A scara collaborative robot suitable for working in a confined space

Abstract

The application provides a SCARA collaborative robot suitable for working in a narrow space, which comprises a rotating assembly, a lifting assembly, a first mechanical arm and a second mechanical arm. The rotating assembly comprises a first driving mechanism, a first speed reducer and a first rotating seat, and the first rotating seat can rotate 0-360 degrees. The lifting assembly comprises a lifting module, a sliding plate and a second driving mechanism. The lifting module rotates synchronously with the first rotating seat, and the length of the lifting module is not less than 150 mm. The sliding plate and the second driving mechanism are connected to the lifting module respectively. The first mechanical arm is connected to the sliding plate and a second speed reducer. The second speed reducer is connected to a second rotating seat, and the second rotating seat is connected to a third driving mechanism. The second mechanical arm is connected to the second rotating seat and a third rotating seat. The fourth driving mechanism is connected to the third rotating seat. The thickness of the front end of the second mechanical arm is 15-250 mm, and the length at the thickness is 100-800 mm, so that the robot can work in a narrow space.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and in particular to a SCARA collaborative robot suitable for working in confined spaces. Background Technology

[0002] In recent years, the level of industrial automation has been continuously improving, and collaborative industrial robots have generally replaced or assisted manual labor in assembly, disassembly, and other operations. Existing SCARA industrial robots typically have robotic arms with a height of 350-800mm when fitted with fixtures. Combined with the fixture height, this makes them unsuitable for narrow work environments with gaps less than 400mm. However, such environments are extremely common in this industry, such as vertical injection molding machines, ultrasonic welding machines, pad printing machines, punch presses, cutting machines, screen printing machines, hot melt machines, and shelving. Therefore, there is an urgent need for a robot capable of working in such environments. Furthermore, traditional SCARA robots use a single lead screw for vertical movement. Due to limitations in strength and stability of the single lead screw, their vertical working distance is mostly 150mm, with very few reaching 200mm, and even then, the accuracy and cycle time drop drastically. Moreover, their load capacity is mostly within 10 kg; exceeding this limits results in a sharp decrease in accuracy and cycle time. Therefore, they are unsuitable for large-stroke or high-load operations, significantly limiting their applicability. Summary of the Invention

[0003] Therefore, in addition to achieving the precision, speed, service life and functions of international brands, this invention also perfectly solves the three major defects of SCARA industrial robots: large working end size, limited vertical stroke and load. It provides a universal SCARA collaborative robot that can rotate and lift 360°, has an effective vertical stroke of 100-2000MM, a load of 1-1500KG, and is suitable for working in narrow spaces with gaps within 400MM, thus expanding the application scenarios of SCARA robots several times over.

[0004] To address the aforementioned technical problems, this invention provides a SCARA collaborative robot suitable for working in confined spaces, characterized by comprising: a rotating assembly, which includes a first drive mechanism, a first reducer connected to the first drive mechanism, and a first rotating base connected to the working end of the first reducer, wherein the first rotating base rotates 0-360° around a first rotation center line; and a lifting assembly, which is connected to the working end of the rotating assembly and includes a lifting module, a sliding plate, and a second drive mechanism, wherein the lifting module is connected to the first rotating base and rotates synchronously with the first rotating base, and the length of the lifting module is not less than 150mm; the sliding plate is connected to the lifting module and is capable of rotating within the lifting module. Simultaneously, it reciprocates along the extension direction of the lifting module, with a travel distance of 0-2000MM and a load of 0-1500KG. The second drive mechanism is connected to the lifting module. The first robotic arm has one end connected to the slide plate and the other end connected to the second rotating seat. The second rotating seat is connected to a third drive mechanism that drives it to rotate around a second rotation center line. The second robotic arm has one end connected to the second rotating seat via a second reducer and the other end connected to the third rotating seat via a third reducer. The third rotating seat is connected to a fourth drive mechanism that drives it to rotate around a third rotation center line. The working end of the second robotic arm has a thickness of 15-250MM and a length of 100-800MM at this thickness.

[0005] In one embodiment of the present invention, the second robotic arm further includes a linkage mechanism connected between the fourth drive mechanism and the third rotary seat, and includes a drive wheel, a driven wheel, and a linkage timing belt, wherein the drive wheel is connected to the fourth drive mechanism, the driven wheel is connected to the third rotary seat, and the linkage timing belt connects the drive wheel and the driven wheel.

[0006] In one embodiment of the present invention, the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism are all one of a servo motor, a stepper motor or a direct drive motor.

[0007] In one embodiment of the present invention, the second robotic arm further includes a direct drive motor, which is connected to the third rotary seat and rotates about the third rotation center line.

[0008] In one embodiment of the present invention, the first reducer, the second reducer and the third reducer are all precision reducers.

[0009] In one embodiment of the present invention, the lifting module is one of a lead screw module, a synchronous belt drive module, or a rack and pinion drive module.

[0010] In one embodiment of the present invention, it is further provided with a collision damage prevention control system and a plurality of collision detection devices, wherein the plurality of collision detection devices are respectively disposed on the first robotic arm and the second robotic arm, and are signal connected to the collision damage prevention control system.

[0011] In one embodiment of the present invention, the first robotic arm further includes a reinforcing rib, which is disposed along the extending direction of the first robotic arm.

[0012] In one embodiment of the invention, the rotating assembly further includes a base.

[0013] In one embodiment of the present invention, the lifting assembly further includes a mounting base, and the lifting assembly is connected to the rotating assembly through the mounting base.

[0014] The technical solution of the present invention has the following advantages compared with the prior art:

[0015] The front end of the second robotic arm of this SCARA collaborative robot, suitable for working in confined spaces, has a thickness of 15-250mm and a front end length of 100-800mm, facilitating its entry into confined spaces. Furthermore, it utilizes a lifting module instead of the traditional single lead screw, enabling the robot to achieve an effective vertical stroke of 100-2000mm, a load capacity of 1-1500KG, and 360° rotation, thus expanding the applicable scenarios for SCARA robots. Attached Figure Description

[0016] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0017] Figure 1 This is a three-dimensional schematic diagram of a SCARA collaborative robot suitable for working in confined spaces according to a preferred embodiment of the present invention;

[0018] Figure 2 yes Figure 1 A three-dimensional schematic diagram of the rotating component;

[0019] Figure 3 yes Figure 1 A three-dimensional schematic diagram of the lifting assembly;

[0020] Figure 4 yes Figure 1 A 3D schematic diagram of the first robotic arm in China;

[0021] Figure 5 yes Figure 1 A three-dimensional schematic diagram of the second robotic arm.

[0022] Explanation of reference numerals in the accompanying drawings: 100, Rotating assembly; 110, First rotating seat; 120, First drive mechanism; 130, Base; 131, Mounting plate; 200, Lifting assembly; 210, Lifting module; 211, Cover plate; 212, Module body; 220, Slide plate; 221, First connecting part; 222, Second connecting part; 230, Second drive mechanism; 240, Mounting seat; 300, First robotic arm; 310, Reinforcing rib; 320, Third drive mechanism; 330, Second rotating seat; 400, Second robotic arm; 410, Third connecting part; 420, Fourth drive mechanism; 430, Linkage mechanism; 431, Driving wheel; 432, Driven wheel; 433, Linkage synchronous belt; 440, Third rotating seat; 450, Functional component; 1001, First rotation center line; 1002, Second rotation center line; 1003, Third rotation center line. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0024] Example 1

[0025] This invention provides a SCARA collaborative robot suitable for working in confined spaces, comprising:

[0026] A rotating assembly 100 includes a first drive mechanism 120, a first reducer connected to the first drive mechanism 120, and a first rotating base 110 connected to the working end of the first reducer. The first rotating base 110 rotates 0-360° around a first rotation center line 1001. A lifting assembly 200 is connected to the working end of the rotating assembly 100 and includes a lifting module 210, a sliding plate 220, and a second drive mechanism 230. The lifting module 210 is connected to the first rotating base 110 and rotates synchronously with the first rotating base 110. The length of the lifting module 210 is not less than 150mm. The sliding plate 220 is connected to the lifting module 210 and can reciprocate along the extension direction of the lifting module 210 while the lifting module 210 rotates. The range is 0-2000MM and the load is 0-1500KG. The second drive mechanism 230 is connected to the lifting module 210. The first robotic arm 300 has one end connected to the slide plate 220 and the other end connected to the second rotating seat 330. The second rotating seat 330 is connected to the third drive mechanism 320 that drives it to rotate around the second rotation center line 1002. The second robotic arm 400 has one end connected to the second rotating seat 330 and the other end connected to the third reducer. The working end of the third reducer is connected to the third rotating seat 440. The third rotating seat 440 is connected to the fourth drive mechanism 420 that drives it to rotate around the third rotation center line 1003. The working end thickness of the second robotic arm 400 is 15-250MM, and the front end length of this thickness is 100-800MM.

[0027] This SCARA collaborative robot, designed for use in confined spaces, can first rotate 360° horizontally via the rotating component 100, and then move vertically by at least 150mm via the lifting component 200. Subsequently, the first robotic arm 300 drives the second robotic arm 400 to rotate again within a small 360° range horizontally. Finally, the working end of the second robotic arm 400 can also rotate, further increasing the robot's functionality and applicability. This SCARA collaborative robot for confined spaces has a thin working end, allowing for flexible operation and making it suitable for smaller work environments. It can also perform simultaneous rotation and lifting, thus expanding its applicability. In addition, the lifting module 210 replaces the traditional single lead screw, which not only expands the vertical movement distance of the device, but also greatly increases the load capacity of its working end, resulting in a significant performance improvement compared to traditional robots. Most importantly, this SCARA collaborative robot, suitable for working in confined spaces, uses a direct connection between the motor and the precision reducer, replacing the traditional robot mode of using a motor connected to a synchronous belt, which in turn connects to a common reduction mechanism. This simplifies the connection method while greatly improving the rigidity of the product, allowing for long-term high-speed operation, improving accuracy, and significantly extending the product's lifespan. Specifically, its accuracy can reach ±0.01mm, and its lifespan is no less than ten years.

[0028] See Figure 2 As shown, the rotating assembly 100 is disposed at the bottom of this SCARA collaborative robot suitable for working in confined spaces, and also includes a base 130. The top plate of the base 130 has a connecting through hole. The first drive mechanism 120 is disposed inside the base 130. The first rotating seat 110 passes through the connecting through hole and connects to the lifting assembly 200. In this embodiment, the base 130 is configured as a steel connecting frame, which includes a bottom plate, side plates, and a top plate. A rectangular receiving cavity is also provided inside the base 130, and the first drive mechanism 120 is disposed within this rectangular receiving cavity. In this embodiment, a connecting through hole is provided at the center of the top plate. The first reducer and the first rotating seat 110 pass through the connecting through hole from inside the receiving cavity. Then, the first rotating seat 110 is connected to the upper surface of the top plate via a flange. After connection, the rotating end of the first rotating seat 110 is located above the top plate, and its opposite end is connected to the first drive mechanism 120. Further, in this embodiment, the first drive mechanism 120 is preferably a motor. In this embodiment, the first rotating seat 110 can rotate around the first rotation center line 1001 under the drive of the first driving mechanism 120 and the first reducer. Specifically, the first rotation center line 1001 extends vertically from the center of the top plate. In this embodiment, the first reducer is a precision reducer.

[0029] See Figure 3As shown, the lifting assembly 200 also includes a mounting base 240, through which the lifting assembly 200 is connected to the rotating assembly 100. In this embodiment, the mounting base 240 includes a fixing part and a protective part that are perpendicularly connected to each other. The fixing part is configured as a half-racetrack-shaped flat element, and its arc portion has eight connecting through holes arranged in a circle. The connecting parts pass through the eight connecting through holes to fix the lifting assembly 200 to the first rotating base 110. The protective part is fixedly connected to the non-arc side of the fixing part perpendicularly to its surface and includes three mutually perpendicular baffles. The three baffles enclose an accommodating space in which the lifting assembly 200 is connected.

[0030] See Figure 3 As shown, in this embodiment, the lifting module 210 is configured as a screw module, including a module body 212, a sliding plate 220, and a cover plate 211. The module body 212 has two linear guide rails extending parallel to it and a ball screw positioned between them. The cover plate 211 is fastened to the outside of the module body 212 to protect the internal linear guide rails and ball screw. The sliding plate 220 slides along the linear guide rails under the drive of the internal ball screw, conforming to the cover plate 211. Specifically, the ball screw and the sliding plate 220 are rigidly connected via a screw nut. Furthermore, in use, a second drive mechanism drives the ball screw to rotate, thereby driving the screw nut to move the connected sliding plate 220 up and down. In this embodiment, the module body 212 has a length of 300mm and a load capacity of 750kg. In this embodiment, the second drive mechanism 230 is positioned above the module body 212. More preferably, the second drive mechanism 230 is a motor.

[0031] See Figure 3 As shown, the slide plate 220 has a first connecting part 221 and a second connecting part 222 on opposite sides. The first connecting part 221 connects to the module body 212, and the second connecting part 222 connects to the first robotic arm 300. In this embodiment, the slide plate 220 is generally configured as a flat rectangular plate. The first connecting part 221 is a rectangular connecting frame protruding from the surface of the slide plate 220, which is fitted onto the cover plate 211. Furthermore, the sliding member is detachably connected to the first connecting part 221. In this embodiment, the second connecting part 222 is located at the front of the slide plate 220, and has two connecting bosses extending vertically at intervals. Each connecting boss has a connecting pin and a connecting hole for connecting it to the first robotic arm 300.

[0032] See Figure 4As shown, the first robotic arm 300 also includes reinforcing ribs 310, which are arranged along the extension direction of the first robotic arm 300. In this embodiment, the first robotic arm 300 is provided with a housing and two reinforcing ribs 310. The housing is a steel element that extends horizontally along the length direction of the first robotic arm 300. The two reinforcing ribs 310 are respectively arranged on both sides of the housing in the width direction and both extend along the length direction of the housing. The housing and the reinforcing ribs 310 together enclose an accommodating space, in which the third drive mechanism 320 is disposed. In this embodiment, one end of the housing is connected to the second connecting part 222 via a connecting pin and a connecting hole, thereby enabling it to move along the lifting assembly with the sliding plate 220. The third driving mechanism 320 and the second rotating seat 330 are disposed at the other end of the housing. Specifically, the second rotating seat 330 extends through the receiving space through the lower surface of the housing and is connected to the third driving mechanism 320. Its rotating working end is located below the housing and rotates around the second rotation center line 1002. Further, the second rotation center line 1002 extends vertically from the center of the second rotating seat 330. In this embodiment, the third driving mechanism 320 is preferably a rotary motor.

[0033] See Figure 5 As shown, the second robotic arm 400 has a racetrack-shaped housing, with a third connecting part 410 at one end, which connects to the first robotic arm 300. In this embodiment, the third connecting part 410 has a circular connecting blind groove, with a connecting flange at the bottom of the blind groove. When the second robotic arm 400 is connected to the first robotic arm 300, the second rotating seat 330 is correspondingly inserted into the third connecting part 410.

[0034] See Figure 5As shown, the second robotic arm 400 also includes a linkage mechanism 430, which is connected between the fourth drive mechanism 420 and the third rotary seat 440. The linkage mechanism 430 includes a drive wheel 431, a driven wheel 432, and a linkage timing belt 433. The drive wheel 431 is connected to the fourth drive mechanism 420, the driven wheel 432 is connected to the third reducer and is connected to the third rotary seat 440 through the third reducer, and the linkage timing belt 433 connects the drive wheel 431 and the driven wheel 432. In this embodiment, the fourth drive mechanism 420 is located at the end of the second robotic arm 400 near the second reducer. Its bottom working end is connected to drive the active wheel 431 to rotate, and the driven wheel 432 is located at the working end of the second robotic arm 400. The active wheel 431 and the driven wheel 432 are connected by a linkage synchronous belt 433 and rotate synchronously under the drive of the linkage synchronous belt 433. Specifically, in this embodiment, the linkage synchronous belt 433 is preferably a rubber belt, with its two ends respectively sleeved around the outer periphery of the active wheel 431 and the driven wheel 432, so that the driven wheel 432 can rotate around the third rotation center line 1003 under the friction of the linkage synchronous belt 433. This arrangement avoids setting the fourth drive mechanism 420 at the working end of the second robotic arm 400, further reducing the thickness of the working end of the second robotic arm 400, so as to be applicable to more operating occasions. In this embodiment, the thickness of the working end of the second robotic arm 400 is 15 mm, and the front end length of this thickness is 800 mm. In this embodiment, the fourth drive mechanism 420 is preferably a rotary motor, and the third rotation center line 1003 extends vertically from the center of the second rotating seat 330. In this embodiment, both the second and third reducers are precision reducers. In other embodiments, the second robotic arm 400 may also include a direct drive motor to replace the linkage mechanism 430. Furthermore, the direct drive motor is connected to the third rotating seat and rotates around the third rotation center line, thereby simplifying the structure of the second robotic arm. This invention does not impose specific limitations.

[0035] In this embodiment, a connecting through hole is provided in the center of the driven wheel 432, and a connecting post is inserted inside it. Further, one end of the connecting post is interference-fitted with the connecting hole and rotates synchronously with the driven wheel 432 around the third rotation center line 1003. The other end protrudes from the lower surface of the housing and is connected to the third rotating seat 440, thereby realizing the purpose of the third rotating seat 440 rotating around the third rotation center line 1003. Further, the third rotating seat 440 is correspondingly connected to the lower surface of the working end of the second robotic arm 400.

[0036] See Figure 5As shown, one end of the second robotic arm 400 is provided with a third rotating seat 440, and the working end of the third rotating seat 440 is connected to a functional component 450. In this embodiment, the functional component 450 is preferably a grinding element. In other embodiments, the functional component 450 can be set as a gripper, suction cup, or other element with different functions. This invention does not impose specific limitations. The SCARA collaborative robot suitable for working in confined spaces in this embodiment is also connected to a control system, allowing users to preset or adjust the parameters of the SCARA collaborative robot for different processing operations in real time.

[0037] In this embodiment, the SCARA collaborative robot suitable for working in confined spaces is further equipped with a collision damage prevention control system and two collision detection devices. The two collision detection devices are respectively mounted on the first and second robotic arms and are signal-connected to the collision damage prevention control system. In this embodiment, the collision detection devices use their internal control software to automatically decelerate or stop the robot based on the actual collision intensity, thereby reducing or even avoiding damage to people or objects from collisions, achieving human-robot coexistence and collaborative work. Furthermore, the collision damage prevention control system in this embodiment also includes drag-and-drop teaching and trajectory recording and playback functions, further improving the functionality of this product.

[0038] Example 2

[0039] The structural configuration of this embodiment is the same as that in Embodiment 1, and will not be described in detail here. In this embodiment, the length of the lifting module 210 is 2500MM, the travel distance of the lifting module 210 is set to 1000MM, its load is 1500KG, the working end thickness of the second robotic arm 400 is 250MM, and the front end length of this thickness is 100MM.

[0040] The following describes the working process and principle of the SCARA collaborative robot suitable for working in confined spaces in this embodiment:

[0041] First, operators can preset the parameters of this SCARA collaborative robot, which is suitable for working in confined spaces, according to the actual processing and production needs. They can also adjust or control the opening and closing of the SCARA collaborative robot at any time during its operation.

[0042] When this SCARA collaborative robot, designed for use in confined spaces, starts operating, the first drive mechanism 120, in conjunction with the first reducer, drives the first rotating base 110 to rotate around the first rotation center line 1001. Simultaneously, the lifting assembly 200, the first robotic arm 300, and the second robotic arm 400 rotate synchronously around the first rotation center line 1001 under the drive of the first rotating base 110, maximizing their working range and angle in the horizontal plane. Then, the sliding plate 220 reciprocates along the lifting module 210 under the drive of the second drive mechanism 230. At the same time, the first robotic arm 300 and the second robotic arm 400... The robot can move synchronously in the vertical direction via the sliding plate 220. Specifically, the lifting module 210 of this SCARA collaborative robot, suitable for working in confined spaces, has a length of not less than 150mm. Compared with traditional robots, this SCARA collaborative robot for working in confined spaces can maximize its working range in the vertical direction and can bear more load. In this embodiment, the SCARA collaborative robot for working in confined spaces has a travel distance of 0-2000mm and a load capacity of 0-1500KG. Specifically, the SCARA collaborative robot for working in confined spaces in this embodiment can bear 1 The second rotating base 330 can rotate around the second rotation center line 1002 under the drive of the third drive mechanism 320. At the same time, the second rotating base 330 can drive the first robotic arm 300 to rotate synchronously around the second rotation center line 1002. Since the thickness of the second robotic arm 400 is much smaller than that of the first robotic arm 300, the second robotic arm 400 can extend into a narrower working space, thereby greatly increasing the flexibility of the working end of this SCARA collaborative robot suitable for working in confined spaces. Finally, the working end of the second robotic arm 400 can also be driven by the fourth drive mechanism 420 and the second deceleration mechanism. Driven synchronously by the machine, it rotates around the third rotation center line, and other functional components 450 can be connected to the third rotating base 440 to further enrich the functions of this SCARA collaborative robot suitable for working in confined spaces and expand its application range. On this basis, this SCARA collaborative robot suitable for working in confined spaces is also equipped with a collision damage prevention control system and two collision detection devices. Users can control the robot to automatically decelerate and stop according to the collision intensity, thereby reducing or even avoiding the damage to people or objects caused by collisions, so as to achieve the purpose of human-robot coexistence and collaborative work. Furthermore, the control system is also compatible with drag teaching and trajectory recording and playback functions.

[0043] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A SCARA collaborative robot suitable for working in a confined space, characterised in that: The utility model relates to a kind of mechanical arm, including: Rotary assembly, the rotary assembly includes first driving mechanism, first speed reducer connected to the first driving mechanism and the first rotary seat connected to the working end of the first speed reducer, wherein the first rotary seat rotates 0-360 ° around first rotation center line; Lifting assembly, the lifting assembly is connected to the working end of the rotary assembly, including lifting module, sliding plate and second driving mechanism, wherein the lifting module is connected the first rotary seat, rotates synchronously with the first rotary seat, and the length of the lifting module is not less than 150mm, the sliding plate is connected the lifting module, and can reciprocate along the extension direction of the lifting module while the lifting module rotates, its moving stroke is 0-2000MM, and its load is 0-1500KG, the second driving mechanism is connected the lifting module;Lifting module includes module body, sliding plate and cover plate, wherein module body inside is provided with two parallel straight linear guides extending to module body and ball screw arranged between two straight linear guides, cover plate is buckled to the outside of module body, sliding plate can be attached to cover plate and slide along linear guide under the drive of internal ball screw, the opposite sides of sliding plate are provided with first connecting part and second connecting part, first connecting part connects module body, and second connecting part connects first mechanical arm; First mechanical arm, one end of the first mechanical arm is connected to the sliding plate, and the other end is connected to second rotary seat, and third driving mechanism is connected on the second rotary seat to drive it to rotate around second rotation center line; Second mechanical arm, the second mechanical arm is provided with third connecting part, and the second rotary seat is insertedly connected in the third connecting part, one end of the second mechanical arm is connected to the second rotary seat through second speed reducer, and the other end is connected to third rotary seat through third speed reducer, fourth driving mechanism is connected on the third rotary seat to drive it to rotate around third rotation center line, the working end thickness of the second mechanical arm is 15-250MM, and the length at this thickness is 100-800MM;The second mechanical arm further includes linkage mechanism, the linkage mechanism is connected between the fourth driving mechanism and the third rotary seat, including driving wheel, driven wheel and linkage synchronous belt, wherein the driving wheel is connected to the fourth driving mechanism, the driven wheel is connected to the third rotary seat, and the linkage synchronous belt is connected to the driving wheel and the driven wheel, to avoid setting fourth driving mechanism at second mechanical arm working end, further reduce the thickness of second mechanical arm working end.

2. The SCARA collaborative robot suitable for working in a narrow space according to claim 1, characterized in that: The first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism are one of servo motor, stepper motor or direct drive motor.

3. The SCARA collaborative robot suitable for working in a narrow space according to claim 1, characterized in that: The second mechanical arm further includes direct drive motor, and the direct drive motor is connected to the third rotary seat to rotate around the third rotation center line.

4. The SCARA collaborative robot suitable for working in a confined space according to claim 1, characterized in that: The first speed reducer, the second speed reducer and the third speed reducer are precision speed reducers.

5. The SCARA collaborative robot suitable for working in a confined space according to claim 1, characterized in that: The lifting module is a lead screw module.

6. The SCARA collaborative robot suitable for working in a confined space according to claim 1, characterized in that: The device is also provided with a collision damage prevention control system and a plurality of collision detection devices, which are respectively arranged on the first mechanical arm and the second mechanical arm and are signal connected to the collision damage prevention control system.

7. The SCARA collaborative robot suitable for working in a confined space according to claim 1, wherein: The first mechanical arm further comprises a reinforcing rib arranged along the extension direction of the first mechanical arm.

8. The SCARA collaborative robot suitable for working in a confined space according to claim 1, characterized in that: The rotating assembly further comprises a base.

9. The SCARA collaborative robot suitable for working in a confined space according to claim 1, characterized in that: The lifting assembly further comprises a mounting seat, and the lifting assembly is connected to the rotating assembly through the mounting seat.

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