SCARA robot

Abstract

A robot, comprising: a base (110) comprising a prismatic joint; and a plurality of arm members (10, 20, 30, 40, 50, 60, 70) connected to the base (110) and arranged in succession. Two adjacent arm parts (40, 50) each comprise an arm body (200) comprising a tubular body having a first opening (215) extending in a first direction parallel to the prismatic joint and a second opening (225) extending in a second direction perpendicular to the first direction, and a first actuator (120) for forming a first rotary joint of the SCARA robot is arranged in the first opening (215) and a second actuator (120) for forming a second rotary joint of the SCARA robot is arranged in the second opening (225). A fixed portion (320) of the first actuator (120) is fixed to one of two adjacent arm members, while a movable portion (310) of the first actuator is fixed to the other arm member.

Description

Technical Field

[0001] The embodiments disclosed herein generally relate to four-axis robots, and more particularly to selective compliant assembly robot arms (SCARA) robots. Background Technology

[0002] SCARA robots are one of the most common forms of industrial robots in the current industrial field. Unlike six-axis robots, SCARA robots typically employ a four-axis configuration, consisting of a prismatic axis that allows the robotic arm to perform linear movement, and three parallel rotary axes that allow the robotic arm to rotate. SCARA robots are suitable for mechanical automation in many industrial fields, such as automated assembly, painting, material handling, and welding.

[0003] Typically, SCARA robots use coated aluminum castings as their structural components, which is not optimal in terms of corrosion resistance and cleanroom environments. Furthermore, the joints and structural components in a four-axis SCARA robot configuration vary. This results in higher manufacturing and maintenance costs for SCARA robots. Therefore, there is a need to improve the traditional four-axis SCARA robot configuration. Summary of the Invention

[0004] Exemplary embodiments of this disclosure provide a SCARA robot with a modular configuration to reduce manufacturing and maintenance costs and improve assembly efficiency.

[0005] In a first aspect of this disclosure, a Selective Compliant Assembly Robotic Arm (SCARA) robot is provided. The SCARA robot includes: a base including a first connection interface defining a prism joint of the SCARA robot; and a plurality of arm components connected to the base and arranged sequentially; wherein at least two adjacent arm components each include an arm body comprising a tubular body having a first opening extending along a first direction parallel to the prism joint and a second opening extending along a second direction perpendicular to the first direction, and a first actuator for forming a first rotary joint of the SCARA robot is disposed in the first opening of one of the two adjacent arm components, a fixed portion of the first actuator being fixed to the one arm component, and a movable portion of the first actuator being fixed to the other of the two adjacent arm components.

[0006] This arrangement allows links to be converted into joints without any modification to the modular arm components. The availability of modular arm components reduces the total number of parts in a SCARA robot, thereby lowering manufacturing costs and improving assembly efficiency.

[0007] In some embodiments, the two adjacent arm components may be made of plastic material.

[0008] In some embodiments, the tubular body may include a first circumferential wall extending longitudinally around the first opening along the tubular body, and the fixed portion of the actuator is circumferentially fixed to the one arm component via the first circumferential wall.

[0009] In some embodiments, the tubular body may include a second circumferential wall extending longitudinally around the second opening, and the other arm component is circumferentially fixed to the second circumferential wall; or the tubular body includes an inner flange extending radially from the inner wall surface of the tubular body around the second opening, and the other arm component is fixed to the first inner flange.

[0010] In some embodiments, the tubular body may include a first inner flange extending radially from the inner wall surface of the tubular body around the first opening, and the fixing portion of the actuator is axially fixed to the first inner flange.

[0011] In some embodiments, the tubular body may include a circumferential wall extending longitudinally around the second opening, and the other arm component is circumferentially fixed to the circumferential wall; or the tubular body includes a second inner flange extending radially from the inner wall surface of the tubular body around the second opening, and the other arm component is radially fixed to the second inner flange.

[0012] In some embodiments, the two adjacent arm components may be directly fixed to the arm component for receiving the tool among the plurality of arm components, or indirectly fixed to the arm component for receiving the tool through a first link arm component.

[0013] In some embodiments, the arm component for receiving the tool may include an arm body comprising a tubular body having a first opening extending in a first direction parallel to the prism joint and a second opening extending in a second direction perpendicular to the first direction, and a second actuator for forming a second rotary joint of the SCARA robot is disposed in the first opening of the arm component for receiving the tool, a fixed portion of the second actuator being fixed to the arm component for receiving the tool, and a movable portion of the second actuator being configured to receive the tool.

[0014] In some embodiments, the SCARA robot may further include a second pair of two adjacent arm components from the plurality of arm components, wherein the second pair of two adjacent arm components are connected to the base at the first connection interface and each includes an arm body, the arm body including a tubular body having a first opening extending in a first direction parallel to the prism joint and a second opening extending in a second direction perpendicular to the first direction, and a third actuator for forming a third rotary joint of the SCARA robot is arranged in the first opening of one of the second pair of arm components, the fixed portion of the third actuator being fixed to the one arm component of the second pair, and the movable portion of the third actuator being fixed to the other arm component of the second pair.

[0015] In some embodiments, the second pair of two adjacent arm components can be directly fixed to the two adjacent arm components of the plurality of arm components, or indirectly fixed to the two adjacent arm components of the plurality of arm components through the second link arm component.

[0016] In some embodiments, the first opening of one of the two adjacent arm components of the second pair, which is adjacent to the base, may be oriented downwards.

[0017] In some embodiments, one of the plurality of arm components connected to the base may include an arm body comprising a tubular body having a first opening extending in a first direction parallel to the prism joint and a second opening extending in a second direction perpendicular to the first direction, and a third actuator for forming a third rotary joint of the SCARA robot is disposed in the first opening of the arm component connected to the base, a fixed portion of the third actuator being fixed to the arm component connected to the base, and a movable portion of the third actuator being connected to the base at the first connection interface.

[0018] In some embodiments, the base may further include a housing that defines a sealed environment in which the prism joints are arranged.

[0019] It should be understood that this disclosure is not intended to identify key or essential features of embodiments thereof, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become apparent from the following description. Attached Figure Description

[0020] The above and other objects, features, and advantages of the exemplary embodiments disclosed herein will become more readily understood from the following detailed description with reference to the accompanying drawings. In the drawings, several exemplary embodiments disclosed herein will be described by way of example and not limitation, in which:

[0021] Figure 1 This is a perspective view of a SCARA robot including a modular configuration according to a first exemplary embodiment of the present disclosure;

[0022] Figure 2 This is an exploded plan view of a SCARA robot according to an exemplary embodiment of the present disclosure;

[0023] Figure 3 It is a modular arm body according to a first exemplary embodiment of this disclosure;

[0024] Figure 4 yes Figure 3 Assembly view of the modular arm body and actuator after assembly;

[0025] Figure 5 It is a modular arm body according to a second exemplary embodiment of this disclosure;

[0026] Figure 6 yes Figure 5 A cross-sectional view of the modular arm body;

[0027] Figure 7 It is a modular arm body according to a third exemplary embodiment of this disclosure;

[0028] Figure 8 This is an exploded plan view of a SCARA robot according to a second exemplary embodiment of the present disclosure;

[0029] Figure 9 This is a perspective view of a SCARA robot according to a third exemplary embodiment of this disclosure.

[0030] In all the accompanying drawings, the same or similar reference numerals are used to denote the same or similar elements. Detailed Implementation

[0031] The principles of this disclosure will now be described with reference to several exemplary embodiments illustrated in the accompanying drawings. Although exemplary embodiments of this disclosure are illustrated in the drawings, it should be understood that these embodiments are described only to enable those skilled in the art to better understand and implement this disclosure, and are not intended to limit the scope of this disclosure in any way.

[0032] The term "comprising" and its variations should be understood as open-ended terms, meaning "including but not limited to". The term "or" should be understood as "and / or" unless the context explicitly indicates otherwise. The term "based on" should be understood as "at least partially based on". The term "operable to" means a function, action, movement, or state that can be achieved through operation initiated by a user or external mechanism. The terms "one embodiment" and "an embodiment" should be understood as "at least one embodiment". The term "another embodiment" should be understood as "at least one other embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other definitions (explicit and implicit) may be included below. Unless the context explicitly indicates otherwise, the definitions of terms remain consistent throughout the description.

[0033] SCARA robots typically comprise multiple links and joints. These links and joints are generally not highly modular. One link or joint cannot be used for another joint or link. Therefore, SCARA robots are expensive to manufacture and maintain. According to this disclosure, a novel SCARA robot is proposed in which modular arm components are utilized in the links and / or joints. Due to the use of modular arm components, actuators for forming joints can be selectively mounted on the modular arm components. Thus, links can be easily converted into joints without any modification to the modular arm components. According to this disclosure, at least a first pair of two adjacent arm components each include an arm body comprising a tubular body having a first opening extending along a first direction parallel to the prism joint and a second opening extending along a second direction perpendicular to the first direction. A first actuator for forming a first rotary joint of the SCARA robot is arranged in the first opening of one of the two adjacent arm components in the first pair. A fixed portion of the first actuator is fixed to said one arm component, while a movable portion of the first actuator is fixed to the other arm component in the first pair of two adjacent arm components. The availability of modular arm components can reduce the total number of parts in a SCARA robot, thereby reducing manufacturing costs and improving assembly efficiency.

[0034] Figure 1 and Figure 2 The illustration depicts a SCARA robot with a modular configuration according to a first exemplary embodiment of this disclosure. Figure 1 and Figure 2As shown, the SCARA robot includes a base 110 and a plurality of arm components 10, 20, 30, 40, 50, 60, and 70 arranged sequentially. Two pairs of adjacent arm components, namely 10, 20 and 40, 50, are formed as a modular configuration. The two adjacent arm components have substantially the same configuration. Each arm component may include a tubular body having a first opening extending along a first direction parallel to the prism joint and a second opening extending along a second direction perpendicular to the first direction. Two actuators (each may include a motor, associated gearbox, etc.) can be selectively arranged in one of the corresponding pair of adjacent arm components. By mounting the actuators on one of the pair of adjacent arm components, links or arm components can be modified into SCARA joints without altering the arm's structure. Other arm components not assembled with actuators can be used as links for the SCARA.

[0035] like Figure 2 As shown, the base 110 includes a first connection interface 112. An arm component 10 is connected to the base 110. In the example shown, the first connection interface 112 is a prism joint. A pair of adjacent arm components 10, 20 are connected to the base. When the arm component 10 is connected to the base 110, the arm component 10 and the entire SCARA move linearly along the base 10. This is advantageous in many applications. Because the prism joint is arranged on the base 10, the size or space occupied by the SCARA can be significantly reduced. This allows tools mounted on the end effector to operate in confined spaces.

[0036] In the example shown, arm component 10 serves as a joint. For example... Figure 2 As shown, actuator 140 is fixed to arm component 10. Actuator 140 includes a fixed portion and a movable portion. The fixed portion includes, in particular, the stator of a motor. The fixed portion may include a first articulation interface for fixing the fixed portion to arm component 10. The fixed portion of actuator 140 is fixed to arm component 10. The movable portion includes, in particular, the rotor of a motor and a reduction gear connected to the rotor. The rotor is configured to rotate about an axial direction (i.e., the vertical direction in the figure). The movable portion further includes a second articulation interface. Components to be driven by actuator 140, i.e., arm components 20, 30, 40, 50, 60, and 70 following arm component 10, can be further connected to the movable portion via the second articulation interface. The joint formed by actuator 140 and arm component 10 is the first rotary joint of the SCARA robot. In the example shown, the first rotary joint is in the vertical direction. Therefore, when the second actuator 140 rotates, the arm components 20, 30, 40, 50, 60, and 70 following the arm component 10 rotate accordingly in the vertical direction.

[0037] Therefore, when the rotor of the actuator 140 rotates, the arm parts 20, 30, 40, 50, 60, and 70 following the arm part 10 rotate accordingly relative to the arm part 10.

[0038] In other embodiments (not shown), the actuator 140 may be vertically fixed to the arm member 30. The fixed portion of the actuator 140 is fixed to the arm member 30. The movable portion of the actuator 140 may be fixed to an adjacent arm member 10. Therefore, when the rotor of the actuator 140 rotates, the arm members 20, 30, 40, 50, 60, and 70 following the arm member 10 rotate accordingly relative to the arm member 10.

[0039] According to this disclosure, arm components 10 and 20 include modular connection interfaces. The provision of modular interfaces improves the efficiency of assembling the fixed portion of the actuator onto the arm component and connecting the arm component to another arm component. (See reference...) Figures 3-7 Describe the connection interface of arm components 10 and 20.

[0040] In the illustrated example, adjacent to the pair of arm components 10, 20 is another pair of modular arm configurations, namely two adjacent arm components 40, 50. The configuration of the two adjacent arm components 40, 50 can be the same as that of the pair of arm components 10, 20. In the illustrated example, the pair of two adjacent arm components 40, 50 is indirectly fixed to arm component 20 via arm component 30. The provision of arm component 30 can expand the working area of ​​the tool. In some other embodiments, the pair of two adjacent arm components 40, 50 can be directly fixed to arm component 20.

[0041] In the example shown, arm component 40 is used as a joint. Figure 2 As shown, actuator 120 is fixed to arm component 40. Actuator 120 includes a fixed portion and a movable portion. The fixed portion includes, in particular, the stator of a motor. The fixed portion may include a joint interface for fixing the fixed portion to arm component 40. The fixed portion of actuator 120 is fixed to arm component 40. The movable portion includes, in particular, the rotor of a motor and a reduction gear connected to the rotor. The rotor is configured to rotate about an axial direction (i.e., the vertical direction in the figure). The movable portion further includes a joint interface. Components to be driven by actuator 120, i.e., arm components 50, 60, and 70 following arm component 40, can be further connected to the movable portion via the joint interface. The joint formed by actuator 120 and arm component 40 is a second rotary joint of the SCARA robot. In the example shown, the second rotary joint is vertical. Therefore, when the rotor of actuator 120 rotates, arm components 50, 60, and 70 following arm component 40 rotate accordingly relative to arm component 40.

[0042] In other embodiments (not shown), the actuator 120 may be vertically fixed to the arm member 50. The fixed portion of the actuator 120 is fixed to the arm member 50. The movable portion of the actuator 120 may be fixed to an adjacent arm member 40. Therefore, when the rotor of the actuator 120 rotates, the arm members 50, 60, and 70 following the arm member 40 rotate accordingly relative to the arm member 40.

[0043] In the illustrated example, arm component 30 is shown as a straight arm component. It should be understood that the illustrated example is merely illustrative, and arm component 30 may have any other suitable shape and any other suitable length. In some embodiments, arm component 30 may be configured in a modular configuration different from the modular configuration of arm components 10, 20, 40, 50. In some embodiments, arm component 30 includes a modular connection interface for connecting to adjacent arm components 20, 40.

[0044] In the illustrated example, the arm component 70 adjacent to the arm components 40 and 50 can be for receiving a tool (not shown). The configuration of arm component 70 can be the same as any of arm components 10, 20, 40, and 50. In the illustrated example, arm component 70 is indirectly fixed to arm component 50 via arm component 60. The provision of arm component 60 can further expand the working area of ​​the tool. In some other embodiments, arm component 60 can be omitted, and arm component 60 can be directly fixed to arm component 20.

[0045] In the example shown, arm component 70 serves as a joint. Figure 2 As shown, actuator 130 is fixed to arm component 70. Actuator 130 includes a fixed portion and a movable portion. The fixed portion includes, in particular, the stator of a motor. The fixed portion may include a joint interface for fixing the fixed portion to arm component 70. The fixed portion of actuator 130 is fixed to arm component 70. The movable portion includes, in particular, the rotor of a motor and a reduction gear connected to the rotor. The rotor is configured to rotate about an axial direction (i.e., the vertical direction in the figure). The movable portion further includes a joint interface. A component to be driven by actuator 130, namely an end flange for receiving a tool, can be connected to the movable portion via the joint interface. Thus, when the rotor of actuator 130 rotates, the end flange and the tool can be driven to rotate about the axial direction. The joint formed by actuator 130 and arm component 70 is the third rotary joint of the SCARA robot. In the example shown, the third rotary joint is in the vertical direction. Therefore, when the actuator 130 rotates, the arm component 70 and subsequent components (e.g., a tool not shown) rotate accordingly in the vertical direction.

[0046] In the illustrated example, arm component 60 is shown as a straight arm component. It should be understood that the illustrated example is merely illustrative, and arm component 60 may have any other suitable shape and any other suitable length. In some embodiments, arm component 60 may be configured in the same modular configuration as arm component 30. This can further enhance the modularity of the robot. In some embodiments, arm component 60 includes modular connection interfaces for connecting to adjacent arm components 50, 70.

[0047] like Figure 1 and Figure 2 As shown, the SCARA robot includes a prism joint formed at the first connection interface 112, a first rotary joint formed by actuator 140 and arm component 10, a second rotary joint formed by actuator 120 and arm component 40, and a third rotary joint formed by actuator 130 and arm component 70. The SCARA can move linearly along the base. The rotation directions of the first, second, and third rotary joints are vertical (in the example shown) and parallel to each other.

[0048] In some embodiments, arm components 10, 20, 30, 40, 50, 60, and 70 may be made of plastic material. The arm components may be integrally molded, for example, by injection molding. When plastic materials are used to form the arm components, the SCARA robot is resistant to acids or alkalis, which is advantageous for corrosion-resistant applications such as the food and pharmaceutical industries.

[0049] Figures 3-7 Different configurations of the modular tubular arm 200 according to various exemplary embodiments of this disclosure are illustrated. It should be understood that in the illustrated examples, the modular tubular arm is in a curved configuration. The illustrated interface is also applicable to a straight tubular configuration.

[0050] Figure 3 and Figure 4 The illustration shows a modular tubular arm with two circumferential connection interfaces according to an example of this disclosure. Figure 3 and Figure 4As shown, the modular arm body 200 includes a tubular body defining a cavity 230. A first opening 215 is disposed at one end of the tubular body, and a second opening 225 is disposed at the opposite end of the tubular body. Two connection interfaces are provided at the first opening 215 and the second opening 225, respectively. An actuator 300 can be inserted into the cavity 230 of the arm body, for example, through the first or second opening. The actuator 300 may include a movable portion 310 and a fixed portion 320. The tubular body includes a first circumferential wall 310 extending longitudinally around the first opening 215. The first circumferential wall 310 may include a plurality of radial through holes 212 for receiving fasteners. When the actuator 300 is positioned, the fixed portion 320 can be secured to the first circumferential wall 310 by fasteners. Similarly, the tubular body includes a second circumferential wall 220 extending longitudinally around the second opening 225. The second circumferential wall 220 may include a plurality of radial through holes 222 for receiving fasteners. Adjacent arm components can be secured to the modular arm body 200 via through-holes 222. At least a portion of the movable portion 310 may protrude from the tubular body. The exposed surface of the movable portion 310 may include a joint interface through which another arm component can be connected to the movable portion 310 of the actuator.

[0051] Figure 5 and Figure 6 The illustration shows a modular tubular arm with two radially connected interfaces, according to an example of this disclosure. Figure 5 and Figure 6 As shown, the modular arm body 200 includes a tubular body defining a cavity 230. A first opening 215 is disposed at one end of the tubular body, and a second opening 225 is disposed at the opposite end of the tubular body. Two connection interfaces are provided at the first opening 215 and the second opening 225, respectively. An actuator can be inserted into the cavity of the arm body. The actuator may include a movable portion and a fixed portion. The tubular body includes a first inner flange 210 extending radially from the inner wall surface of the tubular body around the first opening 215. The first inner flange may include a plurality of axially extending through holes 212 for receiving fasteners. When the actuator is in place, the fixed portion can be secured to the first inner flange 210 by axially extending fasteners. Similarly, the tubular body includes a second inner flange 220 extending radially from the inner wall surface of the tubular body around the second opening 225. The inner flange 220 may include a plurality of axially extending through holes 222 for receiving fasteners. Adjacent arm components can be secured to the modular arm body 200 through the through holes 222. Figure 6 As shown, at least a portion of the movable part 310 may protrude from the tubular body. The exposed surface of the movable part 310 may include a joint interface through which another arm component 300 can be connected to the movable part 310 of the actuator.

[0052] Figure 7The illustration shows a modular tubular arm with one radial connection interface and one circumferential connection interface. For example... Figure 7 As shown, the modular arm 200 includes a tubular body. A first opening 215 is disposed at one end of the tubular body, and a second opening 225 is disposed at the opposite end of the tubular body. A radial connection interface is provided at the first opening 215, and a circumferential connection interface is provided at the second opening 225. In some embodiments, an actuator may be fixed to the tubular arm at one of the radial connection interface and the circumferential connection interface; while an adjacent arm component may be connected to the tubular arm at the other of the radial connection interface and the circumferential connection interface. In some embodiments, the tubular arm may be used solely as a connecting rod.

[0053] Figure 8 This is an exploded plan view of a SCARA robot according to a second exemplary embodiment of this disclosure. Figure 8 As shown, the SCARA robot 1 includes a base 110 and multiple arm components 10, 20, 30, 40, 50, 60, and 70. Actuators 120, 130, and 140 are respectively arranged in arm components 50, 70, and 20. Arm component 10 is connected to the base 110 at a first connection interface 112. The first connection interface 112 provides the prism joint of the SCARA robot. Arm component 10 is fixed to the movable portion of actuator 140. The fixed portion of actuator 140 is fixed to arm component 20. Thus, a first rotary joint is formed by the first actuator 140 and arm component 10. Two adjacent arm components 10 and 20 form a pair of modular arm configurations. Two adjacent arm components 10 and 20 are indirectly connected to arm component 40 via arm component 30. The fixed portion of actuator 120 is fixed to arm component 50. The movable portion of actuator 140 is fixed to arm component 40. Therefore, the second rotary joint is formed by the second actuator 130 and the arm component 50. Two adjacent arm components 40, 50 form a modular arm configuration. The two adjacent arm components 40, 50 are indirectly connected to the arm component 70 via the arm component 60. The fixed portion of the actuator 130 is fixed to the arm component 70. The movable portion of the actuator 130 can be fixed to the end flange for carrying the tool. Therefore, the third rotary joint is formed by the actuator 130 and the arm component 70. The SCARA can move linearly along the base. The rotation directions of the first, second, and third rotary joints are vertical (in the example shown) and parallel to each other.

[0054] In the example shown, such as Figure 8As shown, the arm component 10 connected to the base is configured as a curved tube. The opening of the arm component 10 for connecting to the movable portion of the actuator 140 is oriented vertically upward. An adjacent arm component 20 is arranged above the arm component 10. In some other embodiments (not shown), the vertical opening of the arm component 10 for connecting to the movable portion of the actuator 140 may be oriented downward. An adjacent arm component 20 is arranged below the arm component 10, thus connecting to the arm component 10 from its underside. This allows adjacent arm components 20, 30, 40, 50, 60, and 70 following the arm component 10 to move freely from the underside of the arm component 10. The working area of ​​the tool mounted on the arm component 70 can be expanded. This is advantageous in many applications.

[0055] Figure 9 A perspective view of a SCARA robot according to a third exemplary embodiment of the present disclosure is shown. The SCARA robot 1 includes a base 110 and a plurality of arm components 20, 30, 40, 50, 60, and 70. A first actuator (not shown) is vertically arranged in arm component 20. A second actuator (not shown) is vertically arranged in arm component 40 or arm component 50. A third actuator (not shown) is vertically arranged in arm component 70. The base 110 may include a connection interface (not shown). The connection interface of the base 110 provides prismatic joints for the SCARA robot. Figure 9 As shown, arm component 20 is a tubular arm body having a first opening extending in a first direction parallel to the prism joint and a second opening extending in a second direction perpendicular to the first direction. The movable portion of the first actuator is fixed to the connection interface of the base 110. The fixed portion of the first actuator is fixed to arm component 20. Therefore, the first rotary joint is formed by the first actuator 140 and arm component 10. Arm component 20 is further connected via arm component 30 to a pair of modular arm configurations formed by two adjacent arm components 40, 50. The fixed portion of the second actuator can be fixed to arm component 40, while the movable portion of the second actuator is fixed to arm component 50. Alternatively, the fixed portion of the second actuator can be fixed to arm component 50, while the movable portion of the second actuator is fixed to arm component 40. Therefore, the second rotary joint is formed by the second actuator and the associated arm component. The two adjacent arm components 40, 50 are indirectly connected to arm component 70 via arm component 60. The fixed portion of the third actuator is fixed to arm component 70. The movable part of the third actuator can be fixed to the end flange used to carry the tool. Therefore, the third rotary joint is formed by the third actuator and the arm component 70.

[0056] In the example shown, base 110 may include housing 114. The prism joints of base 110 may be arranged within a sealed environment defined by housing 114. This may be necessary for high cleanliness requirements.

[0057] The description of various embodiments of this disclosure is presented for illustrative purposes and is not intended to be exhaustive or limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is for the purpose of best explaining the principles of the embodiments, their practical application, or technical improvements relative to existing technologies in the market, or to enable those skilled in the art to understand the embodiments disclosed herein.

Claims

1. A selectively compliant assembly robotic arm, SCARA robot, comprising: The base (110) includes a first connection interface (112) that defines the prism joints of the SCARA robot; as well as Multiple arm components (10, 20, 30, 40, 50, 60, 70) are connected to the base (110) and arranged sequentially. At least two adjacent arm components (40, 50) of the plurality of arm components each include an arm body (200), the arm body (200) including a tubular body having a first opening (215) extending in a first direction parallel to the prism joint and a second opening (225) extending in a second direction perpendicular to the first direction, and A first actuator (120) for forming a first rotary joint of the SCARA robot is disposed in the first opening (215) of one of the two adjacent arm parts (40, 50), the fixed portion (320) of the first actuator (120) is fixed to the one arm part, and the movable portion (310) of the first actuator is fixed to the other arm part of the two adjacent arm parts (40, 50).

2. The SCARA robot according to claim 1, wherein the two adjacent arm components (40, 50) are made of plastic material.

3. The SCARA robot according to claim 1 or 2, wherein the tubular body includes a first circumferential wall (212) extending longitudinally along the tubular body around the first opening (215), and the fixed portion (320) of the actuator is circumferentially fixed to the one arm component via the first circumferential wall (212).

4. The SCARA robot of claim 3, wherein the tubular body includes a second circumferential wall (220) extending longitudinally around the second opening (225) along the tubular body, and the other arm component is circumferentially fixed to the second circumferential wall (220); or The tubular body includes an inner flange extending radially from the inner wall surface of the tubular body around the second opening (225), and the other arm component is fixed to the first inner flange.

5. The SCARA robot according to claim 1 or 2, wherein the tubular body includes a first inner flange extending radially from the inner wall surface of the tubular body around the first opening (215), and the fixed portion (320) of the actuator is axially fixed to the first inner flange.

6. The SCARA robot of claim 5, wherein the tubular body includes a circumferential wall extending longitudinally around the second opening (225) of the tubular body, and the other arm component is circumferentially fixed to the circumferential wall; or The tubular body includes a second inner flange that extends radially from the inner wall surface of the tubular body around the second opening (225), and the other arm component is radially fixed to the second inner flange.

7. The SCARA robot according to any one of the preceding claims, wherein the two adjacent arm components (40, 50) are directly fixed to the arm component (70) for receiving the tool among the plurality of arm components, or indirectly fixed to the arm component (70) for receiving the tool via a first link arm component (60).

8. The SCARA robot of claim 7, wherein the arm component (70) for receiving the tool comprises an arm body, the arm body comprising a tubular body having a first opening (215) extending in a first direction parallel to the prism joint and a second opening (225) extending in a second direction perpendicular to the first direction, and A second actuator (130) for forming a second rotary joint of the SCARA robot is arranged in the first opening (215) of the arm part (70) for receiving a tool. The fixed portion (320) of the second actuator (130) is fixed to the arm part (70) for receiving the tool, and the movable portion (310) of the second actuator (130) is configured to receive the tool.

9. The SCARA robot according to claim 7 or 8, further comprising two adjacent arm components (10, 20) of a second pair of the plurality of arm components. in, The two adjacent arm components (10, 20) of the second pair are connected to the base (110) at the first connection interface (112), and each of the two adjacent arm components (10, 20) of the second pair includes an arm body, the arm body comprising a tubular body having a first opening (215) extending along the first direction parallel to the prism joint and a second opening (225) extending along the second direction perpendicular to the first direction, and A third actuator (140) for forming the third rotary joint of the SCARA robot is arranged in the first opening (215) of one of the arm parts in the second pair, the fixed portion (320) of the third actuator (140) is fixed to the one arm part in the second pair, and the movable portion (310) of the third actuator (140) is fixed to the other arm part in the second pair.

10. The SCARA robot according to claim 9, wherein the two adjacent arm components (10, 20) of the second pair are directly fixed to the two adjacent arm components (40, 50) of the plurality of arm components, or are indirectly fixed to the two adjacent arm components (40, 50) of the plurality of arm components via a second link arm component (60).

11. The SCARA robot of claim 9, wherein the first opening (215) of one of the two adjacent arm parts (10, 20) of the second pair adjacent to the base is oriented downward.

12. The SCARA robot according to claim 7, wherein, One of the plurality of arm components connected to the base (110) includes an arm body comprising a tubular body having a first opening (215) extending in a first direction parallel to the prism joint and a second opening (225) extending in a second direction perpendicular to the first direction. A third actuator for forming the third rotary joint of the SCARA robot is arranged in the first opening (215) of the arm component connected to the base (110), the fixed portion (320) of the third actuator is fixed to the arm component connected to the base (110), and the movable portion (310) of the third actuator is connected to the base at the first connection interface (112).

13. The SCARA robot according to any one of the preceding claims, wherein, The base (110) further includes a housing (114) that defines a sealed environment in which the prism joint is arranged.

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