CN111152203A

CN111152203A - SCARA mechanical arm and construction robot

Info

Publication number: CN111152203A
Application number: CN202010036510.XA
Authority: CN
Inventors: 李雪成
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-01-14
Filing date: 2020-01-14
Publication date: 2020-05-15
Anticipated expiration: 2040-01-14
Also published as: CN111152203B

Abstract

The invention discloses an SCARA mechanical arm and a construction robot. The SCARA robot arm of the present invention comprises: mounting a plate; the first driving mechanism comprises a first motor and a joint piece, the first motor is arranged on the mounting plate, the joint piece is connected with an output shaft of the first motor, and the first motor can drive the joint piece to rotate; the first arm is mounted on the joint piece, and the length direction of the first arm is perpendicular to the length direction of the output shaft of the first motor. According to the SCARA mechanical arm, the first arm is arranged on the joint part, the length direction of the first arm is perpendicular to the length direction of the output shaft of the first motor, the joint part is connected with the output shaft of the first motor and can drive the first arm to rotate under the driving of the first motor, the output shaft of the first motor is vertically arranged when the SCARA mechanical arm is used, the first arm horizontally extends, so that the bending moment of the first arm is completely borne on the joint part, the transmission of the output shaft of the motor or a speed reducer is not needed in the middle, the required motor torque is greatly reduced, and the bending moment bearing capacity is improved.

Description

SCARA mechanical arm and construction robot

Technical Field

The invention relates to the technical field of construction machinery, in particular to an SCARA mechanical arm and a construction robot.

Background

At present, SCARA (Selective Compliance Assembly Robot Arm) robots in the market have various structural forms and are mainly applied to the 3C electronic product industry. In the conventional SCARA robot, the articulated arm is usually directly mounted on the motor output shaft or the speed reducer, but the structure can increase the motor torque required by the movement of the articulated arm, and the bearing capacity of the articulated arm is weak, so that the deformation of the articulated arm is large.

Disclosure of Invention

One object of the present invention is to provide a SCARA robot arm with improved load-bearing capacity.

Another object of the invention is to propose a construction robot comprising the SCARA robot arm described above.

To achieve the purpose, on one hand, the invention adopts the following technical scheme:

a SCARA robot arm, comprising:

mounting a plate;

the first driving mechanism comprises a first motor and a joint piece, the first motor is arranged on the mounting plate, the joint piece is connected with an output shaft of the first motor, and the first motor can drive the joint piece to rotate; and

and a first arm mounted to the joint member, a length direction of the first arm being perpendicular to a length direction of an output shaft of the first motor.

In some embodiments, the first arm includes two bending-resistant plates, the two bending-resistant plates are respectively connected to two opposite sides of the joint member, and the width directions of the two bending-resistant plates are parallel to the length direction of the output shaft of the first motor.

In some embodiments, the mounting plate is provided with two first supporting seats arranged at intervals, the joint part is positioned between the two first supporting seats, and the first motor is arranged on one of the first supporting seats;

the two ends of the joint piece are respectively connected with a first rotating shaft, the first rotating shafts rotatably penetrate through the first supporting seat, and one of the first rotating shafts is connected with an output shaft of the first motor.

In some embodiments, the SCARA robot arm further comprises:

the second driving mechanism is arranged on the first arm, and an output shaft of the second driving mechanism is arranged in parallel with an output shaft of the first motor; and

a second arm coupled to an output shaft of the second drive mechanism such that the second arm is rotatable relative to the first arm.

In some embodiments, the second drive mechanism comprises:

the second motor is arranged on the first arm, and an output shaft of the second motor is parallel to an output shaft of the first motor;

the first transmission assembly is in transmission connection with the second motor; and

and the second rotating shaft is in transmission connection with the first transmission assembly and is parallel to an output shaft of the first motor, and the second rotating shaft is fixed with the second arm.

In some embodiments, the second arm comprises:

the surface of the first supporting plate is vertical to the output shaft of the first motor;

the second supporting plate is spaced from and parallel to the first supporting plate, and an output shaft of the second driving mechanism is fixed with the first supporting plate and the second supporting plate respectively; and

the triangular support frame is arranged between the first support plate and the second support plate and is respectively connected with the first support plate and the second support plate.

In some embodiments, the SCARA robot arm further comprises:

the second support seat is positioned between the first support plate and the second support plate and connected with the first arm, and an output shaft of the second driving mechanism can rotatably penetrate through the second support seat;

and a double-radial bearing is arranged at the joint of the output shaft of the second driving mechanism and the second supporting seat, and a thrust bearing is arranged at the joint of the output shaft of the second driving mechanism and the second arm.

In some embodiments, the SCARA robot arm further comprises:

and the clamping mechanism is used for clamping the piece to be clamped and is rotatably connected to the tail end of the second arm.

In some embodiments, the SCARA robot further comprises a slide mechanism comprising:

a sliding mount; and

the sliding driving assembly is installed on the sliding installation frame and connected with the installation plate, and the sliding driving assembly can drive the installation plate to slide along the length direction of the sliding installation frame.

On the other hand, the invention adopts the following technical scheme:

a building robot comprises a machine body and the SCARA mechanical arm, wherein the SCARA mechanical arm is arranged on the machine body.

The invention has at least the following beneficial effects:

according to the SCARA mechanical arm, the first arm is arranged on the joint part, the length direction of the first arm is perpendicular to the length direction of the output shaft of the first motor, the joint part is connected with the output shaft of the first motor and can drive the first arm to rotate under the driving of the first motor, when the SCARA mechanical arm is used, the output shaft of the first motor is vertically arranged, the first arm horizontally extends, so that the bending moment of the first arm is completely borne on the joint part, the output shaft of the motor or a speed reducer is not needed to transmit in the middle, the required motor torque is greatly reduced, and the bending moment bearing capacity is improved.

The construction robot comprises the SCARA mechanical arm, the bearing capacity of the SCARA mechanical arm is strong, and the structural rigidity of the construction robot is enhanced.

Drawings

FIG. 1 is a schematic structural view of a SCARA robot provided in an embodiment of the present invention;

FIG. 2 is a schematic view of another angled configuration of the SCARA robot of FIG. 1;

FIG. 3 is a cross-sectional view of the SCARA robot of FIG. 2 taken along the A-A direction;

FIG. 4 is a cross-sectional view of the SCARA robot of FIG. 2 taken along the direction B-B;

FIG. 5 is a cross-sectional view of the SCARA robot of FIG. 2 taken along the direction C-C;

FIG. 6 is a top view of the SCARA robot of FIG. 2;

FIG. 7 is a schematic view of a portion of the SCARA robot of FIG. 1;

FIG. 8 is a front view of the SCARA robot of FIG. 7;

FIG. 9 is a cross-sectional view of the SCARA robot of FIG. 8 taken along the direction D-D;

FIG. 10 is a schematic view of the structure of a first arm and a second arm provided by an embodiment of the present invention;

FIG. 11 is a cross-sectional view of the first and second arms of FIG. 10 taken along direction E-E;

FIG. 12 is a schematic structural diagram of a clamping mechanism provided in accordance with an embodiment of the present invention;

fig. 13 is a schematic structural view of a sliding mechanism according to an embodiment of the present invention;

the reference numbers illustrate:

the device comprises a mounting plate 10, a first supporting seat 11, a first arm 20, an anti-bending plate 22, a first motor 31, a joint part 32, a first rotating shaft 321, an angular contact bearing 33, a lock nut 34, a second arm 40, a first supporting plate 41, a second supporting plate 42, a triangular supporting frame 43, a second rotating shaft 44, a second supporting seat 45, a radial bearing 46, a thrust bearing 47, a first driven wheel 48, a second motor 50, a third motor 60, a second driving wheel 61, a second driven wheel 62, a second synchronous belt 63, a third rotating shaft 64, a clamping mechanism 70, a mounting frame 71, a clamping plate 72, a clamping motor 74, a visual lens 78, a sliding mechanism 80, a sliding mounting frame 81, a fourth motor 82, a third driving wheel 83, a third driven wheel 84, a third synchronous belt 85, a sliding rail 86 and a sliding block 87.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

The embodiment discloses a SCARA mechanical arm, as shown in fig. 1 to 13, the SCARA mechanical arm comprises a mounting plate 10, a first driving mechanism and a first arm 20, wherein the first driving mechanism comprises a first motor 31 and a joint part 32, the first motor 31 is arranged on the mounting plate 10, the joint part 32 is connected with an output shaft of the first motor 31, and the first motor 31 can drive the joint part 32 to rotate; the first arm 20 is attached to the joint 32, and the longitudinal direction of the first arm 20 is perpendicular to the longitudinal direction of the output shaft of the first motor 31.

According to the SCARA mechanical arm, the first arm 20 is mounted on the joint part 32, the length direction of the first arm is perpendicular to the output shaft of the first motor 31, the joint part 32 is connected with the output shaft of the first motor 31 and can drive the first arm 20 to rotate under the driving of the first motor 31, when the SCARA mechanical arm is used, the output shaft of the first motor 31 is vertically arranged, and the first arm 20 horizontally extends, so that the bending moment of the first arm 20 is completely borne on the joint part 32, the transmission of the motor output shaft or a speed reducer is not needed in the middle, the required motor torque is greatly reduced, the bending moment bearing capacity is improved, compared with the traditional mode that an arm is directly mounted on the speed reducer or the motor output shaft, the SCARA mechanical arm is more symmetrical, and; the joint member 32 only needs to overcome the rotational friction and the inertial force of the first arm 20 during the rotation.

Assuming the required rotation speed is n, the time is t, the friction coefficient is mu, and the joint gravity is F₁The moment of inertia is J, and the radius of action of the friction force of the joint is r during rotation, then

Torque of motor

Angular acceleration:

torque required for rotation:

t is calculated when selecting the motor₂According to T₂And the selection principle: t is₁＞T₂And selecting a motor with proper power, and checking the rotational inertia ratio to select a proper motor. When the arm is not rotated horizontally, but is rotated perpendicular to the horizontal plane:

torque required for rotation:

wherein T represents a torque at the joint due to the weight of the arm, μ is a joint sliding friction coefficient (about 0.05), l is a gravity center position of the arm, and a torque F due to gravity is obtained₁L is generally very large, so that T₃Much greater than T₂Both motor power and torque are chosen to be large. While horizontal rotation can greatly reduce the required motor torque.

In some embodiments, the first arm 20 includes two bending resistant plates 22, the two bending resistant plates 22 are respectively connected to two opposite sides of the joint member 32, and the width directions of the two bending resistant plates 22 are both parallel to the length direction of the output shaft of the first motor 31 (i.e., the plate surfaces of the two bending resistant plates 22 are parallel to the output shaft of the first motor 31). By laterally mounting the two bending-resistant plates 22 of the first arm 20 on both sides of the joint member 32 and making the plate surfaces of the two bending-resistant plates 22 parallel to the output shaft of the first motor 31, the bending section modulus of the bending-resistant plates 22 can be increased, the deflection can be reduced, the bending strength can be enhanced, the deformation can be reduced, and the deformation amount of the end of the first arm 20 can be controlled within a certain range.

Assuming that the first arm 20 is considered as a beam, increasing the bending section modulus of the beam at the same weight will reduce the deflection and reduce the deformation:

deflection f_xThe calculation formula of (2):

wherein p is the support reaction force of the first arm 20, i.e. the weight of the material grabbed by the first arm 20 plus the weight of the first arm 20. L is the arm length, E is the elastic modulus, I is the moment of inertia, and increasing the moment of inertia can reduce the deflection;

the calculation formula of the inertia moment I is as follows:

where a denotes the thickness of flexural plate 22 and b denotes the height of flexural plate 22, and moments of inertia I and b are related to each other to the third power, and b is the maximum energy of increasing the height of flexural plate 22 under the same weightThe value of the inertia moment I is increased greatly, and the deflection f is reduced_x。

Alternatively, the joint member 32 is a concave joint member, and the concave joint member includes two support plates disposed opposite to each other and a connecting plate connecting the two support plates, the output shaft of the first motor 31 is connected to the support plates, and the surface of the bending-resistant plate 22 is perpendicular to the surface of the connecting plate. The concave design of the joint 32 allows for an expanded mounting area and mounting surface, which allows for better room for mounting the first arm 20. As shown in fig. 7 to 9, in some embodiments, the mounting plate 10 is provided with two first supporting seats 11 arranged at intervals, the joint element 32 is located between the two first supporting seats 11, and the first motor 31 is arranged on one of the first supporting seats 11; two ends of the joint member 32 are respectively connected with a first rotating shaft 321, one of the first rotating shafts 321 rotatably penetrates through the first supporting seat 11 where the first motor 31 is located and is connected with the output shaft of the first motor 31, and the other first rotating shaft 321 rotatably penetrates through the other first supporting seat 11. The two first supporting seats 11 support the joint element 32, so that the supporting and bearing capacity of the joint element 32 can be greatly improved.

Further, an angular contact bearing 33 is arranged between each first rotating shaft 321 and the corresponding first supporting seat 11, and a locking nut 34 is sleeved on one end of the first rotating shaft 321, which is far away from the first supporting seat 11, and the locking nut 34 abuts against the angular contact bearing 33.

As shown in fig. 1 and 6, in some embodiments, the SCARA robot further includes a second arm 40 and a second driving mechanism, the second driving mechanism being disposed on the first arm 20, an output shaft of the second driving mechanism being disposed in parallel with an output shaft of the first motor 31; the front end of the second arm 40 is connected to an output shaft of the second drive mechanism so that the second arm 40 can rotate relative to the first arm 20. The range of motion of the SCARA robot arm can be further increased by designing the second arm 40 to better suit the work needs.

In some embodiments, the second driving mechanism includes a second motor 50, a first transmission assembly and a second rotating shaft 44, the second motor 50 is disposed on the first arm 20, and an output shaft of the second motor 50 is parallel to an output shaft of the first motor 31; the first transmission component is in transmission connection with a second motor 50; the second rotating shaft 44 is connected to the first transmission assembly in a transmission manner, and is parallel to the output shaft of the first motor 31, and the second rotating shaft 44 is fixed to the second arm 40.

Optionally, the second motor 50 is of a front structure, that is, the second motor 50 is disposed at the front end of the first arm 20 to reduce the load weight and bending moment at the rear end of the first arm 20. The first transmission assembly comprises a first driving wheel, a first driven wheel 48 and a first synchronous belt, the first synchronous belt is respectively connected with the first driven wheel 48 and the first driving wheel, the second rotating shaft 44 penetrates through the first driven wheel 48, the first driving wheel is connected with an output shaft of the second motor 50 and can rotate under the driving of the second motor 50, and when the first driving wheel rotates, the second rotating shaft 44 drives the second arm 40 to rotate.

As shown in fig. 2 and 10, in some embodiments, the second arm 40 includes a first support plate 41, a second support plate 42, and a triangular support 43, and a plate surface of the first support plate 41 is perpendicular to the output shaft of the first motor 31; the second supporting plate 42 is arranged in parallel with the first supporting plate 41 at a distance, and the output shaft of the second driving mechanism is fixed with the first supporting plate 41 and the second supporting plate 42 respectively; the triangular support 43 is disposed between the first support plate 41 and the second support plate 42, and connects the first support plate 41 and the second support plate 42, respectively. The first support plate 41 and the second support plate 42 are arranged at intervals and are perpendicular to the output shaft of the second motor 50, so that the second arm 40 can be ensured to rotate under the driving of the second motor 50 while the whole weight of the second arm 40 is reduced; the triangular support 43 forms a triangular stabilizing support, making the structure of the second arm 40 more stable.

In some embodiments, the SCARA robot further comprises a second support seat 45 (as shown in fig. 11), the second support seat 45 is located between the first support plate 41 and the second support plate 42, and is connected to the first arm 20, and the output shaft of the second driving mechanism is rotatably inserted through the second support seat 45; a double radial bearing 46 is arranged at the joint of the output shaft of the second driving mechanism and the second supporting seat 45, and a thrust bearing 47 is arranged at the joint of the output shaft of the second driving mechanism and the second arm 40. The supporting capacity of the second arm 40 can be greatly improved by arranging the double radial bearings 46 and the thrust bearings 47, and the bearing capacity of the SCARA mechanical arm is enhanced. Alternatively, the radial bearing 46 may employ an angular contact bearing.

Specifically, in the embodiment shown in fig. 11, the number of the second supporting seats 45 is two, two second supporting seats 45 are located between the first supporting plate 41 and the second supporting plate 42, and the two second supporting seats 45 are arranged at intervals and are respectively connected to the first arms 20; the second rotating shaft 44 is connected with an output shaft of the second driving mechanism; one end of the second rotating shaft 44 passes through one of the second supporting seats 45 and then is connected with the first supporting plate 41, the other end of the second rotating shaft 44 passes through the other second supporting seat 45 and then is connected with the second supporting plate 42, a radial bearing 46 is arranged at the joint of each second supporting seat 45 and the second rotating shaft 44, and a thrust bearing 47 is arranged at the joint of the second arm 40 and the second supporting plate 42.

In some embodiments, the SCARA robot further comprises a clamping mechanism 70 for clamping the object to be clamped, the clamping mechanism 70 is rotatably connected to the end of the second arm 40, and the application range of the SCARA robot is expanded by arranging the clamping mechanism 70 so that the SCARA robot can be applied to object handling, assembly and the like.

As shown in fig. 12, the clamping mechanism 70 includes a mounting bracket 71, a clamping jaw, and a clamping drive assembly, wherein the mounting bracket 71 is rotatably connected to the distal end of the second arm 40; the clamping jaw is arranged on the mounting frame 71 and comprises two clamping plates 72 which are oppositely arranged and can approach or depart from each other; a clamp driving assembly is provided on the mounting bracket 71 for driving the two clamping plates 72 toward or away from each other.

Alternatively, the clamping driving assembly includes a clamping motor 74 and a clamping screw connected to an output end of the clamping motor 74 and capable of rotating under the driving of the clamping motor 74, wherein one of the clamping plates 72 is connected to the clamping screw and capable of moving along the length direction of the clamping screw along with the rotation of the clamping screw to approach or separate from the other clamping plate 72. When the two clamping plates 72 are close to each other, the piece to be clamped can be clamped; when the two clamping plates 72 are moved away from each other, the member to be clamped can be released. Alternatively, the mounting bracket 71 may be disposed below the second arm 40, and the clamping motor 74 may be horizontally disposed and offset to one side of the clamping screw, so that the overall structure of the clamping mechanism 70 is more compact.

Further, the SCARA mechanical arm further comprises a third driving mechanism, the third driving mechanism comprises a third motor 60, a second transmission assembly and a third rotating shaft 64, the third motor 60 is arranged on the second arm 40, and an output shaft of the third motor 60 is parallel to an output shaft of the first motor 31; the second transmission component is in transmission connection with a third motor 60; the third rotating shaft 64 is connected with the second transmission assembly in a transmission manner and is parallel to the output shaft of the first motor 31, the third rotating shaft 64 is fixed with the clamping mechanism 70, and the clamping mechanism 70 can rotate relative to the second arm 40 under the driving of the third motor 60, so that the flexibility of the clamping mechanism 70 is increased.

Optionally, the third motor 60 is of a front structure, that is, the third motor 60 is disposed at the front end of the second arm 40, so as to reduce the load weight and bending moment at the rear end of the second arm 40.

As shown in fig. 1, the second transmission assembly includes a second driving wheel 61, a second driven wheel 62 and a second synchronous belt 63, the second synchronous belt 63 is respectively connected to the second driven wheel 62 and the second driving wheel 61, a third rotating shaft 64 penetrates through the second driven wheel 62, the second driving wheel 61 is connected to an output shaft of the third motor 60 and can rotate under the driving of the third motor 60, and when the second driving wheel 61 rotates, the third rotating shaft 64 drives the clamping mechanism 70 to rotate.

In some embodiments, the SCARA robot further comprises a slide mechanism 80, as shown in fig. 1, 6 and 13, the slide mechanism 80 comprising a slide mount 81 and a slide drive assembly mounted on the slide mount 81 and connected to the mounting plate 10, the slide drive assembly being capable of driving the mounting plate 10 to slide along the length of the slide mount 81. The moving range of the SCARA mechanical arm can be enlarged by arranging the sliding mechanism 80, so that the working requirement can be better adapted. Alternatively, the slide mechanism 80 may be mounted on a lifting structure to enable expansion of the SCARA robot arm in the height range.

As shown in fig. 13, the slide drive assembly includes a fourth motor 82 and a third transmission assembly, the fourth motor 82 being mounted on a slide mount 81; the third transmission assembly comprises a third driving wheel 83, a third driven wheel 84 and a third synchronous belt 85, the third synchronous belt 85 is respectively connected with the third driven wheel 84 and the third driving wheel 83, the third driving wheel 83 is connected with an output shaft of the fourth motor 82 and can rotate under the driving of the fourth motor 82, and the third synchronous belt 85 is connected with the mounting plate 10. When the third driving pulley 83 rotates, the third timing belt 85 will drive the mounting plate 10 to move relative to the sliding mounting bracket 71.

Further, the sliding mechanism 80 further comprises a guiding assembly, the guiding assembly comprises a sliding block 87 and a sliding rail 86, and the sliding rail 86 is installed on the sliding installation frame 71 and extends along the horizontal direction; the slide block 87 is slidably connected to the slide rail 86 and connected to the mounting plate 10, and the mounting plate 10 can slide along the slide rail 86 under the driving of the fourth motor 82.

The axes of the first rotating shaft 321, the second rotating shaft 44 and the third rotating shaft 64 of the SCARA mechanical arm are parallel to each other and are all vertical to the horizontal plane (i.e. vertically arranged), and the output shaft of the fourth motor 82 is horizontally arranged; as shown in fig. 6, the first rotating shaft 321, the second rotating shaft 44 and the third rotating shaft 64 can respectively realize horizontal rotation of the first arm 20, the second arm 40 and the clamping mechanism 70, the fourth rotating shaft can realize horizontal movement of the first arm 20, the second arm 40 and the clamping mechanism 70, and the two clamping plates 72 of the clamping mechanism 70 can move away from or close to each other to clamp or release a piece to be clamped, so that carrying and assembling of an object within a certain range can be completed by the first rotating shaft 321, the second rotating shaft 44, the third rotating shaft 64 and the fourth rotating shaft in cooperation with the clamping mechanism 70. It will be appreciated that by vertically arranging the first, second and

third shafts

321, 44, 64, the bending moment caused by the first, second and

third motors

31, 50, 60 carrying the first, second and other loads can be avoided.

Above-mentioned SCARA arm can use in the bricklaying robot of building the field by laying bricks or stones, with the help of the guide of vision mechanism (for example vision camera lens) and sensor, can snatch the fragment of brick fast to build the fragment of brick to accurate position, realize that the bricklaying is automatic, with the workman free from the work dirty, tired, loaded down with trivial details and that danger coefficient is high. Specifically, as shown in fig. 12, a vision lens 78 is provided at the front end of the clamping mechanism 70, and the SCARA robot arm is guided by the vision lens 78 to accurately grasp and lay bricks to a precise position.

This embodiment still discloses a construction robot, including organism and foretell SCARA arm, the SCARA arm sets up on the organism. The SCARA mechanical arm is high in bearing capacity, and the structural rigidity of the construction robot is enhanced.

It should be noted that when one portion is referred to as being "secured to" another portion, it may be directly on the other portion or there may be an intervening portion. When a portion is said to be "connected" to another portion, it may be directly connected to the other portion or intervening portions may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A SCARA robot, comprising:

a mounting plate (10);

the first driving mechanism comprises a first motor (31) and a joint part (32), the first motor (31) is arranged on the mounting plate (10), the joint part (32) is connected with an output shaft of the first motor (31), and the first motor (31) can drive the joint part (32) to rotate; and

and a first arm (20) attached to the joint (32), wherein the longitudinal direction of the first arm (20) is perpendicular to the longitudinal direction of the output shaft of the first motor (31).

2. SCARA robot according to claim 1, characterized in that the first arm (20) comprises two anti-bending plates (22), the two anti-bending plates (22) are respectively connected to two opposite sides of the joint member (32), and the width direction of both anti-bending plates (22) is parallel to the length direction of the output shaft of the first motor (31).

3. A SCARA arm according to claim 1, wherein the mounting plate (10) is provided with two first supporting seats (11) arranged at intervals, the joint member (32) is positioned between the two first supporting seats (11), and the first motor (31) is arranged on one of the first supporting seats (11);

the two ends of the joint piece (32) are respectively connected with a first rotating shaft (321), the first rotating shaft (321) rotatably penetrates through the first supporting seat (11), and one of the first rotating shafts (321) is connected with an output shaft of the first motor (31).

4. The SCARA robot arm of claim 1, further comprising:

a second drive mechanism provided on the first arm (20), an output shaft of the second drive mechanism being provided in parallel with an output shaft of the first motor (31); and

a second arm (40), the second arm (40) being connected to an output shaft of the second drive mechanism such that the second arm (40) is rotatable relative to the first arm (20).

5. The SCARA robot arm of claim 4, wherein the second drive mechanism comprises:

a second motor (50) provided on the first arm (20), an output shaft of the second motor (50) being parallel to an output shaft of the first motor (31);

the first transmission assembly is in transmission connection with the second motor (50); and

and the second rotating shaft (44) is in transmission connection with the first transmission assembly and is parallel to an output shaft of the first motor (31), and the second rotating shaft (44) is fixed with the second arm (40).

6. SCARA robot arm according to claim 4, characterized in that said second arm (40) comprises:

a first support plate (41), wherein the plate surface of the first support plate (41) is vertical to the output shaft of the first motor (31);

the second supporting plate (42) is arranged in parallel with the first supporting plate (41) at a distance, and an output shaft of the second driving mechanism is fixed with the first supporting plate (41) and the second supporting plate (42) respectively; and

and the triangular support frame (43) is arranged between the first support plate (41) and the second support plate (42) and is respectively connected with the first support plate (41) and the second support plate (42).

7. The SCARA robot arm of claim 6, further comprising:

the second supporting seat (45) is positioned between the first supporting plate (41) and the second supporting plate (42) and connected with the first arm (20), and an output shaft of the second driving mechanism is rotatably arranged on the second supporting seat (45) in a penetrating way;

a double-radial bearing (46) is arranged at the joint of the output shaft of the second driving mechanism and the second supporting seat (45), and a thrust bearing (47) is arranged at the joint of the output shaft of the second driving mechanism and the second arm (40).

8. The SCARA robot arm of claim 4, further comprising:

a clamping mechanism (70) for clamping the member to be clamped, the clamping mechanism (70) being rotatably connected to the distal end of the second arm (40).

9. The SCARA robot of claim 1, further comprising a slide mechanism (80), the slide mechanism (80) comprising:

a sliding mount (81); and

the sliding driving assembly is installed on the sliding installation frame (81) and connected with the installation plate (10), and the sliding driving assembly can drive the installation plate (10) to slide along the length direction of the sliding installation frame (81).

10. A construction robot comprising a body, characterized in that it further comprises a SCARA robot as claimed in any of claims 1 to 9, said SCARA robot being arranged on said body.