Multi-shaft mechanical moving device

Abstract

The utility model relates to a multi-axis mechanical moving device which comprises a Y-axis moving mechanism, an X-axis moving mechanism and a Z-axis moving mechanism. Wherein the Z-axis moving mechanism is further rotationally connected with an X-axis rotating mechanism, and the X-axis rotating mechanism is rotationally connected with a Z-axis rotating mechanism; the X-axis moving mechanism is connected to the Y-axis moving mechanism in a sliding mode, and the Z-axis moving mechanism is connected to the X-axis moving mechanism in a sliding mode. The X-axis moving mechanism moves back and forth on the Y-axis moving mechanism in the Y-axis direction, the Z-axis moving mechanism moves back and forth on the X-axis moving mechanism in the X-axis direction, the X-axis rotating mechanism moves up and down on the Z-axis moving mechanism in the Z-axis direction, the X-axis rotating mechanism rotates around the X-axis, and the Z-axis rotating mechanism rotates around the Z-axis. Wherein the rotating end of the Z-axis rotating mechanism is fixedly connected with a moved mechanism; therefore, the moved mechanism is moved by using five degrees of freedom, so that the moved mechanism can detect pipe fittings with non-specific shapes, the flexibility is greatly improved, and the applicability is wide.

Description

Technical Field

[0001] This utility model relates to the field of multi-axis manipulator technology, and more specifically, to a multi-axis mechanical moving device. Background Technology

[0002] Existing three-axis robotic arms only have three degrees of freedom and are mostly used for moving objects. They cannot perform rotational movements and cannot be used in fields such as the inspection of pipes with non-specific shapes, thus failing to meet people's needs. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a multi-axis mechanical moving device that is simple in structure, low in cost, small in size, easy to use, and widely applicable, in view of the above-mentioned defects of the prior art.

[0004] The technical solution adopted by this utility model to solve its technical problem is:

[0005] A multi-axis mechanical moving device is constructed, including a Y-axis moving mechanism, an X-axis moving mechanism, and a Z-axis moving mechanism; wherein, an X-axis rotating mechanism is rotatably connected to the Z-axis moving mechanism, and the Z-axis rotating mechanism is rotatably connected to the X-axis rotating mechanism.

[0006] The X-axis moving mechanism is slidably connected to the Y-axis moving mechanism, and the Z-axis moving mechanism is slidably connected to the X-axis moving mechanism;

[0007] The X-axis moving mechanism moves back and forth along the Y-axis direction on the Y-axis moving mechanism, the Z-axis moving mechanism moves back and forth along the X-axis direction on the X-axis moving mechanism, the X-axis rotating mechanism moves up and down along the Z-axis direction on the Z-axis moving mechanism, the X-axis rotating mechanism rotates around the X-axis, and the Z-axis rotating mechanism rotates around the Z-axis.

[0008] The rotating end of the Z-axis rotation mechanism is fixedly connected to the movable mechanism.

[0009] The multi-axis mechanical moving device of this utility model further includes: multiple drag chains and multiple cable troughs;

[0010] The multiple cable chains and multiple cable trays cooperate to guide the cable from the Y-axis moving mechanism to the Z-axis rotating mechanism.

[0011] The multi-axis mechanical moving device of this utility model includes a Y-axis moving mechanism comprising: a plurality of first slide rails and a plurality of first sliders, wherein the plurality of first slide rails and first racks are parallel to each other, the plurality of first slide rails are fixedly connected to a plurality of bases, and the first racks are fixedly connected to any one of the bases.

[0012] Multiple first sliders are slidably connected to the first slide rail, and the first sliders cooperate with the first slide rail.

[0013] In the multi-axis mechanical moving device of this utility model, a first base is fixedly connected to a plurality of first sliders;

[0014] The X-axis moving mechanism includes: multiple second slide rails and multiple second sliders;

[0015] A first servo motor, multiple second slide rails, and a second rack are fixedly connected to the first base. The multiple second slide rails and the second racks are parallel to each other. Multiple second sliders are slidably connected to the second slide rails, and the second sliders cooperate with the second slide rails.

[0016] The working end of the first servo motor passes through the first base and is fixedly connected to the first gear. The first gear meshes with the first rack. The first servo motor drives the X-axis moving mechanism to move back and forth along the Y-axis on the Y-axis moving mechanism.

[0017] In the multi-axis mechanical moving device of this utility model, a second base is fixedly connected to a plurality of second sliders;

[0018] A second servo motor is fixedly connected to the second base;

[0019] The working end of the second servo motor passes through the second base and is fixedly connected to the second gear, which meshes with the second rack.

[0020] The second servo motor drives the Z-axis moving mechanism to move back and forth along the X-axis direction on the X-axis moving mechanism.

[0021] The multi-axis mechanical moving device of this utility model includes a Z-axis moving mechanism comprising: a plurality of third slide rails and a plurality of third sliders;

[0022] A vertical support is fixedly connected to the second base, and a linear module and multiple third slide rails are fixedly connected to the vertical support. The multiple third slide rails and the linear module are all parallel to each other.

[0023] Multiple third sliders are slidably connected to the third slide rail, and the third sliders cooperate with the third slide rail;

[0024] The linear module drives the X-axis rotation mechanism to move up and down along the Z-axis direction on the Z-axis moving mechanism.

[0025] In the multi-axis mechanical moving device of this utility model, a third base is fixedly connected to a plurality of the third sliders; the slider of the linear module is fixedly connected to the third base.

[0026] The X-axis rotation mechanism includes: a bearing, a gear ring, and a transverse support;

[0027] One side of the outer steel ring of the bearing is fixedly connected to one end of the transverse support, and the side of the inner steel ring facing away from the transverse support is fixedly connected to the third base; the gear ring is fitted onto the outer steel ring of the bearing with an interference fit.

[0028] A third servo motor is fixedly connected to the third base. The working end of the third servo motor passes through the third base and is fixedly connected to a third gear. The third gear meshes with the gear ring.

[0029] The third servo motor drives the X-axis rotation mechanism to rotate around the X-axis.

[0030] In the multi-axis mechanical moving device of this utility model, the Z-axis rotation mechanism is fixedly connected to one end of the transverse support away from the bearing.

[0031] The Z-axis rotation mechanism includes: a fourth servo motor;

[0032] The fourth servo motor is fixedly connected to the horizontal support, and the working end of the fourth servo motor is fixedly connected to a mounting base. The movable mechanism is fixedly connected to the mounting base.

[0033] The fourth servo motor drives the moved mechanism to rotate around the Z-axis.

[0034] The multi-axis mechanical moving device of this utility model further includes a conductive slip ring in the Z-axis rotation mechanism;

[0035] The conductive slip ring is sleeved on the working end of the fourth servo motor. The stator of the conductive slip ring is fixedly connected to the transverse support, and the rotor is fixedly connected to the mounting base.

[0036] The multi-axis mechanical moving device of this utility model includes at least a first drag chain, a second drag chain, and a third drag chain, and at least a first cable groove, a second cable groove, and a third cable groove.

[0037] The first cable chain is installed on the first cable chain groove and parallel to the base; the second cable chain is installed on the second cable chain groove and parallel to the first base, and the second cable chain groove is fixedly connected to the first base; the third cable chain is installed on the third cable chain groove and parallel to the vertical support, and the third cable chain groove is fixedly connected to the vertical support.

[0038] The first cable groove is located between the end of the first cable chain away from the first cable chain groove and the second cable chain groove and is fixedly connected to the first base; the second cable groove is located between the end of the second cable chain away from the second cable chain groove and the third cable chain groove and is fixedly connected to the first base; the third cable groove is located between the end of the third cable chain away from the third cable chain groove and the inner steel ring of the bearing and is fixedly connected to the vertical bracket.

[0039] The cable passes sequentially through the first drag chain, the first cable trough, the second drag chain, the second cable trough, the third drag chain, the third cable trough, and the transverse support before connecting to the moved mechanism or to the conductive slip ring.

[0040] The beneficial effects of this utility model are as follows: the X-axis moving mechanism moves back and forth along the Y-axis direction on the Y-axis moving mechanism, the Z-axis moving mechanism moves back and forth along the X-axis direction on the X-axis moving mechanism, the X-axis rotating mechanism moves up and down along the Z-axis direction on the Z-axis moving mechanism, the X-axis rotating mechanism rotates around the X-axis, and the Z-axis rotating mechanism rotates around the Z-axis; wherein, the moved mechanism is fixedly connected to the rotating end of the Z-axis rotating mechanism; thereby realizing the movement of the moved mechanism using five degrees of freedom, enabling the moved mechanism to detect pipes of non-specific shapes, greatly improving flexibility, and having a simple structure, low cost, small size, convenient use, and wide applicability. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the present utility model will be further described below in conjunction with the accompanying drawings and embodiments. The drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a three-dimensional view of the Y-axis moving device of the multi-axis mechanical moving device according to a preferred embodiment of the present invention;

[0043] Figure 2 This is a three-dimensional view of the X-axis moving device of the multi-axis mechanical moving device according to a preferred embodiment of the present invention;

[0044] Figure 3This is a three-dimensional view of the Z-axis moving device of the multi-axis mechanical moving device according to a preferred embodiment of the present invention;

[0045] Figure 4 This is a three-dimensional view of the multi-axis mechanical moving device according to a preferred embodiment of the present invention;

[0046] Figure 5 This is a three-dimensional view of the third cable trough of the multi-axis mechanical moving device according to a preferred embodiment of the present invention. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, a clear and complete description will be provided below in conjunction with the technical solutions in the embodiments of this utility model. Obviously, the described embodiments are some, but not all, embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0048] The preferred embodiment of the multi-axis mechanical moving device of this utility model is as follows: Figure 1 As shown, see also Figures 2 to 5 It includes a Y-axis moving mechanism 100, an X-axis moving mechanism 200, and a Z-axis moving mechanism 300; wherein, an X-axis rotating mechanism 400 is fixedly connected to the Z-axis moving mechanism 300, and a Z-axis rotating mechanism 500 is fixedly connected to the X-axis rotating mechanism 400.

[0049] The X-axis moving mechanism 200 is fixedly connected to the Y-axis moving mechanism 100, and the Z-axis moving mechanism 300 is fixedly connected to the X-axis moving mechanism 200.

[0050] The X-axis moving mechanism 200 moves back and forth along the Y-axis direction on the Y-axis moving mechanism 100, the Z-axis moving mechanism 300 moves back and forth along the X-axis direction on the X-axis moving mechanism 200, the X-axis rotating mechanism 400 moves up and down along the Z-axis direction on the Z-axis moving mechanism 300, the X-axis rotating mechanism 400 rotates around the X-axis, and the Z-axis rotating mechanism 500 rotates around the Z-axis.

[0051] A movable mechanism (not shown in the figure) is fixedly connected to the rotating end of the Z-axis rotation mechanism 500.

[0052] The X-axis moving mechanism 200 moves back and forth along the Y-axis on the Y-axis moving mechanism 100, the Z-axis moving mechanism 300 moves back and forth along the X-axis on the X-axis moving mechanism 200, the X-axis rotating mechanism 400 moves up and down along the Z-axis on the Z-axis moving mechanism 300, the X-axis rotating mechanism 400 rotates around the X-axis, and the Z-axis rotating mechanism 500 rotates around the Z-axis. The moved mechanism is fixedly connected to the rotating end of the Z-axis rotating mechanism 500. This allows the moved mechanism to move using five degrees of freedom, enabling it to detect pipes of non-specific shapes, greatly improving flexibility. Furthermore, it features a simple structure, low cost, small size, ease of use, and wide applicability.

[0053] like Figures 1 to 5 As shown, it also includes: multiple cable chains and multiple cable trays;

[0054] Multiple cable chains and multiple cable trays work together to guide the cable (not shown in the figure) from the Y-axis moving mechanism 100 to the Z-axis rotating mechanism 500, thus avoiding cable interference.

[0055] like Figures 1 to 5 As shown, the Y-axis moving mechanism 100 includes: a plurality of first slide rails 110 and a plurality of first sliders 111. The plurality of first slide rails 110 and the first rack 120 are parallel to each other. The plurality of first slide rails 110 are fixedly connected to a plurality of bases 130, and the first rack 120 is fixedly connected to any one of the bases 130.

[0056] Multiple first sliders 111 are slidably connected to the first slide rail 110. The first sliders 111 cooperate with the first slide rail 110 and move back and forth along the Y-axis on the first slide rail 110. The structure is simple, the cost is low, and the size is small. The base 130 is horizontally set.

[0057] like Figures 1 to 5 As shown, a first base 220 is fixedly connected to a plurality of first sliders 111;

[0058] The X-axis moving mechanism 200 includes: a plurality of second slide rails 210 and a plurality of second sliders 211;

[0059] A first servo motor 230, a plurality of second slide rails 210, and a second rack 240 are fixedly connected to the first base 220. The plurality of second slide rails 210 and the second rack 240 are parallel to each other. A plurality of second sliders 211 are slidably connected to the second slide rails 210. The second sliders 211 cooperate with the second slide rails 210 and move back and forth along the X-axis on the second slide rails 210.

[0060] The working end of the first servo motor 230 passes through the first base 220 and is fixedly connected to the first gear (not shown in the figure). The first gear meshes with the first rack 120. The first servo motor 230 drives the X-axis moving mechanism 200 to move back and forth along the Y-axis direction on the Y-axis moving mechanism 100. The structure is simple, the cost is low, and the size is small.

[0061] like Figures 1 to 5 As shown, a second base 320 is fixedly connected to a plurality of second sliders 211;

[0062] A second servo motor 330 is fixedly connected to the second base 320;

[0063] The working end of the second servo motor 330 passes through the second base 320 and is fixedly connected to the second gear 241, which meshes with the second rack 240.

[0064] The second servo motor 330 drives the Z-axis moving mechanism 300 to move back and forth along the X-axis direction on the X-axis moving mechanism 200; the structure is simple, the cost is low, and the size is small.

[0065] like Figures 1 to 5 As shown, the Z-axis moving mechanism 300 includes: a plurality of third slide rails 310 and a plurality of third sliders 311;

[0066] A vertical support 340 is fixedly connected to the second base 320. A linear module 350 and multiple third slide rails 310 are fixedly connected to the vertical support 340. The multiple third slide rails 310 and the linear module 350 are parallel to each other and arranged vertically.

[0067] Multiple third sliders 311 are slidably connected to the third slide rail 310. The third sliders 311 cooperate with the third slide rail 310 and move up and down along the Z-axis on the third slide rail 310.

[0068] The linear module 350 drives the X-axis rotation mechanism 400 to move up and down along the Z-axis direction on the Z-axis moving mechanism 300; it has a simple structure, low cost, and small size.

[0069] like Figures 1 to 5 As shown, a third base 430 is fixedly connected to multiple third sliders 311; the slider 351 of the linear module 350 is fixedly connected to the third base 430; wherein, the linear module 350 is a lead screw linear module 350, which has a simple structure, small size, low cost, convenient use, easy control, and high progress.

[0070] The X-axis rotation mechanism 400 includes: a bearing (not shown in the figure), a gear ring 410, and a transverse support 420;

[0071] One side of the outer steel ring of the bearing is fixedly connected to one end of the transverse support 420, and the side of the inner steel ring facing away from the transverse support 420 is fixedly connected to the third base 430. The bearing rotates around the X-axis on the third base 430. The gear ring 410 is fitted onto the outer steel ring of the bearing with an interference fit.

[0072] A third servo motor 440 is fixedly connected to the third base 430. The working end of the third servo motor 440 passes through the third base 430 and is fixedly connected to a third gear 441. The third gear 441 meshes with the gear ring 410.

[0073] The third servo motor 440 drives the X-axis rotation mechanism 400 to rotate around the X-axis; it has a simple structure, low cost, and small size.

[0074] like Figures 1 to 5 As shown, the Z-axis rotation mechanism 500 is fixedly connected to one end of the transverse support 420 away from the bearing;

[0075] The Z-axis rotation mechanism 500 includes: a fourth servo motor 510;

[0076] The fourth servo motor 510 is fixedly connected to the horizontal support 420. The working end of the fourth servo motor 510 rotates around the Z-axis on the horizontal support 420. The working end of the fourth servo motor 510 is fixedly connected to the mounting base 511 and is fixedly connected to the mounting base 511 by the moving mechanism.

[0077] The fourth servo motor 510 drives the moved mechanism to rotate around the Z-axis; it has a simple structure, low cost, and small size.

[0078] like Figures 1 to 5 As shown, the Z-axis rotation mechanism 500 also includes: a conductive slip ring (not shown in the figure);

[0079] The conductive slip ring is sleeved on the working end of the fourth servo motor 510. The stator of the conductive slip ring is fixedly connected to the transverse support 420, and the rotor is fixedly connected to the mounting base 511. The structure is simple, the cost is low, the size is small, and the wiring is convenient.

[0080] like Figures 1 to 5 As shown, the plurality of cable chains include at least: a first cable chain 610, a second cable chain 620, and a third cable chain 630, and the plurality of cable troughs include at least: a first cable trough 710, a second cable trough 720, and a third cable trough 730.

[0081] The first cable chain 610 is installed on the first cable chain groove 611 and parallel to the base 130; the second cable chain 620 is installed on the second cable chain groove 621 and parallel to the first base 220, and the second cable chain groove 621 is fixedly connected to the first base 220; the third cable chain 630 is installed on the third cable chain groove 631 and parallel to the vertical support 340, and the third cable chain groove 631 is fixedly connected to the vertical support 340; wherein, one end of the first cable chain 610 is installed on the first cable chain groove 611 and the other end is fixedly connected to the first cable groove 710, one end of the second cable chain 620 is installed on the second cable chain groove 621 and the other end is fixedly connected to the second cable groove 720, and one end of the third cable chain 630 is fixedly connected to the third cable chain groove 631 and the other end is fixedly connected to the third cable groove 730;

[0082] The first cable trough 710 is located between the end of the first cable chain 610 away from the first cable chain trough 611 and the second cable chain trough 621 and is fixedly connected to the first base 220; the second cable trough 720 is located between the end of the second cable chain 620 away from the second cable chain trough 621 and the third cable chain trough 631 and is fixedly connected to the first base 220; the third cable trough 730 is located between the end of the third cable chain 630 away from the third cable chain trough 631 and the inner steel ring of the bearing and is fixedly connected to the vertical bracket 340.

[0083] The cable passes through the first drag chain 610, the first cable trough 710, the second drag chain 620, the second cable trough 720, the third drag chain 630, the third cable trough 730, and the transverse support 420 in sequence before connecting to the moved mechanism or to the conductive slip ring. The cable trough can be a cable box or a cable pipe and has an irregular shape. The structure is simple, low-cost, small in size, and easy to route.

[0084] like Figures 1 to 5 As shown, a plurality of first dust covers 810 are fixedly connected to the second base 320, and the plurality of first dust covers 810 cooperate with each other to protect the second slide rail 210 from dust; a plurality of second dust covers 820 are fixedly connected to the third base 430, and the plurality of second dust covers 820 cooperate with each other to protect the third slide rail 310 from dust; a plurality of L-shaped dust strips 830 are fixedly connected to the base 130, and the L-shaped dust strips 830 protect the first slide rail 110; more preferably, a plurality of third dust covers (not shown in the figure) are fixedly connected to the first base 220, and the plurality of third dust covers cooperate with each other to protect the first slide rail 110 from dust; the structure is simple, the cost is low, and the size is small, so as to protect the slide rail.

[0085] Furthermore, it also includes multiple limit blocks (not shown in the figure), which are used to limit the travel of the first slider 111, the second slider 211, and the third slider 311 and the rotation angle of the bearing for limit protection.

[0086] Furthermore, one or more ropes (not shown in the figure) are fixedly connected to the third base 430. The other end of the rope is partially wrapped around multiple pulleys 341 at the top of the vertical support 340 and then fixedly connected to the gravity traction block 342. The gravity traction block 342 is located inside the vertical support 340 and moves up and down along the Z-axis. The gravity traction block 342 is set to prevent the transverse support 420 from swaying and improve the stability of the structure.

[0087] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A multi-axis mechanical moving device comprising a Y-axis moving mechanism and an X-axis moving mechanism and a Z-axis moving mechanism; characterized by, The Z-axis moving mechanism is also rotatably connected to an X-axis rotating mechanism, and the X-axis rotating mechanism is rotatably connected to a Z-axis rotating mechanism. The X-axis moving mechanism is slidably connected to the Y-axis moving mechanism, and the Z-axis moving mechanism is slidably connected to the X-axis moving mechanism; The X-axis moving mechanism moves back and forth along the Y-axis direction on the Y-axis moving mechanism, the Z-axis moving mechanism moves back and forth along the X-axis direction on the X-axis moving mechanism, the X-axis rotating mechanism moves up and down along the Z-axis direction on the Z-axis moving mechanism, the X-axis rotating mechanism rotates around the X-axis, and the Z-axis rotating mechanism rotates around the Z-axis. The rotating end of the Z-axis rotation mechanism is fixedly connected to the movable mechanism.

2. The multi-axis mechanical movement device of claim 1, wherein, Also includes: Multiple cable chains and multiple cable trays; The multiple cable chains and multiple cable trays cooperate to guide the cable from the Y-axis moving mechanism to the Z-axis rotating mechanism.

3. The multi-axis mechanical movement device of claim 2, wherein, The Y-axis moving mechanism includes: a plurality of first slide rails and a plurality of first sliders, wherein the plurality of first slide rails and first racks are parallel to each other, the plurality of first slide rails are fixedly connected to a plurality of bases, and the first racks are fixedly connected to any one of the bases; Multiple first sliders are slidably connected to the first slide rail, and the first sliders cooperate with the first slide rail.

4. The multi-axis mechanical movement device of claim 3, wherein, A first base is fixedly connected to multiple first sliders; The X-axis moving mechanism includes: multiple second slide rails and multiple second sliders; A first servo motor, multiple second slide rails, and a second rack are fixedly connected to the first base. The multiple second slide rails and the second racks are parallel to each other. Multiple second sliders are slidably connected to the second slide rails, and the second sliders cooperate with the second slide rails. The working end of the first servo motor passes through the first base and is fixedly connected to the first gear. The first gear meshes with the first rack. The first servo motor drives the X-axis moving mechanism to move back and forth along the Y-axis on the Y-axis moving mechanism.

5. The multi-axis mechanical movement device of claim 4, wherein, A second base is fixedly connected to multiple second sliders; A second servo motor is fixedly connected to the second base; The working end of the second servo motor passes through the second base and is fixedly connected to the second gear, which meshes with the second rack. The second servo motor drives the Z-axis moving mechanism to move back and forth along the X-axis direction on the X-axis moving mechanism.

6. The multi-axis mechanical movement device of claim 5, wherein, The Z-axis moving mechanism includes: multiple third slide rails and multiple third sliders; A vertical support is fixedly connected to the second base, and a linear module and multiple third slide rails are fixedly connected to the vertical support. The multiple third slide rails and the linear module are all parallel to each other. Multiple third sliders are slidably connected to the third slide rail, and the third sliders cooperate with the third slide rail; The linear module drives the X-axis rotation mechanism to move up and down along the Z-axis direction on the Z-axis moving mechanism.

7. The multi-axis mechanical movement device of claim 6, wherein, A third base is fixedly connected to each of the third sliders; the slider of the linear module is fixedly connected to the third base. The X-axis rotation mechanism includes: a bearing, a gear ring, and a transverse support; One side of the outer steel ring of the bearing is fixedly connected to one end of the transverse support, and the side of the inner steel ring facing away from the transverse support is fixedly connected to the third base; the gear ring is fitted onto the outer steel ring of the bearing with an interference fit. A third servo motor is fixedly connected to the third base. The working end of the third servo motor passes through the third base and is fixedly connected to a third gear. The third gear meshes with the gear ring. The third servo motor drives the X-axis rotation mechanism to rotate around the X-axis.

8. The multi-axis mechanical movement device of claim 7, wherein, The Z-axis rotation mechanism is fixedly connected to the end of the transverse support away from the bearing. The Z-axis rotation mechanism includes: a fourth servo motor; The fourth servo motor is fixedly connected to the horizontal support, and the working end of the fourth servo motor is fixedly connected to a mounting base. The movable mechanism is fixedly connected to the mounting base. The fourth servo motor drives the moved mechanism to rotate around the Z-axis.

9. The multi-axis mechanical movement device of claim 8, wherein, The Z-axis rotation mechanism further includes: a conductive slip ring; The conductive slip ring is sleeved on the working end of the fourth servo motor. The stator of the conductive slip ring is fixedly connected to the transverse support, and the rotor is fixedly connected to the mounting base.

10. The multi-axis mechanical movement device of claim 9, wherein, The plurality of cable chains include at least: a first cable chain, a second cable chain, and a third cable chain; the plurality of cable troughs include at least: a first cable trough, a second cable trough, and a third cable trough. The first cable chain is installed on the first cable chain groove and parallel to the base; the second cable chain is installed on the second cable chain groove and parallel to the first base, and the second cable chain groove is fixedly connected to the first base; the third cable chain is installed on the third cable chain groove and parallel to the vertical support, and the third cable chain groove is fixedly connected to the vertical support. The first cable groove is located between the end of the first cable chain away from the first cable chain groove and the second cable chain groove and is fixedly connected to the first base; the second cable groove is located between the end of the second cable chain away from the second cable chain groove and the third cable chain groove and is fixedly connected to the first base; the third cable groove is located between the end of the third cable chain away from the third cable chain groove and the inner steel ring of the bearing and is fixedly connected to the vertical bracket. The cable passes sequentially through the first drag chain, the first cable trough, the second drag chain, the second cable trough, the third drag chain, the third cable trough, and the transverse support before connecting to the moved mechanism or to the conductive slip ring.

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