output end of the second power assembly 36 is directly fixed to the first synchronous pulley 371, driving the first synchronous pulley 371 to rotate, and transmitting power to the second synchronous pulley 373 via 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-effector rotational motion of the four-axis robot. This embodiment can handle scenarios with larger end-effector load inertia.

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

[0048] In addition, the first power assembly 32 and the second power assembly 36 are both located at the connection end 311 of the second robotic arm 31. Specifically, the first power assembly 32 can be fixed close to the second power assembly 36, so that the center of mass of the second robotic arm 31 is much closer to the second axis joint of the four-axis robot, which greatly reduces the rotational 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 assembly 12, and a third reduction assembly 13. The housing 11 defines a receiving space 11a and is connected to the lifting mechanism 40. Specifically, in one application scenario, the housing 11 of the base 10 can be composed of a base plate 111, a base cylinder 112, and a top plate 113, connected by screws, welding, or other means, and these three components together define the receiving space 11a. Furthermore, the base 10 also includes a transition plate 114, which is connected to the base cylinder 112 on one side and to the lifting mechanism 40 on the other side. In another application scenario, the housing 11 of the base 10 can be composed of the base plate 111, the base cylinder 112, the top plate 113, and the transition plate 114, connected by screws, welding, or other means, and these four components together define the receiving space 11a. That is, the transition plate 114 is part of the housing 11 of the base 10 and is connected to the lifting mechanism 40; specifically, the two can be fixedly connected.

[0050] The third power assembly 12 is disposed within the accommodating space 11a. This third power assembly 12 can be a motor, such as a servo motor or stepper motor, and can be fixed to the flange. The third reduction assembly 13, such as a speed reducer, has its input end connected to the output end of the third power assembly 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 assembly 12 can be transmitted to the first robotic arm 21 through the third reduction assembly 13, thereby driving the first robotic arm 21 to rotate relative to the base 10, achieving the first axis movement of the four-axis robot.

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

[0052] In one implementation, 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] The lifting bracket 41 is a vertical bracket that provides support for the entire four-axis robot, which is placed on the ground or workbench via 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 related power components.

[0054] The lifting power assembly 42 is mounted on the lifting bracket 41. Specifically, the lifting power assembly 42 can be a motor, such as a stepper motor or a servo motor, which can be mounted 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 disposed in the installation space 41a, and its input end is connected to the lifting power component 42, and its output end is connected to the lifting mounting part 43. It is used to receive the power output of the lifting power component 42 and convert it into lifting motion, i.e. linear motion.

[0056] The lifting mounting part 43 is disposed in the installation space 41a, with one side connected to the lifting transmission assembly 44 and the other side connected to the base 10. It is used to connect the base 10 to the lifting mechanism 40 so that the base 10, the first robotic arm mechanism 20 and the second robotic arm mechanism 30 can be further driven by the lifting transmission assembly 44 to perform lifting movements.

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

[0058] Specifically, the lifting bracket 41 may further include a mounting plate 414 on which the ball screw is mounted. The ball screw can be connected to the output shaft of the lifting power assembly 42, such as a motor, via a coupling. Rotation of the motor's output shaft can drive the coupling and the ball screw to rotate synchronously. Furthermore, 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 linear motion of the lifting mounting part 43 moving up and down along the Z-axis, i.e., lifting motion.

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

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

[0061] In one embodiment, the lifting mechanism 40 is connected to the base 10 by a drag chain 50, and a conduit 60 is provided between the base 10 and the second robotic arm mechanism 30, thereby realizing the electrical connection between the lifting mechanism 40 and the second robotic arm mechanism 30.

[0062] It should be further noted that the four-axis robots in the related technologies hardly considered their generalization ability during the design process. When dealing with customized needs, the design cycle is long, and it is difficult to quickly build the robot system required by the customer based on the existing solution. In contrast, the modular horizontal articulated four-axis robot proposed in this application adopts a modular design concept, which can quickly and efficiently build robot systems with different arm lengths and loads by changing only a few parts, thereby meeting the customized needs of customers.

[0063] In the foregoing description of this specification, unless otherwise expressly specified and limited, the terms "fixed," "installed," "connected," or "linked" should be interpreted broadly. For example, the term "linked" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; or it can refer to the internal communication of two components or the interaction between two components. Therefore, unless otherwise expressly limited in this specification, those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0064] Based on the above description in this specification, those skilled in the art will also understand that 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," are terms indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings of this specification. They are only for the purpose of facilitating the explanation of the present application and simplifying the description, and do not explicitly or implicitly suggest that the device or element involved must have the specific orientation, or be constructed and operated in a specific orientation. Therefore, the above-mentioned orientation or positional relationship terms should not be understood or interpreted as limitations on the present application.

[0065] Furthermore, the terms "first" or "second," etc., used in this specification to refer to numbers or ordinal numbers are for descriptive purposes only and should not be construed as indicating, explicitly or implicitly, relative importance or specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this specification, "a plurality of" means at least two, such as two, three, or more, unless otherwise explicitly specified.

[0066] While this specification has shown and described numerous 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. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and intent of the present application. It should be understood that various alternatives to the embodiments of the present application described herein may be employed in the practice of this application. The appended claims are intended to define the scope of protection of this application and therefore cover modular compositions, equivalents, or alternatives within the scope of these claims.

Claims

1. A four-axis robot, characterized by, The application relates to a four-axis robot, which comprises a base, a lifting mechanism connected with the base and used for driving the base to make lifting movement, a first mechanical arm mechanism comprising a first mechanical arm, wherein a first end of the first mechanical arm is connected with the base, and a second mechanical arm mechanism connected with a second end of the first mechanical arm away from the base and comprising a second mechanical arm, a first power assembly arranged at a connecting end of the second mechanical arm, and a first speed reduction assembly, wherein an input end of the first speed reduction assembly is connected with the first power assembly, and an output end of the first speed reduction assembly is connected with the second end of the first mechanical arm, so that the first mechanical arm is driven to rotate relative to the second mechanical arm under the driving of the first power assembly. The second mechanical arm mechanism further comprises a second power assembly arranged at the second mechanical arm and close to the first power assembly, and a synchronous belt assembly arranged along the second mechanical arm, wherein an input end of the synchronous belt assembly is connected with an output end of the second power assembly, so that the synchronous belt assembly is driven to output rotary movement from an output end of the synchronous belt assembly under the driving of the second power assembly, and the end working part of the four-axis robot is driven to rotate. The second mechanical arm mechanism further comprises a second speed reduction assembly arranged at the connecting end of the second mechanical arm close to the first mechanical arm, wherein an input end of the second speed reduction assembly is connected with an output end of the second power assembly, and an output end of the second speed reduction assembly is connected with an input end of the synchronous belt assembly, so that the power of the second power assembly is transmitted to the synchronous belt assembly. The second mechanical arm mechanism further comprises a second speed reduction assembly arranged at the working end of the second mechanical arm away from the first mechanical arm, wherein an input end of the second speed reduction assembly is connected with an output end of the synchronous belt assembly, so that the power of the second power assembly transmitted by the synchronous belt assembly is received to drive the end working part to rotate. The synchronous belt assembly comprises a first synchronous pulley connected with the output end of the second power assembly to receive the power output by the second power assembly, a second synchronous pulley arranged at the working end of the second mechanical arm and connected with the end working part of the four-axis robot, and a synchronous belt arranged along the length direction of the second mechanical arm and connected with the first synchronous pulley at one end and with the second synchronous pulley at the other end, so that the power output by the second power assembly is transmitted from the first synchronous pulley to the second synchronous pulley. The base comprises a shell defining a containing space and connected with the lifting mechanism, a third power assembly arranged in the containing space, and a third speed reduction assembly, wherein an input end of the third speed reduction assembly is connected with an output end of the third power assembly, and an output end of the third speed reduction assembly is connected with the first end of the first mechanical arm, so that the first mechanical arm is driven to rotate relative to the shell under the driving of the third power assembly. The lifting mechanism comprises a lifting support defining a mounting space, a lifting power assembly mounted on the lifting support, ​ 2. The four-bar robot of claim 1, wherein, ​ ​ ​ 3. The four-bar robot of claim 2, wherein, ​ ​ 4. The four-bar robot of claim 2, wherein, ​ ​ 5. The four-bar robot of claim 2, wherein, ​ ​ ​ ​ 6. The four-bar robot of claim 1, wherein, ​ ​ ​ ​ 7. The four-bar robot of claim 1, wherein, ​ ​ ​ A lifting mounting portion is arranged in the mounting space and connected with the base; and A lifting transmission assembly is arranged in the mounting space, with an input end connected with the lifting power assembly and an output end connected with the lifting mounting portion, so as to drive the lifting mounting portion to move up and down under the driving of the lifting power assembly.

8. The four-bar robot of claim 7, wherein, The lifting transmission assembly is a ball screw, and the lifting support further comprises a linear guide rail matched with the lifting mounting portion, and the ball screw drives the lifting mounting portion to move up and down along the guide rail under the driving of the lifting power assembly.

9. The four-bar robot of claim 1, wherein, The first mechanical arm and the second mechanical arm are both constant-section profile mechanical arms.

10. The four-bar robot of claim 1, wherein, The first mechanical arm and the second mechanical arm are both made of extruded aluminum profiles.

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