CN209063089U

CN209063089U - A kind of horizontal articulated SCARA type cooperation lifting machine people

Info

Publication number: CN209063089U
Application number: CN201821654915.4U
Authority: CN
Inventors: 王晶红
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-10-27
Filing date: 2018-10-12
Publication date: 2019-07-05
Anticipated expiration: 2028-10-12

Abstract

A kind of horizontal articulated SCARA type cooperation lifting machine people, including lifting base (1), principal arm (2), head (3), ball screw splined shaft (4) and executing agency (5), ball screw splined shaft is located on lifting base, hoisting machine seat tool has lifting frame shell (11), lifting mounting hole is set thereon, sets ball screw splined shaft driving motor and transmission mechanism in hoisting machine seat shell body；Stretch out the connected principal arm in ball screw splined shaft end of lifting frame shell lower part；Stretch out the connected head in principal arm shell (21) lower part principal arm driven shaft (201) end, head has a head shell (31), there are driving motor (M8), transmission mechanism, head working shaft (301) in head shell, the motor shaft of driving motor connects head working shaft by transmission mechanism, and the lower part of head working shaft one end extended tips shell connects executing agency.The utility model has many advantages, such as that mounting area is small, and working range is big (not having dead point), light small and exquisite, flexibly high speed.

Description

A kind of horizontal articulated SCARA type cooperation lifting machine people

Technical field

The utility model belongs to robotic technology field, is provided in particular in a kind of horizontal articulated SCARA type cooperation lifting Robot.

Background technique

SCARA(Selective Compliance Assembly Robot Arm) robot, 1980 are started from, purpose It is to be able to high speed, efficiently solves the assembly process problem in automated production, by Yamanashi, Japan college professor at that time It herds and carries out research and development and industrialization centered on wild ocean.So SCARA robot is also the Typical Representative of people of putting together machines.

The features such as in the high-volume industrial epoch, SCARA robot is succinct to act, high speed, inexpensive, with 3C electricity Centered on sub- industry (computer, communication and consumer electronics), certain application achievements are achieved.The process of concrete application has part Crawl and put (insertion), dispensing, lock screw, soldering etc. substitutes artificial realize and repeats, the high work of quality requirement.

With the arrival of the industrial new era based on customizing, human needs intelligently turn to mark more with flexibility High performance robot substitutes manual working in more extensive field more flexiblely.That assembles humanoid robot applies model Enclose, also from 3c industry to 3p(food, drug and cosmetics) etc. general industries field develop, specifically, cooperation robot and Intelligent robot is the developing direction of robot.

Cooperate robot, can cooperate with people and carry out mixture operation, need safety, flexibly, the performances such as facilitates, is conventional flow Waterline realizes an effective way of automation；Intelligent robot is supported by Internet of Things and big data cloud computing, certain journey The robot that artificial intelligence technology is applied on degree is the important foundation for realizing industry 4.0.

In the prior art there are some common ontologies in cooperation robot and intelligent robot.It is in the prior art The structure of SCARA robot is referring to Fig. 1 to Fig. 3, including pedestal 01, principal arm 02 and head 03.Wherein principal arm 02 passes through thereon Connecting shaft RI is connected on pedestal 01, and thus principal arm 02 can be rotated around connecting shaft R1 relative to pedestal 01；Connecting shaft R1 and peace Set the speed reducer J1 connection on the principal arm driving motor M1 in pedestal 01.Driving motor M2 in head is set in head 03, is connected Meet speed reducer J2, the speed reducer J2 in connecting shaft R2 connection head be set on principal arm 02, head 03 can around connecting shaft R2 relative to Principal arm 02 rotates.Main shaft 031 is set on head, driving motor M3, M4 are set in head 03, pass through respective transmission respectively Mechanism connects splined nut 05 and screw nut 06 on main shaft 031, the flower on splined nut 05 and main shaft 031 with speed reducer J3 Bond structure cooperation can drive main shaft 031 to turn around the axis R3 of main shaft 031 under the action of driving motor M3 and transmission mechanism Dynamic, screw nut 06 can drive master under the action of driving motor M4 and transmission mechanism with being threadedly engaged on main shaft 031 Axis is moved up and down along Z-direction, generally can be on main shaft 031 so that the movement that the main shaft 031 is moved up and down and rotated Installation action device, such as handgrip 031a(is referring to Fig. 3).Existing SCARA robot has the following deficiencies:

1. drive head 03 is arranged in head 03 relative to the motor M2 that principal arm 02 rotates, so that principal arm 02 and head 03 The weight of two moving components is very heavy, hinders the promotion of robot motion speed as a result,.

2. principal arm 02 and 03 two, head moving component are in cantilever support form, mass eccentricity relative to pedestal 01, it is difficult to The movement velocity and kinematic accuracy of hoisting machine people.

3. setting outside wiring cable tube 04 connects pedestal 01 and head 03, outside in order to enable the motor on head 03 connects electricity Portion's distribution cable causes the resistance of motion, also influences the promotion of robot speed.

4. the connecting shaft of the speed reducer J1 connection on principal arm driving motor M1 subjects the total weight on head, speed reducer J1 The bearing of interior customization is smaller, can satisfy the requirement of transmitting torque, but its Lack of support, so that the structural rigidity is low, often Cause the earlier period damage of robot.

5. existing robot is supported on the table with pedestal 01, operator wants in the side of robot, robot installation Certain mounting area is occupied, and there are dead points in robot work region.And if simply to existing robot Pedestal 01 is changed to hoisting structure, as shown in figure 4, since the weight on head 03 is too big, it may appear that movement speed cannot be promoted Problem.

Utility model content

The purpose of this utility model is that improving the deficiencies in the prior art, a kind of lift-on/lift-off type structure is provided, reduces mounting surface Dead point is not present so that work area increases in product in working region, meanwhile, so that moving component lightweight, overall mass are put down Weigh, be capable of providing at high speed, a kind of horizontal articulated SCARA type cooperation lifting machine people of high-precision motion.

The utility model is attained in that a kind of horizontal articulated SCARA cooperation using following technical solution Lifting machine people, including lifting base, principal arm, head, ball screw splined shaft and executing agency,

The ball screw splined shaft setting is on lifting base, and hoisting machine seat tool has a lifting frame shell, lifting It is provided with lifting mounting hole on frame shell, is equipped with ball screw splined shaft driving motor and driver in hoisting machine seat shell body Structure, ball screw splined shaft driving motor include ball screw splined shaft rotating electric machine and ball screw splined shaft displacement motor, Ball screw splined shaft rotating electric machine connect ball wire by transmission mechanism with the motor shaft of ball screw splined shaft displacement motor Bar splined shaft, so that the ball screw splined shaft realizes the movement of setting, hoisting machine is stretched out in one end of ball screw splined shaft The lower part of seat shell body；

The principal arm is located at the lower part of lifting base, stretches out the ball screw spline of the lifting frame shell lower part The end of axis is fixedly connected on principal arm, can drive principal arm mass motion, and principal arm has a principal arm shell, is equipped in principal arm shell Head driving motor, transmission mechanism and principal arm driven shaft, the motor shaft of head driving motor connect principal arm by transmission mechanism The lower part of principal arm shell is stretched out in driven shaft, one end of principal arm driven shaft；

The head is located at the lower part of principal arm, and the end for the principal arm driven shaft for stretching out the principal arm lower part of the housing is fixed It is connected on head, head mass motion can be driven, head has a head shell, and driving motor is equipped in head shell, is passed The motor shaft of motivation structure and head working shaft, driving motor connects head working shaft by transmission mechanism, head working shaft The lower part of one end extended tips shell is connect with executing agency.

Preferably, principal arm bearing arrangement is equipped between the principal arm driven shaft and head shell.

Preferably, connect the ball screw splined shaft of the principal arm, the principal arm driven shaft on the connection head, The head working shaft and the principal arm bearing arrangement for connecting the executing agency are hollow structure, are lifted in base also Equipped with power source, the power that power source is drawn carrys out the sky that wiring passes through ball screw splined shaft, principal arm driven shaft, head working shaft Mandrel structure cabling, with corresponding motor and execution fabric connectivity, is provided into principal arm shell and head shell for corresponding component Power.

Preferably, the distance of rotation axis of the rotation axis of the head working shaft to the principal arm driven shaft is not less than The rotary shaft of the ball screw splined shaft to the principal arm driven shaft rotation axis distance.

Preferably, it is provided with power drive unit in the executing agency, which is at least following power One of: electric power, air pressure or hydraulic power.

Preferably, the ball screw splined shaft includes that the splined nut of a cooperation main shaft upper spline structure and one match The screw nut of spindle thread structure is closed, splined nut passes through transmission mechanism with screw nut respectively and connects ball screw splined shaft Rotating electric machine and ball screw splined shaft displacement motor, the ball screw splined shaft rotating electric machine drive the splined nut to make The ball screw splined shaft rotation is obtained, the ball screw splined shaft displacement motor drives the screw nut to make the rolling Ballscrew splined shaft moves up and down.

Preferably, the screw nut is located at the top of the splined nut.

Preferably, the transmission mechanism between the splined nut and the ball screw splined shaft rotating electric machine includes second level Tape handler.

Preferably, the transmission mechanism between the screw nut and the ball screw splined shaft displacement motor is level-one band Transmission mechanism.

Preferably, in the lifting base, two motors of the ball screw splined shaft is driven to be respectively positioned on the ball The same side of the rotary shaft of screw rod splined shaft.

Preferably, two motors of the ball screw splined shaft is driven to be respectively positioned on the rotation of the ball screw splined shaft The outside of axis.

Preferably, in the principal arm, the transmission mechanism between the head driving motor and the principal arm driven shaft includes Second level tape handler.

It preferably, is level-one tape handler between the driving motor and the head working shaft in the head.

Preferably, in the principal arm, the head driving motor and the principal arm driven shaft are located at ball screw flower The rotary shaft two sides of key axis.

Preferably, the second level tape handler between the splined nut and the ball screw splined shaft rotating electric machine In, the driving shaft in driven shaft and second level tape handler in first order tape handler is coaxial.

Preferably, further include in the transmission mechanism between the splined nut and the ball screw splined shaft rotating electric machine Principal arm speed reducer, the input axis connection first order tape handler of the principal arm speed reducer, the output shaft of the principal arm speed reducer Connect second level tape handler.

Preferably, two-stage tape handler is separately positioned on the upper and lower ends of the principal arm speed reducer.

It preferably, further include that head is slowed down in the transmission mechanism between the head driving motor and the principal arm driven shaft Machine, the input axis connection first order tape handler of the head speed reducer, the output axis connection second of the head speed reducer Grade tape handler；Two-stage tape handler is separately positioned on the upper and lower ends of the head speed reducer.

Preferably, the knob of two manual operations is set on the ball screw splined shaft, and two knob difference are direct Or it is connected indirectly with the screw nut and splined nut connected on the ball screw splined shaft.

Preferably, spanner being arranged on the head can enable the head relative to described so that pulling the spanner with hand Principal arm rotation.

Preferably, spanner being arranged on the principal arm can enable the principal arm relative to described so that pulling the spanner with hand Lift base rotation.

Preferably, the transmission mechanism is tape handler.

It is highly preferred that the tape handler is Synchronous Belt Drives mechanism.

Sensing contact is respectively set on the outer wall of the side the head Liang Ge and/or on the outer wall of two sides of principal arm Device.

Horizontal articulated SCARA type cooperation lifting machine people provided by the utility model, by the way that original pedestal to be changed to Hoisting structure, to mitigate the weight on head, promotes operating rate by the setting of ball screw splined shaft on lifting base, and Hoisting structure can be using the axle center of ball screw splined shaft as the center of circle, using the effective length on principal arm and head as radius, in this range Interior implementation, is not present blind spot, and the overall weight of reasonable motor installing structure active balance robot passes through ball screw Power source is connected to each motor and executing agency by internal cabling, removed by the hollow structure of splined shaft and corresponding transmission shaft The external cable tube of existing robot；By transmission mechanism the speed ratio of robot is conveniently adjusted；By on head Contact sensor is set, the sensitivity, intelligence and reliability of robot can be improved.

It is described in detail below by structure and superiority of the drawings and examples to the utility model.

Detailed description of the invention

Fig. 1 is traditional SCARA robot outline structural diagram in the prior art；

Fig. 2 is the structural schematic diagram of traditional SCARA robot；

Fig. 3 is traditional SCARA robot wiring schematic diagram；

Fig. 4 is the SCARA robot architecture's schematic diagram simply changed as hoisting structure；

Fig. 5 is the structural schematic diagram of the horizontal articulated SCARA cooperation lifting machine people of the utility model；

Fig. 6 is the schematic perspective view of the horizontal articulated SCARA cooperation lifting machine people of the utility model；

Fig. 7 is the schematic diagram of internal structure of the horizontal articulated SCARA cooperation lifting machine people of the utility model；

Fig. 8 is the wiring schematic diagram of the horizontal articulated SCARA cooperation lifting machine people of the utility model；

Fig. 9 is that the Synchronous Belt Drives mechanism of the horizontal articulated SCARA cooperation lifting machine people of the utility model shows It is intended to；

Figure 10 is the structural schematic diagram of the horizontal articulated SCARA cooperation lifting machine people of the utility model.

Specific embodiment

The utility model is described in further detail with reference to the accompanying drawing and by way of examples.

As shown in Fig. 5-Fig. 9, the utility model provides a kind of horizontal articulated SCARA cooperation lifting machine people, including Lift base 1, principal arm 2, head 3, ball screw splined shaft 4 and executing agency 5.

Ball screw splined shaft 4 as shown in Figure 7 is arranged on lifting base 1, and lifting base 1 has a hoisting machine seat shell Body 11 lifts and is provided with lifting mounting hole on frame shell 11, and lifting mounting hole can be located at the upper end of lifting base housing 11, Its side can be located at, ball screw splined shaft driving motor and transmission mechanism, ball screw flower are equipped in lifting frame shell 11 Key axis driving motor includes ball screw splined shaft rotating electric machine M5 and ball screw splined shaft displacement motor M6, ball screw flower Key axis rotating electric machine M5 connect ball screw spline by transmission mechanism with the motor shaft of ball screw splined shaft displacement motor M6 Axis 4, so that the movement that the ball screw splined shaft 4 is realized setting rotation and moved up and down.

Specifically, on the axis of ball screw splined shaft 4, ball screw thread groove and ball spline slot intersect, this Structure is the prior art, passes through this ball screw splined shaft 4 while realizing axial stroke/radial rotary recombiner unit, on axis Equipped with splined nut 41 and screw nut 42；There is dedicated radial journal bearing in the periphery of screw nut 42, can be with by ex-ternal transmission Realize rotating freely for screw nut, also there is dedicated radial journal bearing in the periphery of splined nut 41, can be real by ex-ternal transmission Existing splined nut rotates freely；

Ball screw splined shaft rotating electric machine M5 is fixed in the fixed plate in lifting shell 11, the rotation of ball screw splined shaft A speed reducer J4, the input shaft of speed reducer J4 is arranged in lifting shell 11 in one driving pulley of output axis connection of rotating motor M5 Upper setting first order driven pulley connects first order flat-toothed belt between first order driving pulley and first order driven pulley 111, second level driving pulley is set on the output shaft of speed reducer J4, and spline spiral shell is arranged in the lower part on ball screw splined shaft 4 Mother 41 constitutes spline structure, fixed second level driven wheel 41a on splined nut 41, in the second level with ball screw splined shaft 4 Second level flat-toothed belt 112 is connected between driving pulley and second level driven pulley 41a, in first order tape handler from Driving shaft in moving axis and second level tape handler is coaxial, and two-stage tape handler is separately positioned on the upper of principal arm speed reducer J4 Lower both ends.

Ball screw splined shaft displacement motor M6 is fixed in the fixed plate in lifting shell 11, ball screw spline axle position One driving pulley of output axis connection for moving motor M6, screw nut 42 is arranged in the top on ball screw splined shaft 4, with ball Screw rod splined shaft 4 constitutes helicitic texture, fixed driven pulley 42a on screw nut 42, in driving pulley and driven pulley 42a Between connect flat-toothed belt 113.

Start ball screw splined shaft rotating electric machine M5, ball can be driven by two-stage V belt translation and first class reducer J4 Screw rod splined shaft 4 rotates, and starts ball screw splined shaft displacement motor M6, and ball screw flower can be driven by level-one V belt translation Key axis 4 moves up and down.

Two motors of driving ball screw splined shaft 4 are respectively positioned on the same of the rotary shaft R4 of the ball screw splined shaft 4 Side.In the embodiment shown in fig. 7, two motors are set to the outside of rotary shaft R4.

The lower part of lifting frame shell 11 is stretched out in one end of ball screw splined shaft 4；

Principal arm 2 is located at the lower part of lifting base 1, stretches out the ball screw splined shaft 4 of lifting 11 lower part of frame shell End be fixedly connected on principal arm 2,2 mass motion of principal arm can be driven, principal arm 2 has a principal arm shell 21, principal arm shell 21 Interior to be equipped with head driving motor M7, transmission mechanism and principal arm driven shaft 201, the motor shaft of head driving motor M7 passes through transmission Mechanism connects principal arm driven shaft 201, and the lower part of principal arm shell 21 is stretched out in one end of principal arm driven shaft 201.

Specifically, driving motor M7 in head is fixed in the fixed plate in principal arm shell 21, and head driving motor M7's is defeated Level-one driving pulley is connected on shaft, and a speed reducer J5 is set in principal arm shell 21, is arranged one on the input shaft of speed reducer J5 Grade driven pulley, connects level-one flat-toothed belt 210, speed reducer J5's is defeated between level-one driving pulley and level-one driven pulley Second level driving pulley, the fixed second level driven pulley on principal arm driven shaft 201, in second level driving pulley and two are set on shaft Second level flat-toothed belt 211, driven shaft and second level V belt translation in first order tape handler are connected between grade driven pulley Driving shaft in mechanism is coaxial.Start head driving motor M7, master can be driven by two-stage V belt translation and first class reducer J5 Arm driven shaft 201 rotates, and head driving motor M7 is located at the two of the rotary shaft R4 of ball screw splined shaft with principal arm driven shaft 201 Side, two-stage tape handler are separately positioned on the upper and lower ends of head speed reducer J5.

Head 3 is located at the lower part of principal arm 2, and the end for the principal arm driven shaft 201 for stretching out 21 lower part of principal arm shell passes through principal arm Bearing arrangement such as crossed cylindrical roller bearing 201a is fixedly connected on head 3, can drive 3 mass motion of head, and head 3 has There is a head shell 31, is equipped with driving motor M8, transmission mechanism and head working shaft 301, driving motor in head shell 31 The motor shaft of M8 connects head working shaft 301 by transmission mechanism, under one end extended tips shell 31 of head working shaft 301 Portion is connect with executing agency 5.

Specifically, driving motor M8 is fixed in the fixed plate in head shell 31, the output shaft of driving motor M8 A driving pulley is connected, a fixed driven pulley on head working shaft 301 connects tooth form between driving pulley and driven pulley Transmission belt 310.

As shown in figure 8, connecting the ball screw splined shaft 4 of principal arm 2, the principal arm driven shaft 201 for connecting head 3, connecting and hold The head working shaft 301 and principal arm bearing arrangement 201a of row mechanism 5 are hollow structure, lift in base 1 and are additionally provided with power The power that source D, power source D are drawn carrys out wiring A and passes through ball screw splined shaft 4, principal arm driven shaft 201, head working shaft 301 Hollow shaft structure cabling is connected to corresponding motor and execution structure 5 into principal arm shell 21 and head shell 31, is corresponding Component provides power.

The rotation axis R6 of head working shaft 301 to principal arm driven shaft 201 rotation axis R5 distance be not less than ball The rotary shaft R4 of screw rod splined shaft 4 to principal arm driven shaft 201 rotation axis R5 distance, with guarantee executing agency 5 work not There are blind spots.It is provided with power drive unit in executing agency 5, which is at least one of following power: electric power, Air pressure or hydraulic power.

As shown in Figure 10, the knob of two manual operations, knob 41b and knob 42b are set on ball screw splined shaft 4 It is directly or indirectly corresponding with the splined nut 41 and screw nut 42 connected on ball screw splined shaft 4 respectively to be connected.

Spanner 32 is set on head 3, head 3 can be enabled relative to 2 turns of the principal arm so that pulling the spanner 32 with hand It is dynamic；Spanner 22 is set on principal arm 2, the principal arm 2 can be enabled relative to the lifting base 1 so that pulling the spanner 22 with hand Rotation, progress that can be more convenient are debugged manually.

On the outer wall of 3 two sides in head and contact sensor is respectively set on the outer wall of 2 two sides of principal arm, works as machine Device head part 3 or principal arm 2 can incude when meeting people and stop motion.

The utility model is not limited to above embodiment, and anyone skilled in the art can all make a variety of modifications and change Change, under the spirit for not departing from the utility model, all in the utility model scope of the claimed.

Claims

The lifting machine people 1. a kind of horizontal articulated SCARA type cooperates, including lifting base (1), principal arm (2), head (3), rolling Ballscrew splined shaft (4) and executing agency (5), it is characterised in that:

In lifting base (1), lifting base (1) has a lifting frame shell for ball screw splined shaft (4) setting (11), it lifts and is provided with lifting mounting hole on frame shell (11), be equipped with ball screw splined shaft in lifting frame shell (11) Driving motor and transmission mechanism, ball screw splined shaft driving motor include ball screw splined shaft rotating electric machine (M5) and ball Screw rod splined shaft displacement motor (M6), ball screw splined shaft rotating electric machine (M5) and ball screw splined shaft displacement motor (M6) Motor shaft by transmission mechanism connect ball screw splined shaft (4) so that the ball screw splined shaft (4) realize setting The lower part of lifting frame shell (11) is stretched out in movement, one end of ball screw splined shaft (4)；

The principal arm (2) is located at the lower part of lifting base (1), stretches out the ball wire of described lifting frame shell (11) lower part The end of bar splined shaft (4) is fixedly connected on principal arm (2), can drive principal arm (2) mass motion, and principal arm (2) has a principal arm Shell (21), principal arm shell (21) is interior to be equipped with head driving motor (M7), transmission mechanism and principal arm driven shaft (201), head The motor shaft of driving motor (M7) connects principal arm driven shaft (201) by transmission mechanism, and one end of principal arm driven shaft (201) is stretched out The lower part of principal arm shell (21)；

The head (3) is located at the lower part of principal arm (2), stretches out the principal arm driven shaft of principal arm shell (21) lower part (201) end is fixedly connected on head (3), can drive head (3) mass motion, and head (3) have a head shell (31), driving motor (M8), transmission mechanism and head working shaft (301), driving motor (M8) are equipped in head shell (31) Motor shaft pass through transmission mechanism connection head working shaft (301), one end extended tips shell (31) of head working shaft (301) Lower part connect with executing agency (5).
The lifting machine people 2. horizontal articulated SCARA type according to claim 1 cooperates, it is characterised in that: the principal arm Principal arm bearing arrangement (201a) is equipped between driven shaft (201) and head shell (31)；And/or

Connect the ball screw splined shaft (4) of the principal arm (2), the principal arm driven shaft of the connection head (3) (201), it connects the head working shaft (301) of the executing agency (5) and the principal arm bearing arrangement (201a) is Hollow structure is lifted and is additionally provided with power source (D) in base (1), and the power that power source (D) is drawn carrys out wiring (A) and passes through ball wire Bar splined shaft (4), principal arm driven shaft (201), head working shaft (301) hollow shaft structure cabling, into principal arm shell (21) With in head shell (31), it is connected to corresponding motor and executing agency (5), provides power for corresponding component.
The lifting machine people 3. horizontal articulated SCARA type according to claim 1 or 2 cooperates, it is characterised in that: the head The distance that the rotation axis (R6) of portion's working shaft (301) arrives the rotation axis (R5) of the principal arm driven shaft (201) is not less than institute State the rotary shafts (R4) of ball screw splined shaft (4) to the principal arm driven shaft (201) rotation axis (R5) distance；With/ Or

It is provided with power drive unit on the executing agency (5), which is at least one of following power: electricity Power, air pressure or hydraulic power；And/or

The ball screw splined shaft (4) includes that the splined nut (41) of a cooperation main shaft upper spline structure and a cooperation are led The screw nut (42) of axle thread structure, splined nut (41) connect ball wire by transmission mechanism respectively with screw nut (42) Bar splined shaft rotating electric machine (M5) and ball screw splined shaft displacement motor (M6), the ball screw splined shaft rotating electric machine (M5) drive the splined nut (41) that the ball screw splined shaft (4) is rotated, the ball screw spline axial displacement Motor (M6) drives the screw nut (42) that the ball screw splined shaft (4) is moved up and down.
The lifting machine people 4. horizontal articulated SCARA type according to claim 3 cooperates, it is characterised in that: the screw thread Nut (42) is located at the top of the splined nut (41)；And/or

Transmission mechanism between the splined nut (41) and the ball screw splined shaft rotating electric machine (M5) includes second level band Transmission mechanism；And/or

Transmission mechanism between the screw nut (42) and the ball screw splined shaft displacement motor (M6) is level-one band biography Motivation structure；And/or

In the lifting base (1), two motors of the ball screw splined shaft (4) is driven to be respectively positioned on the ball screw flower The same side of the rotary shaft (R4) of key axis (4)；And/or

In the principal arm (2), the transmission mechanism between the head driving motor (M7) and the principal arm driven shaft (201) includes Second level tape handler；And/or

It is level-one tape handler between the driving motor (M8) and the head working shaft (301) in the head (3)； And/or

In the principal arm (2), the head driving motor (M7) and the principal arm driven shaft (201) are located at ball screw flower Two sides rotary shaft (R4) of key axis.
The lifting machine people 5. horizontal articulated SCARA type according to claim 4 cooperates, it is characterised in that: the spline In second level tape handler between nut (41) and the ball screw splined shaft rotating electric machine (M5), first order V belt translation machine The driving shaft in driven shaft and second level tape handler in structure is coaxial；And/or

It further include master in transmission mechanism between the splined nut (41) and the ball screw splined shaft rotating electric machine (M5) Arm speed reducer (J4), the input axis connection first order tape handler of the principal arm speed reducer (J4), the principal arm speed reducer (J4) output axis connection second level tape handler；Two-stage tape handler is separately positioned on the principal arm speed reducer (J4) Upper and lower ends；And/or

It further include head speed reducer in transmission mechanism between the head driving motor (M7) and the principal arm driven shaft (201) (J5), the input axis connection first order tape handler of the head speed reducer (J5), the output of the head speed reducer (J5) Axis connection second level tape handler；Two-stage tape handler is separately positioned on the upper and lower ends of the head speed reducer (J5)； And/or

Two motors of the ball screw splined shaft (4) are driven to be respectively positioned on the rotary shaft of the ball screw splined shaft (4) (R4) outside.
6. according to claim 1 to the cooperation lifting machine people of horizontal articulated SCARA type described in one of 2, it is characterised in that: The knobs of two manual operations are set on the ball screw splined shaft (4), two knobs respectively directly or indirectly with it is described The screw nut (42) and splined nut (41) connected on ball screw splined shaft (4) is connected；And/or

On the head (3) be arranged spanner (32) so that with hand pull the spanner (32) can enable the head (3) relative to Principal arm (2) rotation；And/or

On the principal arm (2) be arranged spanner (22) so that with hand pull the spanner (22) can enable the principal arm (2) relative to Lifting base (1) rotation；And/or

The transmission mechanism is tape handler.
The lifting machine people 7. horizontal articulated SCARA type according to claim 3 cooperates, it is characterised in that: in the rolling The knobs of two manual operations are set on ballscrew splined shaft (4), two knobs respectively directly or indirectly with the ball wire The screw nut (42) and splined nut (41) connected on bar splined shaft (4) is connected；And/or

On the head (3) be arranged spanner (32) so that with hand pull the spanner (32) can enable the head (3) relative to Principal arm (2) rotation；And/or

On the principal arm (2) be arranged spanner (22) so that with hand pull the spanner (22) can enable the principal arm (2) relative to Lifting base (1) rotation；And/or

The transmission mechanism is tape handler.
The lifting machine people 8. horizontal articulated SCARA type according to claim 4 cooperates, it is characterised in that: in the rolling The knobs of two manual operations are set on ballscrew splined shaft (4), two knobs respectively directly or indirectly with the ball wire The screw nut (42) and splined nut (41) connected on bar splined shaft (4) is connected；And/or

On the head (3) be arranged spanner (32) so that with hand pull the spanner (32) can enable the head (3) relative to Principal arm (2) rotation；And/or

On the principal arm (2) be arranged spanner (22) so that with hand pull the spanner (22) can enable the principal arm (2) relative to Lifting base (1) rotation；And/or

The transmission mechanism is tape handler.
The lifting machine people 9. horizontal articulated SCARA type according to claim 6 cooperates, it is characterised in that: the band passes Motivation structure is Synchronous Belt Drives mechanism.
10. according to claim 1 to the cooperation lifting machine people of horizontal articulated SCARA type described in one of 2, it is characterised in that: Contact sensor is set on the outer wall of (3) two sides in head and/or on the outer wall of (2) two sides of principal arm.
The lifting machine people 11. horizontal articulated SCARA type according to claim 3 cooperates, it is characterised in that: in the head Contact sensor is set on the outer wall of (3) two sides in portion and/or on the outer wall of (2) two sides of principal arm.
The lifting machine people 12. horizontal articulated SCARA type according to claim 4 cooperates, it is characterised in that: in the head Contact sensor is set on the outer wall of (3) two sides in portion and/or on the outer wall of (2) two sides of principal arm.
The lifting machine people 13. horizontal articulated SCARA type according to claim 5 cooperates, it is characterised in that: in the head Contact sensor is set on the outer wall of (3) two sides in portion and/or on the outer wall of (2) two sides of principal arm.
The lifting machine people 14. horizontal articulated SCARA type according to claim 6 cooperates, it is characterised in that: in the head Contact sensor is set on the outer wall of (3) two sides in portion and/or on the outer wall of (2) two sides of principal arm.
The lifting machine people 15. horizontal articulated SCARA type according to claim 9 cooperates, it is characterised in that: in the head Contact sensor is set on the outer wall of (3) two sides in portion and/or on the outer wall of (2) two sides of principal arm.