High-speed four-shaft material adjusting manipulator

Abstract

The utility model provides a high-speed four-shaft material adjusting manipulator, and belongs to the technical field of rotating mechanisms. The mechanical arm comprises a rack, a mechanical arm mounting seat is arranged on the rack, an X-axis moving mechanism is arranged between the mechanical arm mounting seat and the rack, an adsorber is arranged on the mechanical arm mounting seat, and the adsorber is connected with the mechanical arm mounting seat through an adsorber rotation assembly and a Z-axis lifting mechanism in sequence. And a Y-axis shifting mechanism which can be used for adjusting the position of the material in the width direction of the adjusting transmission belt after the adsorber adsorbs the material is arranged between the Z-axis lifting mechanism and the manipulator mounting seat. The position of materials in the width direction of the adjusting transmission belt can be adjusted, so that the materials are all located in the center position in the width direction of the adjusting transmission belt after angle deviation correction is completed, deviation accumulation among the materials at multiple stations can be effectively eliminated through centralization adjustment, and accurate positioning of subsequent machining is guaranteed. The device can adapt to adjusting transmission belts with different widths.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of rotating mechanism relates to a high -speed four -axis material adjustment manipulator. BACKGROUND

[0002] The material conveyed by the conveying belt needs to be angle corrected by the correction device before processing, so that the deflection angle of each product is consistent, thereby ensuring the processing quality of the product. However, the position of the material may be offset due to vibration, material placement or positioning error of the previous station during the conveying process, and the correction device can only correct the angle of the material and cannot adjust the position of the material, which will cause the deviation between the multi-station materials to accumulate and cause the subsequent processing to be unable to be accurately positioned.

[0003] A high-speed conveying product correction device is disclosed in Chinese patent [application number: 202311236155.0], which comprises a conveying belt, a support frame, a position adjusting mechanism, a vision module and a controller. The conveying belt is a chain plate type conveying belt, which comprises chain plate units and lifting units. Each group of chain plate units comprises a material carrying plate, a lifting plate and a transmission group. The correction device can correct the angle of the material, but cannot adjust the position of the material, and cannot solve the problem of deviation accumulation between multi-station materials. UTILITY MODEL CONTENT

[0004] The utility model aims at the above -mentioned problem, provides a kind of high -speed four -axis material adjustment manipulator.

[0005] To achieve the above object, the utility model adopts the following technical scheme:

[0006] A kind of high -speed four -axis material adjustment manipulator, including rack, the rack is equipped with manipulator mounting seat, the manipulator mounting seat is equipped with X axis moving mechanism between rack, the manipulator mounting seat is equipped with adsorber, the adsorber is sequentially connected with manipulator mounting seat by adsorber autorotation subassembly and Z axis lifting mechanism, Z axis lifting mechanism is equipped with Y axis shift mechanism between manipulator mounting seat, which can be used for adjusting the position of material in the width direction of adjustment transmission belt after adsorbing material by adsorber.

[0007] Y axis shift mechanism can adjust the position of material in the width direction of adjustment transmission belt so that material is located in the center position in the width direction of adjustment transmission belt after angle correction is completed, and the deviation accumulation between multi-station materials can be eliminated by centering adjustment to ensure accurate positioning of subsequent processing, and can be adapted to adjustment transmission belt of different width.

[0008] In the high-speed four-axis material adjusting mechanical hand, the Y-axis shifting mechanism comprises a Y-axis slider sliding rail assembly arranged between the mechanical hand mounting base and the Z-axis lifting mechanism, and an eccentric driving assembly is arranged between the Z-axis lifting mechanism and the mechanical hand mounting base and used for driving the Y-axis shifting.

[0009] The eccentric driving assembly can drive the Z-axis lifting mechanism to move along the Y-axis on the mechanical hand mounting base through the Y-axis slider sliding rail assembly, so as to drive the adsorber to move along the width direction of the adjusting transmission belt to adjust the position of the material in the width direction of the adjusting transmission belt.

[0010] In the high-speed four-axis material adjusting mechanical hand, the eccentric driving assembly comprises a driving wheel located at one end of the Y-axis slider sliding rail assembly and rotationally connected with the mechanical hand mounting base, the driving wheel is connected with a driving wheel driving unit, the driving wheel is connected with the Z-axis lifting mechanism through a connecting rod at a position deviated from the rotation center of the driving wheel, one end of the connecting rod is pivotally connected with the Z-axis lifting mechanism, and the other end of the connecting rod is pivotally connected with the driving wheel at the position deviated from the rotation center of the driving wheel.

[0011] The driving wheel driving unit can drive the driving wheel to rotate, and when the driving wheel rotates, the connecting rod at the position deviated from the rotation center of the driving wheel can drive the Z-axis lifting mechanism to move along the Y-axis on the mechanical hand mounting base through the Y-axis slider sliding rail assembly to adjust the position of the material in the width direction of the adjusting transmission belt.

[0012] In the high-speed four-axis material adjusting mechanical hand, one end of the connecting rod is connected with a sliding base of the Z-axis lifting mechanism, the sliding base is located at one end of the driving wheel and provided with a driving wheel accommodation slot, the driving wheel is partially located in the driving wheel accommodation slot, and the sliding base is connected with the Y-axis slider sliding rail assembly.

[0013] The driving wheel accommodation slot provides a space for the driving wheel to avoid, and plays a role of accommodation, and when the driving wheel rotates, the connecting rod can drive the sliding base to move along the Y-axis on the mechanical hand mounting base through the Y-axis slider sliding rail assembly.

[0014] In the high-speed four-axis material adjusting mechanical hand, the driving wheel driving unit comprises a driving wheel driver arranged at the bottom end of the mechanical hand mounting base, the output end of the driving wheel driver penetrates through the mechanical hand mounting base to the upper end of the mechanical hand mounting base, a driving gear is sleeved on the output end of the driving wheel driver, a driving tooth body is arranged on the driving wheel, and the driving gear and the driving tooth body are connected through a driving belt.

[0015] The driving wheel driver can drive the driving gear to rotate, and the driving gear can drive the driving wheel to rotate through the driving belt.

[0016] In the high-speed four-axis material adjusting mechanical hand, the Z-axis lifting mechanism comprises a sliding seat connected with the Y-axis displacement mechanism, the sliding seat is connected with a lifting motor plate, the lifting motor plate is provided with a lifting driving wheel and a lifting driven wheel distributed upward and downward on the Z-axis, the lifting driving wheel and the lifting driven wheel are connected through a lifting belt, the lifting driving wheel is connected with a driving wheel driver, and the adsorber self-rotation assembly is connected with one side of the lifting belt through a lifting connecting piece.

[0017] The driving wheel driver can drive the lifting driving wheel to rotate, thereby driving the lifting belt to rotate, and the lifting belt can drive the adsorber self-rotation assembly to lift through the lifting connecting piece, thereby driving the adsorber to lift.

[0018] In the high-speed four-axis material adjusting mechanical hand, the lifting motor plate is provided with a limiting column matched with the lifting connecting piece below the lifting driving wheel and above the lifting driven wheel.

[0019] The limiting column and the lifting connecting piece are matched to constitute a mechanical hard limiting of lifting stroke, which can prevent damage caused by overtravel.

[0020] In the high-speed four-axis material adjusting mechanical hand, the adsorber self-rotation assembly comprises a spline shaft, the adsorber is arranged at the bottom end of the spline shaft, a connecting bearing is sleeved on the upper end of the spline shaft, the connecting bearing is fixed through a fixing ring sleeved on the spline shaft at both ends, the inner ring of the connecting bearing is connected with the spline shaft, the outer ring of the connecting bearing is connected with a connecting rotating groove of the lifting connecting piece, and the fixed clamping jaw of the lifting connecting piece is clamped on one side of the lifting belt.

[0021] The lifting connecting piece is connected with the spline shaft through the connecting rotating groove and the connecting bearing, the fixed clamping jaw of the lifting connecting piece is clamped on one side of the lifting belt to realize fixation, and when the lifting belt rotates, the spline shaft can be driven to lift through the lifting connecting piece to drive the adsorber to lift.

[0022] In the high-speed four-axis material adjusting mechanical hand, the bottom end of the lifting motor plate is provided with a rotating fixing plate, a connecting groove is arranged on the rotating fixing plate, a spline nut is sleeved on the lower end of the spline shaft, a plurality of convex strips are arranged on the spline shaft in the axial direction, a groove is arranged on the spline nut in the axial sliding cooperation and the circumferential rotation limiting, a rotating pulley shaft is sleeved on the spline nut, the rotating pulley shaft is arranged in the connecting groove through a bearing seat sleeved thereon, a pulley rotation driver is arranged on the rotating fixing plate, and the output end of the pulley rotation driver is connected with the rotating pulley shaft through a pulley belt transmission.

[0023] When the lifting belt rotates, the lifting connecting piece can drive the spline shaft to slide in the spline nut to drive the adsorber to lift, and the rotating drive of the belt wheel can drive the rotating belt wheel shaft to rotate on the bearing seat, thereby driving the spline nut and the spline shaft to rotate to realize the rotation of the adsorber, so as to perform the deviation correction operation of the material.

[0024] In the high-speed four-axis material adjusting manipulator, a plurality of first positioning screw holes are arranged on the lifting motor plate, a plurality of second positioning screw holes matched with the first positioning screw holes are arranged on the X-direction sliding plate of the X-axis moving mechanism, and the lifting motor plate and the X-direction sliding plate can be fixed by positioning bolts penetrating the first positioning screw holes and the second positioning screw holes.

[0025] The lifting motor plate and the X-direction sliding plate can be fixedly connected, and after the lifting motor plate and the X-direction sliding plate are fixedly connected, the adjusting manipulator does not have the function of adjusting the position of the material in the width direction of the transmission belt, and can be selected according to actual conditions.

[0026] Compared with the prior art, the advantages of the present application are that: 1. the position of the material in the width direction of the adjusting transmission belt can be adjusted, so that the material is located at the center position in the width direction of the adjusting transmission belt after the angle deviation correction is completed, and the deviation accumulation between the materials in multiple stations can be effectively eliminated through the centering adjustment, so as to ensure the accurate positioning in subsequent processing. 2. The adjusting transmission belt of different widths can be adapted. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is the installation schematic view provided by the present application;

[0028] Figure 2 is the overall structure schematic view provided by the present application;

[0029] Figure 3 is the structure schematic view of the Y-axis shifting mechanism;

[0030] Figure 4 is the structure schematic view of the adsorber rotation assembly and the Z-axis lifting mechanism;

[0031] Figure 5 is the structure schematic view of the lifting connecting piece;

[0032] Figure 6 is the structure schematic view of the connecting bearing on the spline shaft;

[0033] Figure 7 is the explosion schematic view of the adsorber rotation assembly.

[0034] In the diagram, 1. Frame; 2. Robotic arm mounting base; 3. X-axis moving mechanism; 4. Adsorber; 5. Adsorber rotation assembly; 6. Z-axis lifting mechanism; 7. Y-axis shifting mechanism; 8. Y-axis slider rail assembly; 9. Eccentric drive assembly; 10. Drive wheel; 11. Drive wheel drive unit; 12. Connecting rod; 13. Slide block; 14. Drive wheel clearance groove; 15. Drive wheel driver; 16. Drive gear; 17. Drive belt; 18. Lifting motor plate; 20. Lifting drive wheel; 21. Lifting slave wheel. 22. Drive wheel, 23. Lifting belt, 24. Drive wheel driver, 25. Lifting connector, 26. Limiting post, 27. First positioning screw hole, 28. X-direction sliding plate, 29. Second positioning screw hole, 30. Splined shaft, 31. Connecting bearing, 32. Fixing ring, 33. Connecting groove, 34. Rotating fixing plate, 35. Connecting groove, 36. Splined nut, 37. Protrusion, 38. Groove, 39. Rotating pulley shaft, 40. Bearing seat, 41. Pulley rotation driver, 42. Pulley belt, 43. Fixing gripper. Detailed Implementation

[0035] like Figures 1-4 As shown, a high-speed four-axis material adjustment robot includes a frame 1, a robot mounting base 2 on the frame 1, an X-axis moving mechanism 3 between the robot mounting base 2 and the frame 1, an adsorber 4 on the robot mounting base 2, and the adsorber 4 connected to the robot mounting base 2 in sequence through an adsorber rotation component 5 and a Z-axis lifting mechanism 6. A Y-axis shifting mechanism 7 is provided between the Z-axis lifting mechanism 6 and the robot mounting base 2, which can be used to adjust the position of the material in the width direction of the adjustment conveyor belt after the adsorber 4 adsorbs the material.

[0036] In this invention, the X-axis moving mechanism 3 and the Y-axis shifting mechanism 7 can respectively drive the adsorber 4 to move above the adjusting conveyor belt along the length and width directions of the adjusting conveyor belt, so that the adsorber 4 is directly above the material to be corrected. The X-axis moving mechanism 3 then makes the adsorber 4 and the material to be corrected move synchronously along the conveying direction according to the conveying speed of the adjusting conveyor belt. Then, the Z-axis lifting mechanism 6 drives the adsorber 4 to descend so that the adsorber 4 adsorbs the material to be corrected. Subsequently, the adsorber rotation component 5 drives the adsorber 4 to rotate, thereby driving the material to be corrected to rotate until the material to be corrected rotates to a uniform deflection angle. At the same time, the Y-axis shifting mechanism 7 adjusts the position of the material in the width direction of the adjusting conveyor belt so that the material after the correction angle is located at the center position in the width direction of the adjusting conveyor belt.

[0037] The Y-axis shifting mechanism 7 can adjust the position of the material in the width direction of the adjusting conveyor belt so that the material is located in the center position in the width direction of the adjusting conveyor belt after the angle correction is completed. The centering adjustment can eliminate the accumulation of deviations between materials in multiple stations, so as to ensure accurate positioning in subsequent processing, and can be adapted to adjusting conveyor belts of different widths.

[0038] Specifically, combining Figures 1-4As shown, the Y-axis shifting mechanism 7 comprises a Y-axis slider rail assembly 8 arranged between the manipulator mounting base 2 and the Z-axis lifting mechanism 6, and an eccentric driving assembly 9 is arranged between the Z-axis lifting mechanism 6 and the manipulator mounting base 2 for driving the Y-axis slider rail assembly 8 to move along the Y-axis. The eccentric driving assembly 9 comprises a driving wheel 10 rotatably connected to the manipulator mounting base 2 at one end of the Y-axis slider rail assembly 8, the driving wheel 10 is connected to a driving wheel driving unit 11, and the driving wheel 10 is connected to the Z-axis lifting mechanism 6 through a connecting rod 12 offset from the rotation center of the driving wheel 10. One end of the connecting rod 12 is pivotally connected to the Z-axis lifting mechanism 6, and the other end is pivotally connected to the driving wheel 10 offset from the rotation center.

[0039] The driving wheel driving unit 11 can drive the driving wheel 10 to rotate, and when the driving wheel 10 rotates, the connecting rod 12 offset from the rotation center of the driving wheel 10 can drive the Z-axis lifting mechanism 6 to move along the Y-axis on the manipulator mounting base 2 through the Y-axis slider rail assembly 8, thereby driving the adsorber 4 to move along the width direction of the adjusting transmission belt to adjust the position of the material in the width direction of the adjusting transmission belt.

[0040] Specifically, as shown in Figure 3 One end of the connecting rod 12 is connected to a sliding seat 13 of the Z-axis lifting mechanism 6, and the sliding seat 13 is provided with a driving wheel accommodating groove 14 at one end of the driving wheel 10. The driving wheel 10 is partially located in the driving wheel accommodating groove 14, and the sliding seat 13 is connected to the Y-axis slider rail assembly 8.

[0041] The driving wheel accommodating groove 14 provides a space for the driving wheel 10 to avoid, and plays a role of accommodating. When the driving wheel 10 rotates, the connecting rod 12 can drive the sliding seat 13 to move along the Y-axis on the manipulator mounting base 2 through the Y-axis slider rail assembly 8.

[0042] Specifically, as shown in Figure 2 and Figure 3 The driving wheel driving unit 11 comprises a driving wheel driver 15 arranged at the bottom end of the manipulator mounting base 2. The output end of the driving wheel driver 15 penetrates the manipulator mounting base 2 to the upper end of the manipulator mounting base 2, a driving gear 16 is sleeved on the output end of the driving wheel driver 15, a driving tooth body 17 is arranged on the driving wheel 10, and the driving gear 16 and the driving tooth body 17 are connected through a driving belt 18.

[0043] The driving wheel driver 15 can drive the driving gear 16 to rotate, and the driving gear 16 can drive the driving wheel 10 to rotate through the driving belt 18.

[0044] Specifically, as shown in Figures 2-5As shown, the Z-axis lifting mechanism 6 comprises a sliding seat 13 connected with the Y-axis displacement mechanism 7, the sliding seat 13 is connected with a lifting motor plate 20, the lifting motor plate 20 is provided with a lifting driving wheel 21 and a lifting driven wheel 22 distributed up and down on the Z-axis, the lifting driving wheel 21 and the lifting driven wheel 22 are connected through a lifting belt 23, the lifting driving wheel 21 is connected with a driving wheel driver 24, and the adsorber self-rotation assembly 5 is connected with one side of the lifting belt 23 through a lifting connecting piece 25.

[0045] The driving wheel driver 24 can drive the lifting driving wheel 21 to rotate to drive the lifting belt 23 to rotate, and the lifting belt 23 can drive the adsorber self-rotation assembly 5 to lift through the lifting connecting piece 25 when the lifting belt 23 rotates, thereby driving the adsorber 4 to lift.

[0046] Preferably, in combination Figure 2 As shown, the lifting motor plate 20 is provided with a limiting column 26 matched with the lifting connecting piece 25 below the lifting driving wheel 21 and above the lifting driven wheel 22.

[0047] The limiting column 26 matched with the lifting connecting piece 25 constitutes a mechanical hard limit of lifting stroke, which can prevent damage caused by overtravel.

[0048] Specifically, in combination Figures 2-6 As shown, the adsorber self-rotation assembly 5 comprises a spline shaft 30, the adsorber 4 is arranged at the bottom end of the spline shaft 30, a connecting bearing 31 is sleeved on the upper end of the spline shaft 30, the connecting bearing 31 is fixed through a fixing ring 32 sleeved on the spline shaft 30 at both ends, the inner ring of the connecting bearing 31 is connected with the spline shaft 30, the outer ring of the connecting bearing 31 is connected with a connecting rotating groove 33 of the lifting connecting piece 25, and a fixed clamping jaw 43 of the lifting connecting piece 25 is clamped on one side of the lifting belt 23.

[0049] The lifting connecting piece 25 is connected with the spline shaft 30 through the connecting rotating groove 33 and the connecting bearing 31, the fixed clamping jaw 43 of the lifting connecting piece 25 is clamped on one side of the lifting belt 23 to realize fixation, and when the lifting belt 23 rotates, the spline shaft 30 can be driven to lift through the lifting connecting piece 25 to drive the adsorber 4 to lift.

[0050] Specifically, in combination Figures 2-7As shown, the bottom end of the lifting motor plate 20 is provided with a rotating fixed plate 34, the rotating fixed plate 34 is provided with a connecting groove 35, the lower end of the spline shaft 30 is provided with a spline nut 36, the spline shaft 30 is provided with a plurality of convex strips 37 distributed along the axial direction, the spline nut 36 is provided with a groove 38 in axial sliding fit with the convex strip 37 and circumferential rotation limiting, the spline nut 36 is provided with a rotating pulley shaft 39, the rotating pulley shaft 39 is arranged in the connecting groove 35 through the bearing seat 40 arranged on the spline nut 36, the rotating fixed plate 34 is provided with a pulley rotating driver 41, and the output end of the pulley rotating driver 41 is connected with the rotating pulley shaft 39 through the pulley belt 42.

[0051] The convex strip 37 on the spline shaft 30 and the groove 38 on the spline nut 36 are in axial sliding fit and circumferential rotation limiting, when the lifting belt 23 rotates, the spline shaft 30 can be driven to slide in the spline nut 36 through the lifting connecting piece 25 to drive the adsorber 4 to lift, the pulley rotating driver 41 can drive the rotating pulley shaft 39 to rotate on the bearing seat 40 through the pulley belt 42, so that the spline nut 36 and the spline shaft 30 are driven to rotate to realize the rotation of the adsorber 4, and the deviation of the material is corrected.

[0052] Preferably, in combination with Figure 1 And Figure 2 As shown, the lifting motor plate 20 is provided with a plurality of first positioning screw holes 27, and the X-direction sliding plate 28 of the X-axis moving mechanism 3 is provided with second positioning screw holes 29 matched with the first positioning screw holes 27, and the lifting motor plate 20 and the X-direction sliding plate 28 can be fixed through the positioning bolts arranged in the first positioning screw holes 27 and the second positioning screw holes 29.

[0053] The lifting motor plate 20 and the X-direction sliding plate 28 can be fixedly connected, and when the lifting motor plate 20 and the X-direction sliding plate 28 are fixedly connected, the adjustment of the manipulator does not have the function of adjusting the position of the material in the width direction of the transmission belt, and can be selected according to the actual situation.

[0054] The working principle of the utility model is: after the adsorber 4 adsorbs the material, the material is rotated to a unified deflection angle through rotation, at the same time, the driving wheel driver 15 is driven to rotate the driving wheel 10, the connecting rod 12 on the driving wheel 10 drives the sliding block 13 to move along the Y axis on the manipulator mounting seat 2, so as to drive the adsorber 4 to move along the width direction of the adjusting transmission belt, so that the materials are located at the center position in the width direction of the adjusting transmission belt after the angle deviation correction is completed.

[0055] The specific embodiments described herein are merely illustrative of the present application. Various modifications or changes can be made to the specific embodiments described herein by those skilled in the art without departing from the spirit of the present application. Any and all such modifications or changes are intended to be included within the scope of the present application as defined by the appended claims.

[0056] Although the terms rack 1, manipulator mounting seat 2, X-axis moving mechanism 3, adsorber 4, adsorber self-rotation assembly 5, Z-axis lifting mechanism 6, Y-axis shifting mechanism 7, Y-axis slider sliding rail assembly 8, eccentric driving assembly 9, driving wheel 10, driving wheel driving unit 11, connecting rod 12, sliding seat 13, driving wheel accommodation slot 14, driving wheel driver 15, driving gear 16, driving gear body 17, driving belt 18, lifting motor plate 20, lifting driving wheel 21, lifting driven wheel 22, lifting belt 23, driving wheel driver 24, lifting connecting piece 25, limiting column 26, first positioning screw hole 27, X-direction sliding plate 28, second positioning screw hole 29, spline shaft 30, connecting bearing 31, fixing ring 32, connecting rotating groove 33, rotating fixing plate 34, connecting groove 35, spline nut 36, convex strip 37, recess 38, rotating pulley shaft 39, bearing seat 40, pulley rotating driver 41, pulley belt 42, fixing clamping jaw 43 are used more frequently in the description, it is only for the convenience of describing and explaining the essence of the present application; it is against the spirit of the present application to interpret them as any kind of additional limitation.

Claims

1. A high-speed four-axis material adjustment robot, comprising a frame (1), wherein a robot mounting base (2) is provided on the frame (1), an X-axis moving mechanism (3) is provided between the robot mounting base (2) and the frame (1), and an adsorber (4) is provided on the robot mounting base (2), wherein the adsorber (4) is connected to the robot mounting base (2) in sequence through an adsorber rotation assembly (5) and a Z-axis lifting mechanism (6), characterized in that, The Z-axis lifting mechanism (6) and the robot mounting base (2) are provided with a Y-axis shifting mechanism (7) which can be used to adjust the position of the material in the direction of adjusting the width of the transmission belt after the adsorber (4) adsorbs the material.

2. The high-speed four-axis material adjustment robot according to claim 1, characterized in that, The Y-axis shifting mechanism (7) includes a Y-axis slider rail assembly (8) disposed between the robot arm mounting base (2) and the Z-axis lifting mechanism (6), and an eccentric drive assembly (9) for driving the Z-axis lifting mechanism (6) to move along the Y-axis is provided between the Z-axis lifting mechanism (6) and the robot arm mounting base (2).

3. The high-speed four-axis material adjustment robot according to claim 2, characterized in that, The eccentric drive assembly (9) includes a drive wheel (10) located at one end of the Y-axis slider rail assembly (8) and rotatably connected to the robot arm mounting base (2). The drive wheel (10) is connected to the drive wheel drive unit (11). The drive wheel (10) is connected to the Z-axis lifting mechanism (6) via a connecting rod (12) at the point off-center of rotation. One end of the connecting rod (12) is pivotally connected to the Z-axis lifting mechanism (6), and the other end is pivotally connected to the point off-center of rotation of the drive wheel (10).

4. The high-speed four-axis material adjustment robot according to claim 3, characterized in that, One end of the connecting rod (12) is connected to the slide (13) of the Z-axis lifting mechanism (6). The slide (13) is provided with a drive wheel clearance groove (14) at one end of the drive wheel (10). Part of the drive wheel (10) is located in the drive wheel clearance groove (14). The slide (13) is connected to the Y-axis slider rail assembly (8).

5. The high-speed four-axis material adjustment robot according to claim 3, characterized in that, The drive wheel drive unit (11) includes a drive wheel driver (15) disposed at the bottom of the robot arm mounting base (2). The output end of the drive wheel driver (15) passes through the robot arm mounting base (2) to the upper end of the robot arm mounting base (2). A drive gear (16) is sleeved on the output end of the drive wheel driver (15). A drive tooth body (17) is provided on the drive wheel (10). The drive gear (16) and the drive tooth body (17) are connected by a drive belt (18).

6. The high-speed four-axis material adjustment robot according to claim 1, characterized in that, The Z-axis lifting mechanism (6) includes a slide (13) connected to the Y-axis shifting mechanism (7). The slide (13) is connected to the lifting motor plate (20). The lifting motor plate (20) is provided with a lifting drive wheel (21) and a lifting driven wheel (22) distributed vertically on the Z-axis. The lifting drive wheel (21) and the lifting driven wheel (22) are connected by a lifting belt (23). The lifting drive wheel (21) is connected to a drive wheel driver (24). The adsorber rotation component (5) is connected to one side of the lifting belt (23) through a lifting connector (25).

7. The high-speed four-axis material adjustment robot according to claim 6, characterized in that, The lifting motor plate (20) is provided with limiting posts (26) that cooperate with the lifting connector (25) located below the lifting drive wheel (21) and above the lifting driven wheel (22).

8. The high-speed four-axis material adjustment robot according to claim 6, characterized in that, The self-rotating component (5) of the adsorber includes a spline shaft (30), the adsorber (4) is set at the bottom end of the spline shaft (30), the upper end of the spline shaft (30) is fitted with a connecting bearing (31), the two ends of the connecting bearing (31) are respectively fixed by a fixing ring (32) fitted on the spline shaft (30), the inner ring of the connecting bearing (31) is connected to the spline shaft (30), the outer ring of the connecting bearing (31) is connected to the connecting groove (33) of the lifting connector (25), and the fixing claw (43) of the lifting connector (25) is clamped on one side of the lifting belt (23).

9. The high-speed four-axis material adjustment robot according to claim 8, characterized in that, The bottom end of the lifting motor plate (20) is provided with a rotating fixing plate (34), and a connecting groove (35) is provided on the rotating fixing plate (34). The lower end of the spline shaft (30) is fitted with a spline nut (36). The spline shaft (30) is provided with a plurality of protrusions (37) distributed along its axial direction. The spline nut (36) is provided with a groove (38) that slides axially with the protrusions (37) and limits circumferential rotation. The spline nut (36) is fitted with a rotating pulley shaft (39). The rotating pulley shaft (39) is set in the connecting groove (35) through a bearing seat (40) fitted on it. The rotating fixing plate (34) is provided with a pulley rotation driver (41). The output end of the pulley rotation driver (41) is connected to the rotating pulley shaft (39) through a pulley belt (42).

10. The high-speed four-axis material adjustment robot according to claim 6, characterized in that, The lifting motor plate (20) is provided with a plurality of first positioning screw holes (27), and the X-axis sliding plate (28) of the X-axis moving mechanism (3) is provided with second positioning screw holes (29) that cooperate with the first positioning screw holes (27). The lifting motor plate (20) and the X-axis sliding plate (28) can be fixed by positioning bolts passing through the first positioning screw holes (27) and the second positioning screw holes (29).

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