CN204263180U

CN204263180U - SCARA type mechanical arm

Info

Publication number: CN204263180U
Application number: CN201420515514.6U
Authority: CN
Inventors: 杨青
Original assignee: SHANGHAI HAOMIAO AUTOMATION EQUIPMENT Co Ltd
Current assignee: SHANGHAI HAOMIAO AUTOMATION EQUIPMENT Co Ltd
Priority date: 2014-09-09
Filing date: 2014-09-09
Publication date: 2015-04-15
Anticipated expiration: 2024-09-09

Abstract

The utility model relates to a kind of SCARA type mechanical arm, described SCARA type mechanical arm comprises base, power section and rotating part, described power section is all fixedly installed in described base, and described power section can drive described rotating part to rotate the location with arbitrary orientation at any angle.SCARA type mechanical arm described in the utility model adopts multi-stage coaxial transmission, all firm banking is placed into providing the parts of power, and do not participate in the motion of described SCARA type mechanical arm directly, therefore power each other and inertia can not be consumed, under the condition of same even load, the saving energy can be reached, the effect of raising speed and acceleration, thus improve the operating efficiency of SCARA type mechanical arm described in the utility model, in addition, SCARA type mechanical arm described in the utility model independently can control the joint motions of each mechanical arm by each servomotor, make the motion of described SCARA type mechanical arm more accurate.

Description

SCARA type mechanical arm

Technical Field

The utility model belongs to intelligent mechanical equipment field, more specifically, the utility model relates to a can carry out arbitrary angular rotation's SCARA type robotic arm.

Background

In the current industrial fields, including the automobile industry, the electronic and electrical industry, the engineering machinery industry and the like, a large number of industrial robot automatic production lines are used. The industrial robot integrates advanced manufacturing technologies such as precision, flexibility, intelligence, software application development and the like, realizes the purposes of increasing yield, improving quality, reducing cost and reducing resource consumption and environmental pollution by detecting, controlling, optimizing, scheduling, managing and deciding the process, and is the highest embodiment of industrial automation level.

SCARA type of manipulator arm belongs to a special kind of industrial robot of cylindrical coordinate type, having 3 or more joints with axes parallel to each other, positioned and oriented in a plane. And a single-degree-of-freedom moving pair is used for completing the motion of the end piece in the direction vertical to the plane.

However, when such a robot performs a rotational motion, there are several problems as follows:

1. the mutual connection and winding of the electric wire, the air pipe and the like enables the rotation angle of the SCARA type mechanical arm to be correspondingly limited;

2. because the servo motors participate in the movement process, the power and inertia of other servo motors are correspondingly increased, and the working efficiency of the SCARA type mechanical arm is reduced;

3. and in the motion process of the SCARA type mechanical arm, a speed reducer is required to be used for controlling the speed ratio of motion.

SUMMERY OF THE UTILITY MODEL

The main objective of the present invention is to provide a SCARA type robot arm to solve the above mentioned problems in the prior art.

In order to achieve the above object, the main technical solution of the present invention is to provide a SCARA type robot arm, which comprises a base, a power part and a rotating part, wherein the power part is fixed in the base, and the power part can drive the rotating part to rotate at any angle and position at any position.

Among the SCARA type robotic arm, owing to incite somebody to action power part is whole fixed set up in the base, and do not directly participate in SCARA type robotic arm's motion, consequently, rotating part can not additionally bear because power part brings load at rotatory in-process, also can not need to increase the multistage electric wire because a plurality of power component in the power part set up in the place of difference and connect, avoided among the prior art because of connecting the winding problem of circuit pipeline that a plurality of power component brought, relative SCARA type robotic arm among the prior art can reach the purpose that improves work efficiency.

Preferably, the power part includes a first servo motor, a second servo motor, a third servo motor and a fourth servo motor, and the SCARA type robot arm includes: part a1, the part a1 comprising: the base, the first servo motor, the second servo motor, the third servo motor, the fourth servo motor, the first hollow shaft, the second hollow shaft, the third hollow shaft and the fourth hollow shaft, wherein the first servo motor, the second servo motor, the third servo motor and the fourth servo motor respectively drive the first hollow shaft, the second hollow shaft, the third hollow shaft and the fourth hollow shaft to rotate through gear transmission, and the first hollow shaft, the second hollow shaft, the third hollow shaft and the fourth hollow shaft are mutually sleeved from inside to outside; part a2, the part a2 comprising: the fifth hollow shaft, the sixth hollow shaft and the seventh hollow shaft are sleeved with each other from inside to outside; section A3, the section A3 including an eighth hollow shaft; the part A4, the part A4 comprises a support, a screw rod and a movable rod, the screw rod is movably connected to the support, the screw rod and the movable rod are movably connected through threads, and the movable rod penetrates into the eighth hollow shaft; wherein the part A2, the part A3 and the part A4 are rotating parts, an A1 arm is connected between the part A1 and the part A2, the part A1 arm is fixedly connected with the first hollow shaft and movably connected with the seventh hollow shaft, an A2 arm is connected between the part A2 and the part A3, the part A2 arm is fixedly connected with the seventh hollow shaft and movably connected with the eighth hollow shaft, the support is fixedly arranged on the upper surface of the part A2 arm, the second hollow shaft, the third hollow shaft and the fourth hollow shaft respectively realize synchronous rotation with the seventh hollow shaft, the sixth hollow shaft and the fifth hollow shaft through a first group of synchronizing wheels, a second group of synchronizing wheels and a third group of synchronizing wheels, the eighth hollow shaft realizes synchronous rotation with the fifth hollow shaft through a fourth group of synchronizing wheels, the lead screw realizes synchronous rotation with the sixth hollow shaft through the fifth group of synchronizing wheels, the movable rod is movable up and down with respect to the eighth hollow shaft.

Thereby SCARA type robotic arm adopt multistage gear drive and synchronizing wheel transmission to drive each rotating part and rotate, transmission is steady, the transmission ratio is accurate, reliable operation, transmission efficiency and life are all than higher, have further improved SCARA type robotic arm's job stabilization nature.

In addition, the servo motors are arranged in the base in a centralized mode, so that the problem that circuit pipelines are wound due to connection of the servo motors in the prior art is solved.

In the preferred improvement of SCARA type robotic arm, the both ends of first quill shaft are provided with the high-speed rotatory pneumatic joint of first group, the both ends of fifth quill shaft are provided with the high-speed rotatory pneumatic joint of second group, the top of movable rod is provided with the high-speed rotary joint of third, the high-speed rotatory pneumatic joint's of first quill shaft upper end top surface level is less than the lower bottom surface level of A2 arm.

The conventional air pipe joint cannot support a long-term rotation due to the technical and structural problems of the conventional air pipe joint, and the metal thread part of the high-speed rotation pneumatic joint is arranged in the hole and is provided with the bearing, so that the long-term high-speed rotation can be supported.

Therefore, SCARA type robotic arm not only avoided the pipeline winding problem of circuit, solved moreover that gas circuit pipe joint can not be long-term rotatory problem, SCARA type robotic arm's terminal pneumatic hand claw's power supply change the direction through multistage high-speed rotary joint to this thoroughly changes electric wire and trachea etc. is right each articular winding restriction of SCARA type robotic arm reaches unrestricted rotation, has avoided ordinary SCARA type robotic arm to rotate articular maximum rotation angle for the restriction of 360 degrees of positive/negative, thereby realizes the rotation of arbitrary angle.

As a preferred aspect of the present invention, the upper surface of the a1 arm is provided with a groove, and the high-speed rotary pneumatic joint at the upper end of the first hollow shaft is provided in the groove.

The grooved a1 arm further avoids the problem of interference of the a2 arm with the high speed rotary pneumatic joint as it rotates.

Furthermore, a fixing rod is arranged on the support, and the screw rod is positioned through the fixing rod.

The arrangement of the fixed rod ensures that the relative position of the screw rod in the working process is kept unchanged, and the working stability and reliability of the SCARA type mechanical arm are further improved.

Preferably, the first set of high-speed rotary joints is connected with the second set of high-speed rotary joints through a first air pipe, and the second set of high-speed rotary joints is connected with the third rotary joints through a second air pipe.

Furthermore, a clamping device is arranged on the outer side of the fixing rod, and the second air pipe is fixed through the clamping device.

Preferably, the clamping means are clips, the number of which is at least one.

The air tube fixed by the clamping device is not only neat in appearance, but also avoids problems caused by irregular movement of the air tube.

Preferably, the A1 arm and the fifth hollow shaft are movably connected through a rolling bearing.

The rolling bearing can not only ensure the free rotation of the fifth hollow shaft, but also provide stable positioning for the A1 arm.

Correspondingly, the A2 arm and the eighth hollow shaft are movably connected through a rolling bearing.

The SCARA type mechanical arm adopts a programmable logic controller, and controls the first servo motor, the second servo motor, the third servo motor and the fourth servo motor through a CANopen bus.

Preferably, the first servo motor, the second servo motor, the third servo motor and the fourth servo motor are respectively controlled by different switches.

Different servo motor is controlled respectively through different switches, just can control SCARA type robotic arm not only can carry out X, Y and the ascending bulk motion of Z side, can also be right arbitrary part is controlled in the part of A1 part ~ A4 part, makes it carry out the motion on solitary certain part or certain direction, has further improved SCARA type robotic arm's flexibility and practicality.

A programmable logic controller (namely PLC) is adopted to control the first servo motor, the second servo motor, the third servo motor and the fourth servo motor through a CANopen bus, so that the cost is low and the stability is good.

Therefore, adopt SCARA type robotic arm can reach the beneficial effect of following several points:

1. SCARA type robotic arm adopt multistage coaxial drive, all place unable adjustment base to the spare part (servo motor) that provides power, and not direct participation SCARA type robotic arm's motion, consequently can not consume power and inertia each other, under the condition of equal load, can reach the effect of energy saving, improvement speed and acceleration, thereby improve SCARA type robotic arm's work efficiency.

2. SCARA type robotic arm can be through the joint motion of each arm of each servo motor independent control, make SCARA type robotic arm's motion is more accurate.

3. The power supply of SCARA type robotic arm's terminal pneumatic hand claw come redirecting through multistage high-speed rotary joint to thoroughly changed electric wire and trachea etc. right each articular winding restriction of SCARA type robotic arm reaches unrestricted rotation, has avoided ordinary SCARA type robotic arm revolute joint's maximum rotation angle to be the restriction of 360 degrees of positive/negative, also need not the return stroke motion, just can realize the rotation of arbitrary angle.

4. SCARA type robotic arm adopted multistage transmission (synchronizing wheel, gear etc.), consequently can directly utilize servo motor to carry out the motion control velocity ratio, no longer need traditional SCARA type robotic arm's harmonic speed reducer machine, very big has avoided traditional domestic robot to the reliance of expensive import harmonic speed reducer machine, has reduced SCARA type robotic arm's manufacturing cost.

5. SCARA type robotic arm adopt programming logic controller (PLC promptly), through CANopen bus control first servo motor, second servo motor, third servo motor and fourth servo motor, not only with low costs, stability is good moreover.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a perspective view of a SCARA-type robot according to a first embodiment of the present invention.

Fig. 2 is a main body diagram of a SCARA type robot according to a first embodiment of the present invention.

Fig. 3 is a sectional view taken along line C-C in fig. 2.

Fig. 4 is a sectional view taken along line E-E in fig. 3.

Fig. 5 is a top view of a SCARA-type robot according to a first embodiment of the present invention.

Fig. 6 is a sectional view taken along line a-a in fig. 5.

Description of the main element symbols:

1 first hollow shaft 2 second hollow shaft

3 third hollow shaft 4 fourth hollow shaft

5 fifth hollow shaft 6 sixth hollow shaft

7 seventh hollow shaft 8 eighth hollow shaft

9 first group of synchronizing wheels 10 second group of synchronizing wheels

11 third group synchronizing wheel 12 fourth group synchronizing wheel

13 fifth group synchronizing wheel 14 base

15A 1 arm 16A 2 arm

17 support 18 lead screw

19 movable rod 20 fixed rod

21 first air pipe 22 second air pipe

23 clamp 24 first set of high speed rotary pneumatic joints

25 second group of high speed rotary pneumatic joints 26 third high speed rotary pneumatic joint

27 grooves.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Fig. 3 is a sectional view taken along line C-C in fig. 2.

Fig. 4 is a sectional view taken along line E-E in fig. 3.

Fig. 6 is a sectional view taken along line a-a in fig. 5.

As shown in fig. 1 to 6, the utility model mainly provides a SCARA type robotic arm, SCARA type robotic arm includes base 14, power part and rotating part, power part whole fixed set up in the base 14, power part can drive rotating part carries out the rotation of arbitrary angle and the location in arbitrary position.

Among the SCARA type robotic arm, owing to incite somebody to action power part is whole fixed set up in the base 14, and do not directly participate in SCARA type robotic arm's motion, consequently, rotating part can not additionally bear the load that brings because power part in rotatory process, also can not need to increase the multistage electric wire because a plurality of power component in the power part set up in the place of difference and connect, avoided among the prior art because of connecting the winding problem of circuit pipeline that a plurality of power component brought, relative SCARA type robotic arm among the prior art can reach the purpose that improves work efficiency.

In a first embodiment of the SCARA-type robot arm, the power part includes a first servo motor, a second servo motor, a third servo motor and a fourth servo motor (not all shown in the drawing of the first servo motor, the second servo motor, the third servo motor and the fourth servo motor), the SCARA-type robot arm includes: part a1, the part a1 comprising: the base 14, the first servo motor, the second servo motor, the third servo motor, the fourth servo motor, the first hollow shaft 1, the second hollow shaft 2, the third hollow shaft 3 and the fourth hollow shaft 4, the first servo motor, the second servo motor, the third servo motor and the fourth servo motor respectively drive the first hollow shaft 1, the second hollow shaft 2, the third hollow shaft 3 and the fourth hollow shaft 4 to rotate through gear transmission, and the first hollow shaft 1, the second hollow shaft 2, the third hollow shaft 3 and the fourth hollow shaft 4 are mutually sleeved from inside to outside; part a2, the part a2 comprising: the hollow shaft assembly comprises a fifth hollow shaft 5, a sixth hollow shaft 6 and a seventh hollow shaft 7, wherein the fifth hollow shaft 5, the sixth hollow shaft 6 and the seventh hollow shaft 7 are sleeved with each other from inside to outside; part A3, the part A3 comprising an eighth hollow shaft 8; the part A4, the part A4 includes a support 17, a screw rod 18 and a movable rod 19, the screw rod 18 is movably connected to the support 17, the screw rod 18 and the movable rod 19 are movably connected through threads, and the movable rod 19 penetrates into the eighth hollow shaft 8; wherein the part a2, the part A3 and the part a4 are rotating parts, an a1 arm 15 is connected between the part a1 and the part a2, the part a1 arm 15 is fixedly connected to the first hollow shaft 1 and movably connected to the seventh hollow shaft 7, an a2 arm 16 is connected between the part a2 and the part A3, the arm a2 is fixedly connected to the seventh hollow shaft 7 and movably connected to the eighth hollow shaft 8, the support 17 is fixedly arranged on the upper surface of the arm a2, the second hollow shaft 2, the third hollow shaft 3 and the fourth hollow shaft 4 synchronously rotate with the seventh hollow shaft 7, the sixth hollow shaft 6 and the fifth hollow shaft 5 through a first group of synchronizing wheels 9, a second group of synchronizing wheels 10 and a third group of synchronizing wheels 11, respectively, the eighth hollow shaft 8 synchronously rotate with the fifth hollow shaft 5 through a fourth group of synchronizing wheels 12, the screw 18 rotates synchronously with the sixth hollow shaft 6 through a fifth group of synchronizing wheels 13, and the movable rod 19 can move up and down relative to the eighth hollow shaft 8.

As a change of the utility model, SCARA type manipulator also can adopt other transmission modes to realize passing through power part drives rotating part carries out the rotation of arbitrary angle and the location in arbitrary position, the utility model discloses a specific protection scope does not use this as the limit.

As an improvement of the present invention, the screw rod 18 can also change the circular motion into the up-and-down linear motion of the movable rod 19 by other ways, and the specific protection scope of the present invention is not limited thereto.

In the preferred improvement of SCARA type robotic arm, the both ends of first quill shaft 1 are provided with the high-speed rotatory pneumatic joint 24 of first group, the both ends of fifth quill shaft 5 are provided with the high-speed rotatory pneumatic joint 25 of second group, the top of movable rod 19 is provided with third high-speed rotary joint 26, the last top surface level of the high-speed rotatory pneumatic joint of first quill shaft 1 upper end is less than the lower bottom surface level of A2 arm 16.

Therefore, SCARA type robotic arm not only avoided the pipeline winding problem of circuit, solved moreover that gas circuit pipe joint can not be long-term rotatory problem, SCARA type robotic arm's terminal pneumatic hand claw's power supply change the direction through multistage high-speed rotary joint 24-26 to this thoroughly change electric wire and trachea etc. right each articular winding restriction of SCARA type robotic arm reaches unrestricted rotation, has avoided ordinary SCARA type robotic arm revolute joint's maximum rotation angle to be the restriction of 360 degrees of positive/negative, thereby realizes the rotation of arbitrary angle.

As a preferred aspect of the present invention, a groove 27 is provided on the upper surface of the a1 arm 15, and a high-speed rotary pneumatic joint on the upper end of the first hollow shaft 1 is provided in the groove 27.

The a1 arm 15 provided with a groove 27 further avoids the problem of interference of the a2 arm 16 with the high speed rotary pneumatic joint when rotating.

Furthermore, a fixing rod 20 is disposed on the support 17, and the screw 18 is positioned by the fixing rod 20.

The arrangement of the fixing rod 20 ensures that the relative position of the screw rod 18 is kept unchanged in the working process, and further improves the working stability and reliability of the SCARA type mechanical arm.

As an option of the present invention, the screw rod 18 can also be positioned by other structures, such as a supporting structure, etc., and the specific protection scope of the present invention is not limited thereto.

In the first embodiment of the SCARA-type robot of the present invention, the first set of high-speed rotary joints 24 is connected to the second set of high-speed rotary joints 25 through the first air pipe 21, and the second set of high-speed rotary joints 25 is connected to the third rotary joints 26 through the second air pipe 22.

First trachea 21 and second trachea 22 can choose for use PU trachea or high-pressurepipe, the utility model discloses a specific embodiment does not use this as the limit.

Further, a clamping device is provided at an outer side of the fixing rod 20, and the second air tube 22 is fixed by the clamping device.

As shown in fig. 6, in the first embodiment of the SCARA-type robot arm of the present invention, the clamping device is a clamp 23, and the number of the clamps 23 is two.

The second air tube 22 fixed by the clamping device not only has a neat appearance, but also avoids the problems caused by the irregular movement of the second air tube 22 during the operation of the SCARA type mechanical arm.

In the first embodiment of the present invention, the a1 arm 15 and the fifth hollow shaft 5 are movably connected by a rolling bearing.

The rolling bearing not only ensures the free rotation of the fifth hollow shaft 5, but also provides stable positioning for the a1 arm 15.

Correspondingly, the a2 arm 16 and the eighth hollow shaft 8 are movably connected through a rolling bearing.

Alternatively, the a1 arm 15 and the fifth hollow shaft 5 may be movably connected in other manners, and the specific protection scope of the present invention is not limited thereto.

Correspondingly, the a2 arm 16 and the eighth hollow shaft 8 may be movably connected in other manners, and the specific protection scope of the present invention is not limited thereto.

In a first embodiment of the SCARA-type robot arm of the present invention, the first servo motor, the second servo motor, the third servo motor, and the fourth servo motor are controlled by different switches respectively.

In a first embodiment of the SCARA-type robot, the SCARA-type robot adopts a programmable logic controller, and the first servo motor, the second servo motor, the third servo motor and the fourth servo motor are controlled by a CANopen bus.

As a change of the utility model, the SCARA type manipulator also can realize control through other modes, specifically choose for use which kind of mode can be according to actual conditions decision, as long as reach with the utility model discloses the same technological effect can, the utility model discloses a specific protection scope does not use this as the limit.

Next, the operation principle of the SCARA type robot according to the present invention will be briefly described with reference to fig. 6.

As shown in the figure, when SCARA type robotic arm when beginning work, programmable logic controller (PLC promptly) passes through CANopen bus control four servo motor makes four servo motor begin work, works as when servo motor rotates:

the part a1, the four servo motors respectively drive the first hollow shaft 1, the second hollow shaft 2, the third hollow shaft 3 and the fourth hollow shaft 4 to rotate through gear transmission, and the a1 arm 15 is fixedly connected with the first hollow shaft 1, so that the a1 arm 15 rotates along with the rotation of the first hollow shaft 1;

a part a2, in which the second hollow shaft 2, the third hollow shaft 3, and the fourth hollow shaft 4 are respectively connected to the seventh hollow shaft 7, the sixth hollow shaft 6, and the fifth hollow shaft 5 through a first group of synchronizing wheels 9, a second group of synchronizing wheels 10, and a third group of synchronizing wheels 11, so that the seventh hollow shaft 7, the sixth hollow shaft 6, and the fifth hollow shaft 5 can be driven to synchronously rotate while the second hollow shaft 2, the third hollow shaft 3, and the fourth hollow shaft 4 rotate, and the a2 arm 16 rotates along with the rotation of the seventh hollow shaft 7 because the a2 arm 16 is fixedly connected to the seventh hollow shaft 7;

a3 point, because a fourth group of synchronizing wheels 12 is connected between the eighth hollow shaft 8 and the fifth hollow shaft 5, the eighth hollow shaft 8 rotates along with the rotation of the fifth hollow shaft 5, and the eighth hollow shaft 8 controls the attitude angle of a starting actuator (such as a clamping cylinder for clamping a workpiece) at the end, and during the operation of the SCARA type robot arm, in addition to displacement on the X/Y coordinates, an operation of rotating on the X/Y coordinate point is required, and the operation is controlled by the eighth hollow shaft 8;

part a4, because the lead screw 18 with be connected with fifth group synchronizing wheel 13 between the sixth hollow shaft 6, consequently, lead screw 18 can be along with the rotation of sixth hollow shaft 6 rotates, because lead screw 18 with through screw thread swing joint between the movable rod 19, consequently, lead screw 18 can become the circumference rotation upper and lower straight line of movable rod 19, and SCARA type robotic arm's terminal executive component (for example manipulator etc.) directly with movable rod 19 links to each other, consequently, movable rod 19 drives SCARA type robotic arm's terminal executive component (for example manipulator etc.) carry out work.

Because the four servo motors can be controlled individually, the a1 arm 15 is movably connected with the seventh hollow shaft 7, the a2 arm 16 is movably connected with the eighth hollow shaft 8, and the support 17 is fixedly arranged on the upper surface of the a2 arm 16, the terminal executive component of the SCARA type mechanical arm can not only perform integral movement in X, Y and Z directions, but also control any one of the a1 part to the a4 part, so that the SCARA type mechanical arm can perform an individual part or a movement in a certain direction.

Simultaneously, because SCARA type robotic arm structure all outside circuit connection lines have been cancelled, and connect through high-speed rotary joint between first trachea 21, the second trachea 22, in addition, SCARA type robotic arm's first embodiment, the high-speed rotatory pneumatic joint's of first quill shaft 1 upper end last top surface level is less than A2 arm 16's lower bottom surface level, just the high-speed rotatory pneumatic joint of first quill shaft 1 upper end set up in recess 27, consequently, SCARA type robotic arm can not meet any obstacle or interfere in the actual rotation, can carry out the rotation of arbitrary angle.

To sum up, adopt SCARA type robotic arm can reach the beneficial effect of following several points:

1. SCARA type robotic arm adopt multistage coaxial drive, all place unable adjustment base to the spare part (servo motor) that provides power, and not directly participate in SCARA type robotic arm's motion, consequently can not consume power and inertia each other, under the condition of equal load, can reach the effect of energy saving, improvement speed and acceleration, thereby improve SCARA type robotic arm's work efficiency.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A SCARA type mechanical arm comprises a base, a power part and a rotating part, and is characterized in that the power part is completely and fixedly arranged in the base, and the power part can drive the rotating part to rotate at any angle and position at any direction; the power part includes first servo motor, second servo motor, third servo motor and fourth servo motor, SCARA type manipulator includes:

part a1, the part a1 comprising: the base, the first servo motor, the second servo motor, the third servo motor, the fourth servo motor, the first hollow shaft, the second hollow shaft, the third hollow shaft and the fourth hollow shaft, wherein the first servo motor, the second servo motor, the third servo motor and the fourth servo motor respectively drive the first hollow shaft, the second hollow shaft, the third hollow shaft and the fourth hollow shaft to rotate through gear transmission, and the first hollow shaft, the second hollow shaft, the third hollow shaft and the fourth hollow shaft are mutually sleeved from inside to outside;

part a2, the part a2 comprising: the fifth hollow shaft, the sixth hollow shaft and the seventh hollow shaft are sleeved with each other from inside to outside;

section A3, the section A3 including an eighth hollow shaft; and

the part A4, the part A4 includes a support, a screw rod and a movable rod, the screw rod is movably connected to the support, the screw rod and the movable rod are movably connected through threads, and the movable rod penetrates into the eighth hollow shaft; wherein,

the part A2, the part A3 and the part A4 are rotating parts, an A1 arm is connected between the part A1 and the part A2, the part A1 arm is fixedly connected with the first hollow shaft and movably connected with the seventh hollow shaft, an A2 arm is connected between the part A2 and the part A3, the part A2 arm is fixedly connected with the seventh hollow shaft and movably connected with the eighth hollow shaft, the support is fixedly arranged on the upper surface of the part A2 arm, the second hollow shaft, the third hollow shaft and the fourth hollow shaft respectively realize synchronous rotation with the seventh hollow shaft, the sixth hollow shaft and the fifth hollow shaft through a first group of synchronizing wheels, a second group of synchronizing wheels and a third group of synchronizing wheels, the eighth hollow shaft realizes synchronous rotation with the fifth hollow shaft through a fourth group of synchronizing wheels, the lead screw realizes synchronous rotation with the sixth hollow shaft through the fifth group of synchronizing wheels, the movable rod is movable up and down with respect to the eighth hollow shaft.

2. A SCARA-type robot according to claim 1, characterized in that the first hollow shaft is provided with a first set of high-speed rotary pneumatic joints at both ends, the fifth hollow shaft is provided with a second set of high-speed rotary pneumatic joints at both ends, the top end of the movable rod is provided with a third high-speed rotary joint, the high-speed rotary pneumatic joint at the upper end of the first hollow shaft has a lower level of the upper top surface than the lower level of the bottom surface of the a2 arm.

3. A SCARA-type robot according to claim 2, characterized in that the upper surface of the a1 arm is provided with a groove in which a high speed rotary pneumatic joint at the upper end of the first hollow shaft is provided.

4. A SCARA-type robot arm according to claim 1, characterized in that a fixing bar is provided on said support, said screw being positioned by said fixing bar.

5. A SCARA-type robot according to claim 2, characterized in that said first and second set of high speed swivel are connected by a first gas pipe and said second and third set of high speed swivel are connected by a second gas pipe.

6. A robot arm of the SCARA type according to claim 5, characterized in that the fixed bar is provided on its outside with clamping means by which said second air tube is fixed.

7. A robot arm of the SCARA type according to claim 1, characterized in that the movable connection between said a1 arm and said fifth hollow shaft is achieved through rolling bearings.

8. The SCARA-type robot of claim 1, wherein the first, second, third and fourth servo motors are controlled by different switches, respectively.

9. The SCARA-type robot of claim 1, wherein the SCARA-type robot employs a programmable logic controller to control the first, second, third, and fourth servo motors via a CANopen bus.