CN212635739U - SCARA robot - Google Patents

Abstract

The utility model relates to a SCARA robot, include: the robot comprises a moving platform and a mechanical arm inversely arranged on the moving platform. The mobile platform includes: the device comprises a guide rail, a mounting seat connected to the guide rail in a sliding manner, and a first driving assembly connected with the mounting seat; the arm includes: the first swing arm of connection mount pad, the second swing arm of articulated first swing arm, connect the second drive assembly between first swing arm and second swing arm, wear to establish ball spline shaft on the second swing arm perpendicularly, the third drive assembly who connects ball spline shaft and the fourth drive assembly who connects ball spline shaft. Above-mentioned SCARA robot adopts the structure setting of translation flip-chip for the primary shaft of SCARA robot changes into translational motion, makes SCARA robot have mobilizable basic point, and the installation form of cooperation flip-chip again makes the arm can remove along the overall arrangement direction of work piece, thereby overcomes the action blind spot, and under the prerequisite that does not change the arm exhibition, enlarges the action region.

Description

SCARA robot

Technical Field

The utility model relates to an automation equipment technical field especially relates to a SCARA robot.

Background

A SCARA (Selective compliance Assembly Arm) robot is a special type of industrial robot of the cylindrical coordinate type.

At present, SCARA robots in the market are fixedly arranged on a rack, so the size of an action area A1 of each SCARA robot is determined by the arm extension of the SCARA robot, if the SCARA robot exceeds the action area A1 of each SCARA robot, the SCARA robot with a larger arm extension is generally considered to be selected, or an automatic platform on which the SCARA robot is arranged is changed, the cost is increased due to the consideration of the two conditions, and in general, an action dead zone B1 exists when the SCARA robot is arranged in a normal installation mode. For example, as shown in fig. 1, a work C1, a work C2, and a work C3 are arranged in this order on a straight line. The workpiece C2 and the workpiece C3 are not in the action area A1 of the SCARA robot, and in order to adapt to the layout of the workpiece C, if the SCARA robot with a larger arm spread is selected, the workpiece C1 and the workpiece C3 can both enter the working range of the SCARA robot, but the workpiece C2 is positioned in a special position and is positioned near the rotating central axis of the shaft of the SCARA robot 1, the position is an action dead zone B1 of the SCARA robot, and the action dead zone B1 is a condition generally existing in the SCARA robot; in view of the above, in order to solve the problem that the workpieces C3 and C2 are not in the operation area a1, it is considered that the table on which the workpieces C are placed is designed to be movable in cooperation with the SCARA robot, and the problem can be solved. The solutions described above all make the structure complex and increase the costs.

SUMMERY OF THE UTILITY MODEL

Based on this, the utility model provides a SCARA robot adopts the structure setting of translation flip-chip for the primary shaft of SCARA robot changes into translation motion, makes SCARA robot have mobilizable basic point, deuterogamies the installation form of flip-chip, makes the arm can remove along the overall arrangement direction of work piece, thereby overcomes the action blind spot, and under the prerequisite that does not change the arm exhibition, enlarges the action region.

A SCARA robot, comprising:

a mobile platform; the mobile platform includes: the device comprises a guide rail, a mounting seat connected to the guide rail in a sliding manner, and a first driving assembly connected with the mounting seat; the first driving assembly is used for driving the mounting seat to move in a translation mode along the guide rail; and

the mechanical arm is inversely arranged on the mobile platform; the arm includes: the device comprises a first swing arm connected with a mounting seat, a second swing arm hinged with the first swing arm, a second driving assembly connected between the first swing arm and the second swing arm, a ball spline shaft vertically penetrating the second swing arm, a third driving assembly connected with the ball spline shaft, and a fourth driving assembly connected with the ball spline shaft; the second driving assembly is used for driving the second swing arm to rotate relative to the first swing arm; the third driving assembly is used for driving the ball spline shaft to move up and down relative to the second swing arm; and the fourth driving assembly is used for driving the ball spline shaft to rotate relative to the second swing arm.

Above-mentioned SCARA robot, at the during operation, moving platform's first drive assembly can drive the mount pad along guide rail translation, and the arm is installed on the mount pad through first swing arm, consequently, can realize the translation of arm, and SCARA robot's primary shaft also improves into translation from traditional rotary motion. Meanwhile, the mechanical arm is inversely arranged on the mobile platform, and the action area of the mechanical arm cannot be shielded by the mobile platform. The second driving assembly drives the second swing arm to rotate relative to the first swing arm, and the rotary motion of a second shaft of the SCARA robot is achieved. And the third driving assembly drives the ball spline shaft to move up and down, so that the third shaft of the SCARA robot can move up and down. And the fourth driving component drives the ball spline shaft to perform autorotation motion, so that the fourth shaft of the SCARA robot performs rotary motion. Through above-mentioned design, adopt the structure setting of translation flip-chip for the primary shaft of SCARA robot changes into translation motion, makes SCARA robot have mobilizable basic point, and the installation form of cooperation flip-chip again makes the arm can move along the overall arrangement direction of work piece, thereby overcomes the action blind spot, and under the prerequisite that does not change the arm exhibition, enlarges the action region.

In one embodiment, the first drive assembly comprises: the device comprises a first motor, a screw rod connected with the first motor and a first nut sleeved with the screw rod; the extension directions of the screw rod and the guide rail are consistent; the first nut is connected with the mounting seat; the first motor is used for driving the screw rod to rotate so as to drive the mounting seat connected with the first nut to linearly move along the guide rail. The driving structure of the motor and the screw rod is adopted, so that the moving platform can drive the mechanical arm to realize accurate and stable translational motion.

In one embodiment, the number of the screw rods and the number of the guide rails are one, and the screw rods and the guide rails are arranged above the mounting seat. The design of single lead screw and single guide rail is adopted, the structure of the mobile platform can be simplified, the control is simple, and the cost is reduced.

In one embodiment, the number of the screw rods and the number of the guide rails are two, and one screw rod is correspondingly arranged on one guide rail; two lead screws are respectively arranged on two sides of the mounting seat. The double-screw rods and the double-guide rails which are positioned on two sides of the mounting seat are arranged, so that more space can be provided for the Z-axis lifting motion of the ball spline shaft.

In one embodiment, the second drive assembly comprises: install the motor cabinet between first swing arm and second swing arm, install the second motor on the motor cabinet, connect the first bent axle of second motor and connect the first speed reducer of first bent axle. The second motor drives the first crankshaft to rotate, and the output torque is increased through the first speed reducer, so that stable driving force is provided for relative rotation of the first swing arm and the second swing arm.

In one embodiment, the second driving assembly is mounted at one end of the first swing arm connected with the second swing arm, and the second driving assembly is coaxial with the first swing arm. When the second driving assembly works, the first swing arm is used as a base to drive the second swing arm to rotate.

In one embodiment, the third drive assembly comprises: the second nut is sleeved with the ball spline shaft, the second crankshaft is sleeved with the second nut, and the third motor is sleeved with the second crankshaft; the ball spline shaft penetrates through the third motor. The third motor is connected to the ball spline shaft in a sleeved mode through a second machine shaft and a second nut, so that the third motor drives the ball spline shaft to move up and down in a direct-drive mode, the synchronous belt is omitted, and the transmission precision and the transmission efficiency of the third shaft movement are improved.

In one embodiment, the third drive assembly further comprises: a brake shaft sleeved with the second crankshaft and a brake sleeved with the brake shaft. The brake shaft is driven by the brake to realize the braking action of the second crankshaft, so that the problem of accuracy reduction caused by inertia during working is solved.

In one embodiment, the fourth drive assembly comprises: the R-shaft engine base is arranged on the second swing arm, the second speed reducer is connected with the R-shaft engine base, the fourth motor is connected with the second speed reducer, the first driving belt wheel is connected with the second speed reducer, the first synchronous belt is connected with the first driving belt wheel, the first driven belt wheel is connected with the first synchronous belt, and the spline nut is arranged on the first driven belt wheel; the spline female is sleeved with the ball spline shaft. After the fourth motor increases the output torque through the second speed reducer, the spline nut is driven to rotate through the first driving belt wheel, the first synchronous belt and the first driven belt wheel, and therefore the ball spline shaft is driven to rotate to achieve fourth shaft movement.

In one embodiment, the third drive assembly comprises: the third nut is arranged on the second driven belt wheel; the third nut is connected with the ball spline shaft. The fifth motor drives the third nut to rotate through the second driving belt wheel, the second synchronous belt and the second driven belt wheel, so that the ball spline shaft is driven to lift to realize third shaft motion.

Drawings

Fig. 1 is a schematic view of a motion region of a conventional SCARA robot;

fig. 2 is a schematic view of a SCARA robot according to a first embodiment of the present invention;

FIG. 3 is a schematic view of a mobile platform in the SCARA robot shown in FIG. 2;

FIG. 4 is a schematic view of another perspective of the mobile platform shown in FIG. 3;

FIG. 5 is a schematic view of a robotic arm in the SCARA robot shown in FIG. 2;

FIG. 6 is a partial view of the robotic arm shown in FIG. 5;

FIG. 7 is an exploded view of the robotic arm shown in FIG. 6;

FIG. 8 is a partial cross-sectional view of the robotic arm shown in FIG. 6;

FIG. 9 is a diagram of another implementation of the robotic arm shown in FIG. 5;

FIG. 10 is a schematic diagram of the operation of the SCARA robot shown in FIG. 2;

FIG. 11 is a diagram of the working area of the SCARA robot shown in FIG. 10;

fig. 12 is a schematic view of a SCARA robot according to the second embodiment of the present invention.

The meaning of the reference symbols in the drawings is:

100-SCARA robot;

10-a moving platform, 11-a guide rail, 12-a mounting seat, 13-a first driving assembly, 131-a first motor, 132-a screw rod, 133-a first nut;

20-mechanical arm, 21-first swing arm, 22-second swing arm, 23-second drive assembly, 231-motor base, 232-second motor, 233-first crankshaft, 234-first reducer, 24-ball spline shaft, 25-third drive assembly, 251-second nut, 252-second crankshaft, 253-third motor, 2531-rotor, 2532-stator, 254-brake shaft, 255-brake, 256-fifth motor, 257-second driving pulley, 258-second synchronous belt, 259-second driven pulley, 2510-third nut, 2511-housing, 2512-upper cover, 2513-upper pressing plate, 2514-first bearing, 2515-Z shaft base, 2516-second bearing, 26-fourth drive assembly, 261-R shaft base, 262-second speed reducer, 263-fourth motor, 264-first driving belt wheel, 265-first synchronous belt, 266-first driven belt wheel, 267-spline nut, 268-third bearing and 269-lower pressing plate.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Example one

As shown in fig. 2 to 11, a SCARA robot 100 according to a first embodiment of the present invention is shown.

As shown in fig. 2, the SCARA robot 100 includes: a mobile platform 10 and a robot arm 20 that is inverted on the mobile platform 10. In operation, the mechanical arm 20 performs an operation on a workpiece, and the mobile platform 10 can drive the mechanical arm 20 to perform a translational motion, that is, the mechanical arm 20 is built on a base capable of translating, so that the position of the mechanical arm 20 is changed in a translation manner, thereby increasing the working area of the mechanical arm 20 on the premise of not changing the extension of the arm, and overcoming the problem of dead zones.

Hereinafter, the SCARA robot 100 will be further described with reference to fig. 3 to 11.

As shown in fig. 3 and 4, the mobile platform 10 includes: a guide rail 11, a mounting base 12 slidably coupled to the guide rail 11, and a first drive assembly 13 coupled to the mounting base 12. The first driving assembly 13 is configured to drive the mounting base 12 to move in a translational manner along the guide rail 11. In operation, the first driving assembly 13 drives the mounting base 12 to move in a translational manner along the sliding direction of the guide rail 11.

The translation direction of the moving platform 10 can be set according to practical requirements, for example, in the embodiment, the translation motion in the linear direction is shown, and the X direction or the Y direction is selected according to the arrangement of the workpieces. In other embodiments, a translation mechanism can be provided that translates arbitrarily in the XY plane, if desired for production.

Taking the implementation of the Y-direction translational motion as an example, as shown in fig. 3 and 4, in the present embodiment, the first driving assembly 13 includes: the device comprises a first motor 131, a screw rod 132 connected with the first motor 131, and a first nut 133 sleeved on the screw rod 132. The screw 132 is aligned with the extending direction of the guide rail 11, and the first nut 133 is connected to the mounting seat 12. The first motor 131 is used for driving the screw rod 132 to rotate so as to drive the mounting seat 12 connected with the first nut 133 to move linearly along the guide rail 11. By adopting the driving structure of the motor and the lead screw 132, the mobile platform 10 can drive the mechanical arm 20 to realize accurate and stable translational motion.

Further, as shown in fig. 4, the number of the screw rod 132 and the guide rail 11 is one, and both the screw rod 132 and the guide rail 11 are disposed above the mounting base 12. By adopting the design of the single screw 132 and the single guide rail 11, the structure of the mobile platform 10 can be simplified, the control is simple, and the cost is reduced.

As shown in fig. 5 and 6, the robot arm 20 includes: the swing arm mechanism comprises a first swing arm 21 connected with the mounting base 12, a second swing arm 22 hinged with the first swing arm 21, a second driving assembly 23 connected between the first swing arm 21 and the second swing arm 22, a ball spline shaft 24 vertically penetrating the second swing arm 22, a third driving assembly 25 connected with the ball spline shaft 24, and a fourth driving assembly 26 connected with the ball spline shaft 24. The second driving assembly 23 is configured to drive the second swing arm 22 to rotate relative to the first swing arm 21. The third driving assembly 25 is used for driving the ball spline shaft 24 to move up and down relative to the second swing arm 22. The fourth driving assembly 26 is used for driving the ball spline shaft 24 to rotate relative to the second swing arm 22.

As shown in fig. 6 to 8, the second driving assembly 23 includes: a motor base 231 installed between the first swing arm 21 and the second swing arm 22, a second motor 232 installed on the motor base 231, a first shaft 233 connected to the second motor 232, and a first reducer 234 connected to the first shaft 233. The second motor 232 drives the first shaft 233 to rotate, and then the output torque is increased by the first speed reducer 234, so as to provide a stable driving force for the relative rotation of the first swing arm 21 and the second swing arm 22.

In addition, in the present embodiment, the second driving assembly 23 is installed at one end of the first swing arm 21 connected to the second swing arm 22, and the second driving assembly 23 is coaxial with the first swing arm 21. In operation, the second driving assembly 23 drives the second swing arm 22 to rotate by using the first swing arm 21 as a base.

Considering that the third driving assembly 25 and the fourth driving assembly 26 are mounted on the second swing arm 22, different specific arrangements of the third driving assembly 25 and the fourth driving assembly 26 can be provided according to different design requirements.

For example, as shown in fig. 6 to 8, in the robot arm 20 of the present embodiment, the third driving assembly 25 employs a direct drive transmission, and the fourth driving assembly 26 employs a synchronous belt transmission, which is advantageous in that the spatial distance between the third driving assembly 25 and the fourth driving assembly 26 on the second swing arm 22 is extended without changing the extension of the second swing arm 22, so as to provide good heat dissipation capability while maintaining the overall compactness.

As shown in fig. 6 to 8, the third driving assembly 25 includes: a second nut 251 journaled to the ball spline shaft 24, a second shaft 252 journaled to the second nut 251, and a third motor 253 journaled to the second shaft 252. The ball spline shaft 24 passes through the third motor 253. The third motor 253 is sleeved on the ball spline shaft 24 through the second crankshaft 252 and the second nut 251, so that the third motor 253 drives the ball spline shaft 24 to move up and down in a direct driving mode, the use of a synchronous belt is omitted, and the transmission precision and the transmission efficiency of the third shaft movement are improved.

Further, the third driving assembly 25 further includes: a brake shaft 254 sleeved on the second crankshaft 252 and a brake 255 sleeved on the brake shaft 254. The brake shaft 254 is moved by the brake 255 to perform a braking action of the second crankshaft 252, thereby overcoming a problem of a decrease in accuracy due to inertia during operation.

Further, as shown in fig. 8, the third motor 253 is provided in a ring shape and includes: a rotor 2531 journaled to the first shaft 233 and a stator 2532 journaled to the rotor 2531. In order to protect the third motor 253, a protective case 2511 and an upper cover 2512 may be provided, an upper pressure plate 2513 may be provided between the upper cover 2512 and the first shaft 233, and a first bearing 2514 may be provided between the upper pressure plate 2513 and the upper cover 2512. To facilitate mounting of the third motor 253, the third driving assembly 25 is further provided with a Z-axis mount 2515 connected to the second swing arm 22, and a second bearing 2516 is disposed between the first axis 233 and the Z-axis mount 2515.

As shown in fig. 6 to 8, the fourth drive assembly 26 includes: an R-axis base 261 mounted on the second swing arm 22, a second speed reducer 262 connected to the R-axis base 261, a fourth motor 263 connected to the second speed reducer 262, a first driving pulley 264 connected to the second speed reducer 262, a first synchronous belt 265 connected to the first driving pulley 264, a first driven pulley 266 connected to the first synchronous belt 265, and a spline nut 267 mounted on the first driven pulley 266. The spline female 267 is fitted over the ball spline shaft 24. After the output torque of the fourth motor 263 is increased by the second speed reducer 262, the spline nut 267 is driven to rotate by the first driving pulley 264, the first synchronous belt 265 and the first driven pulley 266, so as to drive the ball spline shaft 24 to rotate to realize the fourth shaft motion. A third bearing 268 is provided between the first driven pulley 264 and the second swing arm 22. A lower pressure plate 269 is provided between the bottom end of the spline female 267 and the second swing arm 22.

For another example, as shown in fig. 9, in the robot arm 20 of the present embodiment, the third driving unit 25 and the fourth driving unit 26 both use a synchronous belt drive.

As shown in fig. 9, the third drive assembly 25 includes: a fifth motor 256 mounted on the second swing arm 22, a second driving pulley 257 connected to the fifth motor 256, a second timing belt 258 connected to the second driving pulley 257, a second driven pulley 259 connected to the second timing belt 258, and a third nut 2510 mounted on the second driven pulley 259. Third nuts 2510 receive the ball spline shaft 24. The fifth motor 256 drives the third nut 2510 to rotate via the second driving pulley 257, the second timing belt 258, and the second driven pulley 259, thereby driving the ball spline shaft 24 to move up and down to realize the third shaft movement.

As shown in fig. 9, the structural arrangement of the fourth driving assembly 26 is the same as that described above, and therefore, the description thereof is omitted.

As shown in fig. 10, in operation, the first driving assembly 13 of the mobile platform 10 can drive the mounting base 12 to move in a translational manner along the guide rail 11, and the robot arm 20 is mounted on the mounting base 12 through the first swing arm 21, so that the translational movement of the robot arm 20 can be realized, and the first axis of the SCARA robot 100 is also modified from a conventional rotational movement to a translational movement. Meanwhile, the robot arm 20 is flipped over the mobile platform 10, and the motion area of the robot arm 20 is not blocked by the mobile platform 10. The second driving assembly 23 drives the second swing arm 22 to rotate relative to the first swing arm 21, so as to realize the rotation of the second shaft of the SCARA robot 100. The third driving assembly 25 drives the ball spline shaft 24 to move up and down, so that the third shaft of the SCARA robot 100 can move up and down. The fourth driving assembly 26 drives the ball spline shaft 24 to perform autorotation motion, so as to realize the rotation motion of the fourth shaft of the SCARA robot 100.

As shown in fig. 11, since the moving platform 10 is used to realize Y-direction translation of the robot arm 20 in the present embodiment, the motion region of the SCARA robot 100 is changed from a circular ring shape as shown in the figure to a solid oval shape. In addition, in the present embodiment, since the moving platform 10 that translates in the Y direction is used instead of the conventional first axis, the X-direction movement area of the SCARA robot 100 is reduced, but the work requirements for the workpieces C1, C2, and C3 distributed in the Y direction can still be satisfied.

Above-mentioned SCARA robot 100 adopts the structure setting of translation flip-chip for SCARA robot 100's primary shaft changes into translational motion, makes SCARA robot 100 have mobilizable basic point, and the installation form of cooperation flip-chip again makes arm 20 can remove along the overall arrangement direction of work piece, thereby overcomes the action blind spot, and under the prerequisite that does not change the arm exhibition, enlarges the action region.

Example two

As shown in fig. 12, a SCARA robot 100 according to a second embodiment of the present invention is illustrated.

The difference between this embodiment and the first embodiment is: in the SCARA robot 100 of the present embodiment, the number of the screw rods 132 and the guide rails 11 is two, and one screw rod 132 is correspondingly installed on one guide rail 11. The two lead screws 132 are respectively disposed on two sides of the mounting base 12. The provision of the twin screw 132 and the twin guide rail 11 on both sides of the mount 12 provides more space for the Z-axis elevating movement of the ball spline shaft 24, for example, as can be seen from fig. 10 and 12, in the present embodiment, the space for movement of the ball spline shaft 24 in the Z-direction upward is larger.

Other structures of the present embodiment are the same as those of the first embodiment, and the beneficial effects of the first embodiment can also be achieved.

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

The above examples only represent preferred embodiments of the present invention, which are described in more detail and detail, but are not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. A SCARA robot, comprising:

a mobile platform; the mobile platform includes: the device comprises a guide rail, a mounting seat connected to the guide rail in a sliding manner, and a first driving assembly connected with the mounting seat; the first driving assembly is used for driving the mounting seat to move in a translation mode along the guide rail; and

the mechanical arm is inversely arranged on the mobile platform; the robot arm includes: the first swing arm is connected with the mounting seat, the second swing arm is hinged with the first swing arm, the second driving assembly is connected between the first swing arm and the second swing arm, the ball spline shaft vertically penetrates through the second swing arm, the third driving assembly is connected with the ball spline shaft, and the fourth driving assembly is connected with the ball spline shaft; the second driving assembly is used for driving the second swing arm to rotate relative to the first swing arm; the third driving assembly is used for driving the ball spline shaft to move up and down relative to the second swing arm; and the fourth driving assembly is used for driving the ball spline shaft to rotate relative to the second swing arm.

2. The SCARA robot of claim 1, wherein the first drive assembly comprises: the device comprises a first motor, a screw rod connected with the first motor and a first nut sleeved with the screw rod; the extension directions of the screw rod and the guide rail are consistent; the first nut is connected with the mounting seat; the first motor is used for driving the screw rod to rotate so as to drive the mounting seat connected with the first nut to linearly move along the guide rail.

3. The SCARA robot of claim 2, wherein the number of lead screw and guide rail is one, and both the lead screw and the guide rail are disposed above the mount.

4. The SCARA robot of claim 2, wherein the number of the screw rods and the guide rails is two, and one screw rod is correspondingly mounted on one guide rail; the two screw rods are respectively arranged on two sides of the mounting seat.

5. The SCARA robot of claim 1, wherein the second drive assembly comprises: the first swing arm is connected with the second swing arm through a first connecting rod, the second swing arm is connected with the second swing arm through a second connecting rod, and the second swing arm is connected with the second connecting rod through a second connecting rod.

6. The SCARA robot of claim 1, wherein the second drive assembly is mounted at an end of the first swing arm to which the second swing arm is connected, and the second drive assembly is coaxial with the first swing arm.

7. The SCARA robot of claim 1, wherein the third drive assembly comprises: the second nut is sleeved on the ball spline shaft, the second crankshaft is sleeved on the second nut, and the third motor is sleeved on the second crankshaft; the ball spline shaft penetrates through the third motor.

8. The SCARA robot of claim 7, wherein the third drive assembly further comprises: a brake shaft sleeved on the second crankshaft and a brake sleeved on the brake shaft.

9. The SCARA robot of claim 1, wherein the fourth drive assembly comprises: the R shaft base is arranged on the second swing arm, the second speed reducer is connected with the R shaft base, the fourth motor is connected with the second speed reducer, the first driving belt wheel is connected with the second speed reducer, the first synchronous belt is connected with the first driving belt wheel, the first driven belt wheel is connected with the first synchronous belt, and the spline nut is arranged on the first driven belt wheel; the spline female is sleeved with the ball spline shaft.

10. The SCARA robot of claim 1, wherein the third drive assembly comprises: the third driving belt pulley is connected with the third driving belt pulley, the third synchronous belt is connected with the third driving belt pulley, the third driven belt pulley is connected with the third synchronous belt, and the third nut is mounted on the third driven belt pulley; the third nut is connected with the ball spline shaft.

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