CN220699652U

CN220699652U - Four-axis mechanical arm and marking equipment

Info

Publication number: CN220699652U
Application number: CN202322409723.4U
Authority: CN
Inventors: 陈武军
Original assignee: Shenzhen Woer Heat Shrinkable Material Co Ltd
Current assignee: Shenzhen Woer Heat Shrinkable Material Co Ltd
Priority date: 2023-09-05
Filing date: 2023-09-05
Publication date: 2024-04-02
Anticipated expiration: 2033-09-05

Abstract

The utility model relates to the technical field of intelligent manufacturing, in particular to a four-axis mechanical arm and marking equipment. The four-axis mechanical arm is used as a feeding or discharging mechanical arm and comprises a rotating shaft group and a linear shaft, wherein the rotating shaft group is used for positioning on a plane and rotating to increase the movable coverage area, and the linear shaft is parallel to at least one rotating axis of the rotating shaft group and used for assembling in the vertical direction. The movable end of the linear shaft is provided with a connecting seat. The four-axis mechanical arm further comprises a driving piece and a synchronous component, wherein the driving piece is arranged on the connecting seat, two ends of the synchronous component are respectively connected with the linear shaft and the connecting seat, and the synchronous component is provided with a containing channel for containing the pipeline. Adopt four-axis arm simple structure, plane positioning accuracy is high, utilizes the pipeline setting of the drive piece of accomodating passageway of synchronous subassembly be convenient for simultaneously for the rotation axis group does not receive the pencil to interfere with the motion of sharp axle, and the degree of freedom is high and the action response is fast, promotes unloading efficiency.

Description

Four-axis mechanical arm and marking equipment

Technical Field

The utility model relates to the technical field of intelligent manufacturing, in particular to a four-axis mechanical arm and marking equipment.

Background

The gun case of the charging gun on the market needs to be subjected to double-sided marking treatment after injection molding.

In the related art, a manipulator having three degrees of freedom is used to move and grasp a product to perform loading or unloading.

The triaxial manipulator needs to realize the movement of multiple degrees of freedom through the linear module in at least two directions and the cylinder in one direction, the movement stroke of the triaxial manipulator is longer, the movement process response is slower, the cylinder clamping jaw of the triaxial manipulator needs to be connected with a longer air supply pipe, a drag chain needs to be used for carrying out a travelling line and a travelling pipeline, the structure is complex, and the feeding and discharging speed is influenced.

Disclosure of Invention

The utility model mainly aims to provide a four-axis mechanical arm, and aims to solve the technical problems that a conventional cylinder clamping jaw of a three-axis mechanical arm needs to use a drag chain to carry out pipeline walking, so that the structure is complex, and the feeding and discharging efficiency is low.

In order to achieve the above object, the four-axis mechanical arm provided by the present utility model includes:

a rotating shaft group having at least one rotational axis;

the linear shaft is movably arranged at the movable end of the rotating shaft group, the extending direction of the linear shaft is parallel to the rotating shaft line, and a connecting seat is arranged at one end of the linear shaft;

the driving piece is arranged on the connecting seat; and

The synchronous component, synchronous component one end is connected the connecting seat, synchronous component's the other end is connected the straight line axle is kept away from the one end of connecting seat, synchronous component is equipped with the passageway of accomodating that is used for holding the pipeline, accomodate the passageway and be on a parallel with the straight line axle sets up.

Optionally, the synchronization component includes:

the first connecting piece is connected with the connecting seat;

one end of the storage tube is connected with the first connecting piece, and the storage tube is parallel to the linear shaft; and

The second connecting piece, the second connecting piece is located the other end of straight line axle, accomodate the pipe and keep away from the one end of first connecting piece is connected the second connecting piece, accomodate the passageway and link up first connecting piece accomodate the pipe reaches the second connecting piece.

Optionally, a first flaring section with gradually increased pipe diameter is arranged at one end of the storage pipe adjacent to the first connecting piece;

and or one end of the storage pipe adjacent to the second connecting piece is provided with a second flaring section with gradually increased pipe diameter;

and or, the two ends of the storage tube are provided with round chamfers.

Optionally, the first connector includes:

the end plate is arranged at one end of the storage tube adjacent to the connecting seat; and

the assembly plate is arranged on one side of the end plate and is arranged at an included angle with the end plate, a plurality of assembly parts are arranged on the assembly plate, and the assembly parts are used for being detachably assembled with the connecting seat.

Optionally, the first connecting piece and the storage tube are formed in an integral structure;

and/or, the second connecting piece and the storage tube are formed in an integral structure;

and/or, the first connecting piece and/or the second connecting piece are sheet metal parts;

and/or the storage tube is a plastic piece or a metal piece.

Optionally, the rotation shaft group includes:

a base;

the first rotating arm is rotatably arranged on the base; and

The second rotating arm is rotationally connected with one end of the first rotating arm far away from the base, the linear shaft is movably arranged at one end of the second rotating arm far away from the first rotating arm, and the synchronous assembly and the second rotating arm are respectively positioned at two opposite sides of the linear shaft.

Optionally, a clamping part is arranged at one end of the second rotating arm far away from the first rotating arm, and a clamping hole is formed in the clamping part;

the linear shaft is movably arranged in the clamping hole in a penetrating way and slides back and forth along the clamping hole;

at least one of the connecting seat and the clamping part is provided with an anti-collision part.

Optionally, the first rotating arm has a first rotating axis, the second rotating arm has a second rotating axis, and the first rotating axis and the second rotating axis are parallel to the linear shaft.

Optionally, the driving member is a rotary cylinder, and a rotation axis of the rotary cylinder is perpendicular to the linear axis.

The utility model also provides a marking device, comprising:

a frame; and

the four-axis mechanical arm according to any one of the above, wherein the four-axis mechanical arm is arranged on the frame.

The four-axis mechanical arm is used as a feeding or discharging mechanical arm, the four-axis mechanical arm comprises a rotating shaft group and a linear shaft, the rotating shaft group is used for being positioned on a plane and rotating to increase the movable coverage area, and the linear shaft is parallel to at least one rotating axis of the rotating shaft group and is used for assembling in the vertical direction. The movable end of the linear shaft is provided with a connecting seat. The four-axis mechanical arm further comprises a driving piece and a synchronous component, wherein the driving piece is arranged on the connecting seat, two ends of the synchronous component are respectively connected with the linear shaft and the connecting seat, and the synchronous component is provided with a containing channel for containing the pipeline. Adopt four-axis arm simple structure, plane positioning accuracy is high, utilizes the pipeline setting of the drive piece of accomodating passageway of synchronous subassembly be convenient for simultaneously for the rotation axis group does not receive the pencil to interfere with the motion of sharp axle, and the degree of freedom is high and the action response is fast, promotes unloading efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a perspective view of a four-axis mechanical arm according to an embodiment of the present utility model;

FIG. 2 is a schematic view of a partial structure of an embodiment of a four-axis mechanical arm according to the present utility model;

fig. 3 is a partially exploded view of an embodiment of a four-axis mechanical arm according to the present utility model.

Reference numerals illustrate:

the achievement of the objects, functional features and advantages of the present utility model will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that all the directional indicators in the embodiments of the present utility model are only used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture, and if the specific posture is changed, the directional indicators are correspondingly changed.

In the present utility model, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout is meant to include three side-by-side schemes, for example, "a and/or B", including a scheme, or B scheme, or a scheme that is satisfied by both a and B. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

The present utility model proposes a four-axis robotic arm 100 that is good at high speed pick and place and other material handling tasks in assembly or packaging applications. According to the technical scheme, the blanking after the charging gun shell 20 is marked is taken as a specific implementation scene, and the grabbing object of the four-axis mechanical arm 100 is the gun shell 20 of the charging gun, so that the structure and the using operation of the four-axis mechanical arm 100 are explained.

Referring to fig. 1 to 3, fig. 1 is a schematic perspective view illustrating a use state of a four-axis mechanical arm 100 according to an embodiment of the present utility model; FIG. 2 is a schematic view of a part of a four-axis mechanical arm 100 according to an embodiment of the present utility model; fig. 3 is a partially exploded view of an embodiment of a four-axis mechanical arm according to the present utility model.

In the embodiment of the utility model, the four-axis mechanical arm 100 includes a rotation axis set 10, a linear axis 30, a driving member 50 and a synchronization assembly 70, as shown in fig. 1 to 2, the linear axis 30 is movably disposed at a movable end of the rotation axis set 10, the rotation axis set 10 has at least one rotation axis, an extending direction of the linear axis 30 is parallel to the rotation axis, a connecting seat 31 is disposed at one end of the linear axis 30, and the driving member 50 is disposed at the connecting seat 31. One end of the synchronizing assembly 70 is connected with the connecting seat 31, the other end of the synchronizing assembly 70 is connected with one end of the linear shaft 30 far away from the connecting seat 31, the synchronizing assembly 70 is provided with a containing channel 70A for containing a pipeline, and the containing channel 70A is parallel to the linear shaft 30.

According to the technical scheme, the four-axis mechanical arm 100 is used as a feeding or discharging mechanical arm, the four-axis mechanical arm 100 comprises a rotating shaft group 10 and a linear shaft 30, the rotating shaft group 10 is used for positioning on a plane and rotating to enlarge a movable coverage area, the linear shaft 30 is arranged parallel to at least one rotating axis of the rotating shaft group 10, and the linear shaft is used for assembling in the vertical direction. One end of the linear shaft 30 is provided with a connecting seat 31. The four-axis mechanical arm 100 further comprises a driving member 50 and a synchronization assembly 70, wherein the driving member 50 is arranged on the connecting seat 31, two ends of the synchronization assembly 70 are respectively connected with the linear shaft 30 and the connecting seat 31, and the synchronization assembly 70 is provided with a containing channel 70A for containing a pipeline. The four-axis mechanical arm 100 is simple in structure and high in plane positioning precision, meanwhile, the accommodating channel 70A of the synchronous assembly 70 is used for facilitating the pipeline arrangement of the driving piece 50, so that the movement of the rotating shaft group 10 and the linear shaft 30 is not interfered by wiring harnesses, the degree of freedom is high, the action response is quick, and the feeding and discharging efficiency is improved.

The axis direction of the linear axis 30 of the four-axis mechanical arm 100 is defined as a Z axis, the linear axis 30 can move along the Z axis direction, the rotation axis group 10 drives the linear axis 30 to move in the X axis or the Y axis direction, the X axis, the Y axis and the Z axis are vertically arranged in pairs, the intersection of the three axes is an origin O point, and the three axes and the origin O point together form a space rectangular coordinate system O-XYZ, and the coordinate system is used as an azimuth standard for the description of each embodiment.

Alternatively, the rotation shaft group 10 includes a base 11, a first rotation arm 13, and a second rotation arm 14. The first rotating arm 13 is rotatably arranged on the base 11, the second rotating arm 14 is rotatably connected with one end of the first rotating arm 13 away from the base 11, the linear shaft 30 is movably arranged at one end of the second rotating arm 14 away from the first rotating arm 13, and the synchronizing assembly 70 and the second rotating arm 14 are respectively positioned at two opposite sides of the linear shaft 30.

In this embodiment, the rotation axis group of the four-axis mechanical arm 100 includes two rotation arms capable of rotating relatively, so that the four-axis mechanical arm 100 has four degrees of freedom. The linear shaft 30 moves linearly along the Z-axis direction (vertical direction) and can also rotate around the Z-axis direction, the second rotating arm 14 drives the linear shaft 30 to rotate in the X-axis and Y-axis directions (in the horizontal plane), and the first rotating arm 13 drives the second rotating arm 14 and the linear shaft 30 to integrally rotate around the Z-axis. The cooperation structure of the rotating arm and the linear shaft 30 is light and quick in response, and is suitable for planar positioning and assembling in the vertical direction. For example, the movement speed of an Adept1 SCARA robot can be 10m/s, which is several times faster than that of a general articulated robot.

Further, the rotating shaft set 10 further includes a console 12 disposed on the base 11, and the first rotating arm 13 is rotatably connected to the base 11 through the console 12. The synchronizing assembly 70 and the second rotating arm 14 are respectively located at two opposite sides of the linear shaft 30, so that the arrangement of the synchronizing assembly 70 and the rotation of the second mechanical arm are not blocked.

It will be appreciated that the base 11 serves as a support for the height, and the console 12 may be disposed on the base 11 or may be housed within the base 11, as desired.

Alternatively, the first rotating arm 13 has a first rotating axis and the second rotating arm 14 has a second rotating axis, both of which are parallel to the linear shaft 30.

In this embodiment, the first rotating arm 13 has a first rotating axis parallel to the Z axis, one end of the first rotating arm 13 away from the console 12 is rotationally connected with the second rotating arm 14, the second rotating arm 14 has a second rotating axis parallel to the Z axis, the linear shaft 30 is located at one end of the second rotating arm 14 away from the first rotating arm 13, the linear shaft 30 extends along the Z axis, where the first rotating axis and the second rotating axis are parallel to the linear shaft 30, and the linear shaft 30 can also perform a rotational motion around its own axial direction, i.e. the axial direction of the linear shaft 30 is used as the third rotating axis. The cooperation of the two rotating arms of the four-axis mechanical arm 100 and the linear shaft 30 has a strong rigidity, so that it is possible to cope with high-speed and high-repeatability operations.

Alternatively, the end of the second rotating arm 14 away from the first rotating arm 13 is provided with a clamping portion 141, and the clamping portion 141 is provided with a clamping hole; the linear shaft 30 movably penetrates through the clamping hole and slides back and forth along the clamping hole; at least one of the connecting seat 31 and the clamping portion is provided with an anti-collision portion.

In this embodiment, the linear shaft 30 movably penetrates through the clamping hole, and can reciprocate up and down along the Z axis in the clamping hole, and also can rotate around the Z axis in the clamping hole, and the rotation or up and down movement of the linear shaft 30 is set according to the requirement. The side of the connecting seat 31 facing the clamping portion 141 is provided with an anti-collision portion, or the side of the second connecting piece 73 facing the clamping portion 141 is provided with an anti-collision portion, or both sides of the clamping portion 141 facing the second connecting piece 73 and facing the connecting seat 31 are provided with anti-collision portions, or both sides of the clamping portion 31 facing the connecting seat 31 and the second connecting piece 73, the side of the connecting seat 31 facing the clamping portion 141, and the side of the second connecting piece 73 facing the clamping portion 141 are provided with anti-collision portions. The collision preventing portion can reduce the collision between the clamping portion 141 and the connection seat 31 and between the clamping portion 141 and the second connection member 72 when the linear shaft 30 moves up and down along the Z-axis. The anticollision portion can be the lantern ring of softer material such as rubber ring, silica gel ring, reduces the collision impact.

Alternatively, the driving member 50 is a rotary cylinder, the rotation axis of which is perpendicular to the linear shaft 30.

In this embodiment, the rotary cylinder and the connection seat 31 may be detachably fixed, and the detachable mode may be screw locking or clamping fixation. Referring to fig. 3, the rotary cylinder includes a cylinder body 51, a rotary seat 52, and a clamp block 53 disposed on the rotary seat 52, wherein a joint valve for connecting with a pipeline is disposed on the cylinder body 51, and the rotary seat 52 is rotatably connected with the cylinder body 51. The two clamping blocks 53 are arranged, the two clamping blocks 53 rotate along with the rotating seat 52, and the cylinder main body 51 can drive the two clamping blocks 53 to be close to or far away from each other so as to clamp incoming materials or clamp blanking.

Optionally, the synchronizing assembly 70 includes a first connecting member 71, a receiving tube 72, and a second connecting member 73, the first connecting member 71 is connected to the connecting seat 31, the receiving tube 72 is parallel to the linear shaft 30, one end of the receiving tube 72 is connected to the first connecting member 71, the second connecting member 73 is disposed at the other end of the linear shaft 30, and one end of the receiving tube 72 far away from the first connecting member 71 is connected to the second connecting member 73. The housing passage 70A penetrates the first connector 71, the housing tube 72, and the second connector 73.

In this embodiment, the synchronization assembly 70 is used for accommodating a pipeline of the driving member 50, the first connecting member 71 is used for connecting the accommodating tube 72 with the connecting seat 31, the second connecting member 73 is used for fixing the accommodating tube 72 and the linear shaft 30 along the upper end of the Z-axis, and the linear shaft 30 can drive the accommodating tube 72 to move in the same direction through the first connecting member 71 and the second connecting member 73.

The connecting seat 31 is disposed at one end of the linear shaft 30 facing the product to be grasped, generally along the lower end of the Z axis, and the linear shaft 30 drives the connecting seat 31 to reciprocate up and down along the Z axis, or the linear shaft 30 drives the connecting seat 31 to horizontally rotate around the axis. The rotating arm of the four-axis mechanical arm 100 drives the linear shaft 30 and the driving piece 50 arranged on the connecting seat 31 at the bottom of the linear shaft 30 to synchronously ascend or synchronously descend, the first rotating arm 13 and the second rotating arm 14 drive the linear shaft 30 and the whole arranged on the linear shaft 30 to move in the horizontal plane, so that the four-axis mechanical arm 100 has a large range of movement in the vertical direction and the horizontal plane, the arrangement of the synchronizing assembly 70 can improve the connection stability of the driving piece 50 and the pipeline, and can also avoid bending or knotting of the pipeline in the moving process, ensure regular wiring and reliable connection.

It can be appreciated that the first connecting member 71 may also be directly connected to the fixing body of the driving member 50, so as to ensure that the positions of the pipeline interface on the driving member 50 and the outlet of the receiving tube 72 are relatively fixed, so as to avoid pulling caused by the relative movement of the two, and avoid affecting the connection reliability of the pipeline and the driving member 50.

Optionally, the end of the receiving tube 72 adjacent to the first connecting member 71 is provided with a first flaring section with gradually increasing pipe diameter; and or one end of the storage tube 72 adjacent to the second connecting piece 73 is provided with a second flaring section with gradually increased pipe diameter; and or, both ends of the receiving tube 72 are provided with round chamfers.

In this embodiment, the first connecting member 71 is used for connecting the receiving tube 72 with the connecting seat 31, the receiving tube 72 and the linear shaft 30 have a space therebetween, so that the pipeline extending from the outlet of the receiving channel 70A of the receiving tube 72 needs to be partially inclined and connected to the driving member 50, and the bottom of the receiving tube 72 along the Z-axis is flared, so that the outer diameter of the end portion is larger to adapt to the inclination of the pipeline, thereby avoiding the direct inclination of the worn pipeline and prolonging the service life of the pipeline.

In another embodiment, the second connecting member 73 is used for fixing the receiving tube 72 and the linear shaft 30 along the upper end of the Z-axis, the receiving channel 70A of the receiving tube 72 along the upper end of the Z-axis is used for introducing a pipeline, and the pipeline penetrates into the channel from the upper end of the receiving channel 70A and passes out from the lower end at the first connecting member 71 to be connected to the driving member 50. Because the upper end part of the storage tube 72 along the Z axis is subjected to flaring treatment due to the large range of movement in the vertical direction and the horizontal plane, the outer diameter of the end part is larger to adapt to the movement of the pipeline along with the storage tube 72 in the movement process, the bending, the high screwing or the abrasion of the pipeline transmission position is avoided, and the service life of the pipeline is prolonged.

In another embodiment, the two ends of the receiving channel 70A are respectively flared, and the two ends of the receiving tube 72 are respectively provided with a round chamfer, so that the two ends of the receiving channel 70A are respectively connected with the first connecting piece 71 and the second connecting piece 73 to form a smooth transition, and the periphery of the pipeline is protected from abrasion.

As shown in connection with fig. 2, the first connector 71 may alternatively include an end plate 711 and a fitting plate 712, the end plate 711 being provided at an end of the receiving tube 72 adjacent to the connecting seat 31. The assembly plate 712 is disposed on one side of the end plate 711 and is disposed at an angle with the end plate 711, and a plurality of assembly portions are disposed on the assembly plate 712, and the assembly portions are configured to be detachably assembled with the connection base 31.

In this embodiment, the linear shaft 30 is parallel to the storage tube 72 and spaced apart from the storage tube 72, the first connecting member 71 is disposed at a lower end of the storage tube 72 along the Z-axis direction and is used for connecting the storage tube 72 with the connecting seat 31, the first connecting member 71 includes an end plate 711 and an assembly plate 712, the end plate 711 is disposed at an end portion of the storage tube 72, the storage channel 70A penetrates through the end plate 711, or a first opening of the storage channel 70A is disposed on the end plate 711. The mounting plate 712 is disposed on a side of the end plate 711 near the cylinder main body 51 or the connection seat 31, and the mounting plate 712 and the end plate 711 may be disposed at an angle, and may be integrated or separated, which is not limited only herein. The mounting plate 712 is used for connecting the cylinder body 51 or the connection seat 31, and the mounting portion is provided on the mounting plate 712, and may be a plurality of mounting holes, and the mounting plate 712 is screwed with the cylinder body 51 or the connection seat 31 by using external mounting nails, so that the mounting stability is high.

Alternatively, the first connecting member 71 is integrally formed with the receiving tube 72; and/or, the second connecting piece 73 and the receiving tube 72 are formed as an integral structure; and/or, the first connecting piece 71 and/or the second connecting piece 73 are sheet metal parts; and/or the receiving tube 72 is a plastic or metal piece.

In this embodiment, the first connector 71 and the receiving tube 72 may be integrally formed by press molding, may be separately welded, or may be separately fastened by screws or bolts, and the arrangement manner may be determined based on the materials of the two.

Further, the first connecting member 71, the second connecting member 73 and the receiving tube 72 may be all made of metal, plastic, or a combination of plastic and metal. When the first connecting piece 71, the second connecting piece 73 and the receiving pipe 72 are all made of metal, the three pipes can be formed integrally by bending and stamping; when the first connecting piece 71, the second connecting piece 73 and the receiving tube 72 are all made of plastic materials, the three can be integrally injection molded by a mold; when the materials of the first coupling member 71, the second coupling member 73, and the receiving pipe 72 are different, the assembly may be performed using external fasteners.

The utility model also provides marking equipment, which comprises a frame and a four-axis mechanical arm 100, wherein the specific structure of the four-axis mechanical arm 100 refers to the embodiment, and the marking equipment at least has all the beneficial effects brought by the technical schemes of the embodiment because the marking equipment adopts all the technical schemes of all the embodiments, and the description is omitted. The marking device can be used for marking the gun shell 20 of the charging gun, and the four-axis mechanical arm 100 is arranged on the frame and used for feeding or discharging the gun shell 20.

The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structural changes made by the description of the present utility model and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the utility model.

Claims

1. A four-axis mechanical arm, characterized in that the four-axis mechanical arm comprises:

a rotating shaft group having at least one rotational axis;

the driving piece is arranged on the connecting seat; and

2. The four-axis mechanical arm of claim 1, wherein the synchronization assembly comprises:

the first connecting piece is connected with the connecting seat;

3. The four-axis mechanical arm according to claim 2, wherein one end of the storage tube adjacent to the first connecting piece is provided with a first flaring section with gradually increased pipe diameter;

and or, the two ends of the storage tube are provided with round chamfers.

4. The four-axis mechanical arm as defined in claim 2, wherein the first link comprises:

5. The four-axis mechanical arm as defined in claim 2, wherein the first connector is integrally formed with the receiving tube;

and/or the storage tube is a plastic piece or a metal piece.

6. The four-axis mechanical arm as defined in claim 1, wherein the rotation axis group comprises:

a base;

the first rotating arm is rotatably arranged on the base; and

7. The four-axis mechanical arm as in claim 6, wherein a clamping portion is provided at an end of the second rotating arm away from the first rotating arm, the clamping portion being provided with a clamping hole;

8. The four-axis mechanical arm of claim 6, wherein the first rotating arm has a first axis of rotation and the second rotating arm has a second axis of rotation, the first axis of rotation and the second axis of rotation being parallel to the linear axis.

9. The four-axis mechanical arm according to any one of claims 1 to 8, wherein the driving member is a rotary cylinder, and a rotation axis of the rotary cylinder is perpendicular to the linear axis.

10. A marking apparatus, the marking apparatus comprising:

a frame; and

the four-axis mechanical arm according to any one of claims 1 to 9, which is provided to the frame.