Four-axis robot

Abstract

The utility model discloses a four-axis robot which comprises an equipment main body composed of a cabinet main body and a four-axis assembly, the cabinet main body comprises an outer frame and a first casting arranged at the bottom of the outer frame and extending upwards, the first casting is connected with a second casting above through a sliding block, and the four-axis assembly comprises a lifting motor arranged on one side of the first casting. The top of the lifting motor is connected with a rotating disc arranged on the second casting, the rotating disc is connected with a first X shaft which rotates and telescopically operates in the X-axis direction, the upper portion of the first X shaft is connected with a second X shaft which telescopically operates in the X-axis direction through a sliding base, and a vacuum generator is arranged on one side of the second X shaft. And a vacuum material head communicated with a vacuum generator is arranged below the end part of the shaft body. The multi-shaft mechanical arm solves the problems that a multi-shaft mechanical arm in the prior art is large in noise and unstable in operation, does not have a vacuum structure and occupies a large space.

Description

Technical Field

[0001] This utility model relates to the field of mechanical structures, and in particular to a four-axis robot. Background Technology

[0002] Multi-axis robots, also known as industrial robotic arms, electric cylinders, and robotic hands, are robot systems built on the XYZ Cartesian coordinate system as the basic mathematical model, with servo motors and stepper motors as the driven robotic arms as the basic working units, and ball joints, synchronous belts, gears and racks as common transmission methods. They can reach any point in the XYZ three-dimensional coordinate system and follow a controllable motion trajectory.

[0003] Existing multi-axis robotic arms generate significant noise during operation due to the numerous drive mechanisms employed. Furthermore, the lightweight nature of their standard structural components leads to substantial vibrations during operation, impacting overall stability and rigidity, and consequently hindering precise movements. Additionally, current multi-axis robotic arms cannot be integrated with vacuum systems, requiring external mechanical connections, thus limiting their application scenarios.

[0004] In view of this, this technical solution proposes a four-axis robot that adds counterweights to structural components other than standard parts without altering the structure of the standard parts. It achieves stable and low-noise operation using a lead screw and dual guide rails. Furthermore, a vacuum structure is directly integrated into the axis, eliminating the need for additional vacuum docking devices. The overall structure is simple, employing a stacked design that occupies less space and is easy to assemble and maintain. Utility Model Content

[0005] The present invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the main objective of this invention is to provide a four-axis robot that addresses the problems of high noise and instability during operation of existing multi-axis robotic arms, as well as the lack of a vacuum structure and large space requirements.

[0006] To achieve the above objectives, this utility model provides a four-axis robot, comprising a main body of equipment consisting of a cabinet and a four-axis assembly.

[0007] The main body of the cabinet includes an outer frame and a first casting extending upward from the bottom of the outer frame. The first casting is connected to a second casting above it via a slider.

[0008] The four-axis assembly includes a lifting motor disposed on one side of the first casting. The top of the lifting motor is connected to a turntable disposed on the second casting. A first X-axis that rotates and extends in the X-axis direction is connected to the turntable. A second X-axis that extends in the X-axis direction is connected above the first X-axis via a slide block. A vacuum generator is disposed on one side of the second X-axis, and a vacuum feed head communicating with the vacuum generator is disposed below the end of the shaft.

[0009] As a further embodiment of this utility model, the main body of the cabinet also includes a counterweight base plate disposed at the bottom of the outer frame, and the first casting and the electrical control group are both disposed on the counterweight base plate.

[0010] As a further embodiment of this utility model, the first casting and the second casting are respectively an iron casting and an aluminum casting.

[0011] As a further embodiment of this utility model, the first X-axis also includes an internally configured dual guide rail module, a lead screw and a drive motor that cooperate with the dual guide rail module, wherein the dual guide rail module is composed of two sets of sliders symmetrically located on both sides of the lead screw.

[0012] As a further embodiment of this utility model, a protective cover is provided above the first X-axis, and the slide is disposed on both sides of the protective cover.

[0013] As a further embodiment of this invention, the vacuum generator consists of a housing and an internal dual-channel vacuum component.

[0014] As a further embodiment of this invention, the second X-axis is a vacuum shaft structure.

[0015] The beneficial effects of this utility model are as follows:

[0016] This technical solution adds a counterweight base plate to the bottom of the main cabinet body. Combining the high-density counterweight of the first casting (iron casting) with the lightweight design of the second casting (aluminum casting), a rigid support frame is formed through slider connections, effectively suppressing vibration and improving motion accuracy. The first X-axis internally uses a combination of a dual-guide rail module and a lead screw drive motor. Symmetrical sliders on both sides evenly distribute the load, and protective covers reduce friction and dust intrusion, achieving low-noise, high-stability telescopic movement. The second X-axis integrates a vacuum shaft structure and a dual-channel vacuum generator, directly connected to the vacuum feed head through an internal channel, simultaneously completing product suction and waste disposal, eliminating the need for external piping and simplifying the layout. The first and second X-axis are connected by stacked slides, and the compact axial telescopic design further optimizes space usage, facilitating assembly and maintenance. The overall solution balances stability, functionality, and space efficiency, reducing vibration and noise while expanding application scenarios and improving operational reliability. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the technical solutions of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of the main body of the device in this utility model.

[0019] Figure 2 This is a schematic diagram of the four-axis assembly and the main cabinet body in this utility model.

[0020] Figure 3 This is a schematic diagram of the internal structure of the outer frame of the device and the arrangement of each axis.

[0021] Figure 4 This is a partially enlarged schematic diagram of the connection position between the first casting and the second casting in this utility model.

[0022] Figure 5 This is a schematic diagram of the overall structure of the first casting in this utility model.

[0023] Figure 6 This is a schematic diagram of the overall structure of the second casting in this utility model.

[0024] Figure 7 This is a schematic diagram of the assembly of the first X-axis and the second X-axis and the vacuum structure in this utility model.

[0025] Figure 8 This is a schematic diagram of the internal structure of the first X-axis in this utility model.

[0026] label name label name 1 Equipment body 2010 drive motor 10 rack body 2011 Dual rail module 100 Outer frame 2012 Lead screw 101 Electronic control group 2013 Protective cover 102 Counterweight base plate 2014 Sliding cover 103 First casting 202 Second X-axis 104 Second casting 2020 Vacuum feed head 105 slider 2021 vacuum generator 20 Four-axis assembly 2022 Dual-channel vacuum components 200 Lifting motor 2023 casing 201 First X-axis 203 turntable Detailed Implementation

[0027] as follows:

[0028] Please see the appendix Figure 1-8 ,

[0029] The main structure includes a main body (1) consisting of a cabinet body (10) and a four-axis assembly (20). The cabinet body (10) includes an outer frame (100) and a first casting (103) extending upward from the bottom of the outer frame (100). The first casting (103) is connected to the second casting (104) above it via a slider (105). The four-axis assembly (20) includes a lifting motor (200) located on one side of the first casting (103). The top of the lifting motor (200) is connected to a turntable (203) located on the second casting (104). A first X-axis (201) that rotates and extends in the X-axis direction is connected to the turntable (203). A second X-axis (202) that extends in the X-axis direction is connected above the first X-axis (201) via a slide block. A vacuum generator (2021) is provided on one side of the second X-axis (202), and a vacuum feed head (2020) that communicates with the vacuum generator (2021) is provided below the end of the shaft.

[0030] The working principle is as follows:

[0031] Existing traditional multi-axis robotic arms, due to their use of lightweight standard parts and single drive structure, suffer from significant vibration and insufficient rigidity during operation, affecting motion accuracy. Furthermore, they require external vacuum devices, occupying a large space and being cumbersome to operate. In this solution, the lifting motor (200) to the turntable (203) is considered the first axis, the rotation axis of the turntable (203) is the second axis, the first X-axis (201) is the third axis, and the connected second X-axis (202) and vacuum head (2020) are the fourth axis. This solution adds a counterweight base plate (102) to the bottom of the main cabinet body (10), and sets a first casting (103) and a second casting (104) composed of iron and aluminum castings within the outer frame (100), connected by a slider (105) to form a rigid support. The iron casting provides high-strength counterweight, while the aluminum casting reduces the overall weight; the combination of the two effectively suppresses vibration and ensures motion accuracy. In the four-axis assembly (20), the first X-axis (201) adopts a combination of a dual-guide rail module (2011) and a lead screw (2012) driven by a motor (2010). The symmetrically distributed sliders on both sides cooperate with the lead screw (2012), and the protective cover (2013) reduces friction and dust intrusion, thereby reducing operating noise and improving structural stability. The second X-axis (202) adopts a vacuum shaft structure, directly integrating dual-channel vacuum components (2022). Through the vacuum head (2020) at the shaft end, it realizes the dual-function synchronous operation of product suction and waste disposal, eliminating the need for external vacuum equipment, simplifying the layout and expanding the application scenarios. In addition, the first X-axis (201) and the second X-axis (202) are connected by a stacked slide block. The compact axial telescopic design further optimizes space utilization and facilitates assembly and maintenance. Through modular design and functional integration, the overall structure significantly improves the versatility and adaptability of the equipment while ensuring high-precision and low-noise operation.

[0032] The assembly and disassembly process can be,

[0033] During assembly, the outer frame (100) is fixed to the counterweight base plate (102) to ensure horizontal stability. The first casting (103) (iron casting) is vertically installed at the designated position on the base plate and connected to the second casting (104) (aluminum casting) above it via the slider (105) to form a rigid support structure. A lifting motor (200) is installed on the side of the first casting (103), and its output end is connected to the turntable (203) on the second casting (104) to ensure that the turntable (203) can rotate smoothly. The first X-axis (201) is installed on the turntable (203), and the internal double guide rail module (2011), lead screw (2012), and drive are installed in sequence. After symmetrically adjusting the positions of the sliders on both sides of the drive motor (2010), lock it in place. Then, install a protective cover (2013) on the top of the guide rail and fix the slide block on both sides of the protective cover (2013). Install a dual-channel vacuum generator (2021) on the side of the second X-axis (202) and connect it to the vacuum head (2020) at the shaft end through a pipeline. Connect the second X-axis (202) to the top of the first X-axis (201) through the slide block stack to ensure that the extension and retraction directions of the two axes are consistent and that there is no interference in the stroke. Connect the cables of the drive motor (2010), the lifting motor (200) and the vacuum generator (2021) to the electrical control group (101) to complete the power supply and signal debugging.

[0034] When disassembling, turn off the power and release the residual pressure in the vacuum pipeline, disconnect all electrical connections, disassemble the vacuum generator (2021) and pipeline on the second X-axis (202) in sequence, remove the second X-axis (202) after disconnecting the slide block connection, remove the protective cover (2013) of the first X-axis (201), loosen the guide rail slider locking part and pull out the lead screw (2012) module, remove the connecting bolts of the turntable (203) and the lifting motor (200), separate the two and remove the lifting motor (200), loosen the fixing parts of the second casting (104) and the slider (105), separate the first casting (103) and the second casting (104), and finally remove the connection between the outer frame (100) and the counterweight base plate (102), and disassemble and place each component.

[0035] Reference Appendix Figure 3 In a preferred embodiment of the present invention, the cabinet body (10) further includes a counterweight base plate (102) disposed at the bottom of the outer frame (100), and the first casting (103) and the electrical control group (101) are both disposed on the counterweight base plate (102).

[0036] A counterweight base plate (102) is installed at the bottom of the outer frame (100). By fixing the first casting (103) (iron casting) and the electrical control group (101), the weight of the iron casting is used to suppress the vibration of the equipment during operation, improve the accuracy of the operation, and centrally arrange the electrical control system to simplify the wiring connection and maintenance. The counterweight base plate (102) is combined with the main body of the cabinet (10) to further strengthen the overall structural rigidity and ensure the stable operation of the equipment.

[0037] Reference Appendix Figure 4-6 In a preferred embodiment of this utility model, the first casting (103) and the second casting (104) are iron casting and aluminum casting, respectively.

[0038] This design uses iron casting for the first casting (103), leveraging its high density to enhance structural strength and suppress vibration. The second casting (104) uses lightweight aluminum casting, reducing overall weight while ensuring support rigidity. The two components work together via a slider (105), providing stability and flexibility, improving motion accuracy, and facilitating assembly and adjustment.

[0039] Reference Appendix Figure 8 In a preferred embodiment of the present invention, the first X-axis (201) further includes an internally configured double guide rail module (2011), a lead screw (2012) and a drive motor (2010) that cooperate with the double guide rail module (2011). The double guide rail module (2011) is composed of two sets of sliders symmetrically located on both sides of the lead screw (2012).

[0040] A dual-guide-rail module (2011) is set inside the first X-axis (201). The sliders symmetrically distributed on both sides of the lead screw (2012) can evenly distribute the load and reduce the offset or sway caused by unilateral force. The lead screw (2012) and the drive motor (2010) work together to achieve precise extension and retraction control. The synchronous guidance of the dual guide rails further reduces friction and vibration, ensuring smooth movement and low noise, while extending the service life of the structure.

[0041] Reference Appendix Figure 8 In a preferred embodiment of this utility model, a protective cover (2013) is provided above the first X-axis (201), and a slide is provided on both sides of the protective cover (2013).

[0042] This technical solution involves adding a protective cover (2013) above the first X-axis (201) to prevent dust and debris from entering the internal guide rail module, thereby reducing friction and wear. The slide is fixed on both sides of the protective cover (2013), and the cover structure enhances the support rigidity, making the X-axis extension and retraction more stable, while saving space and facilitating maintenance.

[0043] Reference Appendix Figure 7In a preferred embodiment of the present invention, the vacuum generator (2021) is composed of a housing (2023) and an internal dual-channel vacuum component (2022).

[0044] The dual-channel vacuum component (2022) is enclosed by a casing (2023) to protect the internal structure from external interference. The dual-channel design enables simultaneous product suction and waste disposal without the need for additional equipment, simplifying the operation process, reducing space occupation, and improving work efficiency.

[0045] Reference Appendix Figure 7 In a preferred embodiment of this utility model, the second X-axis (202) is a vacuum shaft structure.

[0046] The second X-axis (202) is designed as a vacuum shaft structure. By integrating a vacuum channel inside the shaft, the product suction function can be directly realized, eliminating the complex layout of external pipelines, saving space and improving operating efficiency, and ensuring stable and reliable vacuum suction.

[0047] The above are merely preferred embodiments of the present utility model and do not limit the patent scope of the present utility model. Any equivalent structural transformations made using the contents of the present utility model specification and drawings under the concept of the present utility model, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A four-axis robot, characterized in that, include The main body of the equipment consists of the cabinet and a four-axis assembly. The main body of the cabinet includes an outer frame and a first casting extending upward from the bottom of the outer frame. The first casting is connected to a second casting above it via a slider. The four-axis assembly includes a lifting motor disposed on one side of the first casting. The top of the lifting motor is connected to a turntable disposed on the second casting. A first X-axis that rotates and extends in the X-axis direction is connected to the turntable. A second X-axis that extends in the X-axis direction is connected above the first X-axis via a slide block. A vacuum generator is disposed on one side of the second X-axis, and a vacuum feed head communicating with the vacuum generator is disposed below the end of the shaft.

2. The four-axis robot according to claim 1, characterized in that, The main body of the cabinet also includes a counterweight base plate disposed at the bottom of the outer frame, and the first casting and the electrical control group are both disposed on the counterweight base plate.

3. The four-axis robot according to claim 1, characterized in that, The first casting and the second casting are iron casting and aluminum casting, respectively.

4. The four-axis robot according to claim 1, characterized in that, The first X-axis also includes an internally configured dual guide rail module, a lead screw and a drive motor that cooperate with the dual guide rail module, and the dual guide rail module is composed of two sets of sliders symmetrically located on both sides of the lead screw.

5. The four-axis robot according to claim 1, characterized in that, A protective cover is provided above the first X-axis, and the slide is disposed on both sides of the protective cover.

6. The four-axis robot according to claim 1, characterized in that, The vacuum generator consists of a housing and an internal dual-channel vacuum component.

7. The four-axis robot according to claim 1, characterized in that, The second X-axis is a vacuum shaft structure.

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