A SCARA robotic arm

Abstract

This invention provides a SCARA robotic arm, characterized by comprising: a movable base, at least two articulated arms, and articulated motors disposed at each articulated arm; the movable base is sequentially connected to each articulated arm; each articulated motor is a planetary gear motor, and each articulated motor is rigidly directly connected to a follower structure via coaxial bearings; an end effector is mounted on the end articulated arm. This invention, by selecting an integrated articulated motor with a planetary reducer as the drive unit, enables the joint output to achieve high torque and sufficient speed without the need for external multi-stage reduction links, directly increasing the output capacity per unit volume on the drive side, thereby reducing the need for additional structural and transmission components to meet dynamic performance requirements. The rigid direct connection scheme between the articulated motor and the follower structure shortens the power transmission path, reduces backlash and flexibility introduced by components such as synchronous belts / linkage mechanisms, and lowers phase lag and energy loss.

Description

Technical Field

[0001] This invention relates to the field of high-speed motion robot technology, and in particular to a SCARA robotic arm. Background Technology

[0002] Based on product form and integration boundaries, existing SCARA robots can generally be divided into the following two categories:

[0003] (1) Integrated / Standalone SCARA Robot System: The robot body, base mounting interface, cable management (some models include control cabinet or control interface) are standardized finished products that can be independently fixed on the ground or desktop and other basic platforms to form a relatively complete working unit. These systems usually have "plug and play, general scenario coverage, long-term stability, accuracy consistency and safety margin" as their main product goals.

[0004] Under productization constraints, integrated / standalone SCARA robot systems often exhibit the following characteristics: if lightweight design is emphasized, it is often necessary to reduce the arm span or high-speed performance, or make concessions in terms of load capacity, life margin, and accuracy consistency; if a large working range and high speed are emphasized, stability and accuracy are often achieved by increasing structural mass and volume, and improving drive specifications and costs.

[0005] (2) Built-in / Embedded SCARA robot system: The SCARA is integrated as part of a large equipment or robot system. Its installation reference, power supply and control, cables and air circuits, external protection, etc. are planned in a unified manner by the whole system. The SCARA body provides end effector motion capability in a modular way. This type of system usually aims to achieve "high system integration, small space occupation, easy embedding into equipment, and collaboration with the whole machine workstation".

[0006] Built-in / embedded SCARA systems often exhibit the following characteristics: If lightweight and easy integration are emphasized, a stronger overall installation interface and stricter system constraints are required, or speed / acceleration and range of motion may be reduced; if a large operating range and high speed are emphasized, the modules require a stronger structure and drive configuration, leading to increased weight and weakening the advantages of "lightweight and easy migration"; if... Figure 3 If all three conditions are met, then concessions must usually be made in terms of cost, manufacturing and assembly precision requirements, overall machine constraints, or control system complexity.

[0007] In summary, the difficulty in simultaneously achieving the three key performance indicators of "lightweight design, large working area, and high motion speed" in existing integrated and embedded SCARA systems stems primarily from a series of inherent engineering constraints. Therefore, existing technologies generally suffer from the following problem: under given modular design and productization constraints, it is difficult to achieve a balance between lightweight design, large working area, and high motion speed without significantly sacrificing cost, reliability margin, installation conditions, or control complexity. To address these issues, a new SCARA robot system form and modular design scheme are urgently needed, enabling it to maintain a large working space and high-speed motion performance while achieving significant weight reduction and facilitating portability, migration, or embedding into various automated equipment and robot systems. Summary of the Invention

[0008] This invention provides a SCARA robotic arm to solve, or at least partially solve, the shortcomings of existing technologies that make it difficult to achieve a balance between lightweight, large working range and high movement speed without significantly sacrificing cost, reliability margin, installation conditions or control complexity.

[0009] The present invention provides a SCARA robotic arm, comprising: a movable base, at least two articulated arms, and joint motors disposed at each joint; The movable base is connected to each articulated arm in stages; Each joint motor is a planetary gear motor, and each joint motor is rigidly directly connected to the follower structure through coaxial bearings; An end effector is mounted on the articulated arm at the end of the arm.

[0010] Optionally, the movable base includes: a base and a base motor, wherein the base motor is capable of driving the base to move on a slide rail.

[0011] Furthermore, the movable base can be adjusted along the height direction, and each joint motor adjusts the joint arm in the horizontal plane.

[0012] Furthermore, the base includes a back plate, a bracket, a load-bearing plate, and a cover plate; The back plate is vertically arranged, and the cover plate is perpendicularly connected to the back plate at the top of the back plate. The bracket is installed on the side of the back plate to support the carrier plate. The proximal end of the first articulated arm is installed between the carrier plate and the cover plate through a bearing. The first articulated motor is located below the carrier plate and can drive the first articulated arm to rotate through the bearing.

[0013] Furthermore, the back plate and the cover plate are interlocked through an interlocking structure.

[0014] Furthermore, the embedded portion on the back plate is connected to the recessed portion of the cover plate by horizontally arranged screws; the embedded portion on the cover plate is connected to the recessed portion of the back plate by vertically arranged pins.

[0015] Optionally, an energy release module is provided on the back of the slide rail of the movable base, and the energy release module includes a braking module, heat dissipation fins and a cooling fan; The braking module can limit excessive voltage; The heat dissipation fins and cooling fan can dissipate heat from the braking module.

[0016] Optionally, a gap is provided between the cooling fan and the heat dissipation fins.

[0017] Optionally, each joint motor can be an integrated joint motor with a planetary gear reducer.

[0018] Optionally, the main body of each articulated arm is made of I-beams.

[0019] The SCARA robotic arm provided by this invention has at least the following beneficial effects:

[0020] 1. This invention uses an integrated joint motor with a planetary reducer as the drive unit, which enables the joint output to achieve high torque and sufficient speed without the need for an external multi-stage reduction link. This directly improves the output capacity per unit volume on the drive side, thereby reducing the need for additional structures and transmission components to meet dynamic performance requirements.

[0021] 2. This invention employs a rigid direct connection scheme between the joint motor and the follower structural components, resulting in a shorter power transmission path, reducing backlash and flexibility introduced by components such as synchronous belts / linkage mechanisms, and lowering phase lag and energy loss. Under the same control bandwidth conditions, the shorter the transmission chain and the less elastic it is, the closer the end-effector response is to an ideal second-order system, and the easier it is to suppress ringing and trailing. Therefore, this invention is more conducive to maintaining stable trajectory following during high-speed motion and provides a structural foundation for ten-micron-level positioning accuracy and rapid positioning.

[0022] 3. This invention employs an I-shaped cross-section in the boom structure to improve bending and torsional moments of inertia under the same mass constraint, making the boom less prone to significant deformation. Furthermore, it utilizes coaxial bearings at joint connections for support and close contact with the external structure, ensuring that the load bending moment is preferentially borne by the bearings and structural components, preventing moment concentration on the motor output shaft and thus improving output shaft posture stability and joint stiffness consistency. Addressing the larger bending moment at the base joint, a connection method of "horizontal screw clamping + vertical pin constraint" enhances assembly repeatability and resistance to fretting. Through these optimized load-bearing paths, this invention suppresses the amplification of errors caused by tilting and structural loosening without significantly increasing mass, making it more suitable for maintaining end-effector accuracy and stability under large operating ranges and high dynamic motion conditions.

[0023] 4. This invention incorporates a braking module on the lifting base plate, along with heat dissipation fins and a fan, to stably dissipate regenerative energy as heat and accelerate heat dissipation, forming a clear energy management path. Because the risk of overvoltage is reduced, the driver can maintain stable operation in higher-frequency acceleration and deceleration cycles, solving the regenerative energy problem caused by high-speed start-stop / braking, improving continuous operation reliability, and thus supporting continuous operation reliability and consistency under high-cycle conditions.

[0024] 5. This invention reduces the requirements for external system support through a "lightweight body + highly integrated joint drive," allowing the robot to be deployed as an independent unit on a desktop / machine platform or embedded as a module in a larger automation system. Simultaneously, the self-developed lifting motor maintains compatibility with low-voltage servo output shafts in its output shaft structure, enabling direct connection to standard lifting module couplings. This reduces replacement and integration costs and improves cross-platform reusability and rapid deployment capabilities. Therefore, this invention significantly enhances portability and embedding integration friendliness while meeting the requirements of a larger working space and higher speed, further improving the efficiency of system-level engineering implementation. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This is one of the structural schematic diagrams of a SCARA robotic arm according to the present invention; Figure 2 This is an application example of the SCARA robotic arm of the present invention being embedded into other systems; Figure 3This is a cross-sectional view of a SCARA robotic arm of the present invention at the base, the first joint motor, and the first joint arm. Figure 4 This is a cross-sectional view of a SCARA robotic arm of the present invention at the first joint arm, the second joint motor, and the second joint arm. Figure 5 This is a schematic diagram of the base motor of a SCARA robotic arm according to the present invention; Figure 6 This is a schematic diagram of a partial structure of the base of a SCARA robotic arm according to the present invention; Figure 7 This is a schematic diagram of the external structure of the energy release module of a SCARA robotic arm according to the present invention; Figure 8 This is a schematic diagram of the internal structure of the energy release module of a SCARA robotic arm according to the present invention; Figure 9 This is a cross-sectional schematic diagram of the first joint arm of a SCARA robotic arm according to the present invention.

[0027] Figure label: 10-SCARA robotic arm, 20-mobile chassis, 30-lifting mechanism, 40-operating table, 50-cooperative robotic arm; 100 - Movable base, 101 - Base motor, 102 - Output shaft, 103 - Coupling; 201-First joint motor, 202-Bearing, 211-Second joint motor, 212-Bearing, 215-First joint arm, 216-Second joint arm; 203-Cover plate, 204-Back plate, 205-Screw, 206-Pin, 207-Bearing plate, 208-Bracket; 110 - Braking module, 111 - Heat sink fins, 112 - Cooling fan, 113 - Energy release module. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0029] The following is combined Figures 1-9 This invention describes a SCARA robotic arm.

[0030] Reference Figure 1The present invention provides a SCARA robotic arm, comprising: a movable base 100, at least two articulated arms, and joint motors disposed at each joint; The movable base 100 connects to each articulated arm in stages; Each joint motor is a planetary gear motor, and each joint motor is rigidly directly connected to the follower structure through coaxial bearings; An end effector is mounted on the articulated arm at the end of the arm.

[0031] Specifically, the SCARA robotic arm here can be an integrated SCARA robotic arm that performs functions independently, or it can be an embedded SCARA robotic arm, as shown in the reference. Figure 2 A specific example, Figure 2 The SCARA robotic arm is embedded in the mushroom harvesting robot system for automatic mushroom harvesting. It includes a SCARA robotic arm 10, a mobile chassis 20, a lifting mechanism 30, an operating platform 40, and a collaborative robotic arm 50. The mobile chassis 20 can adjust the position of the mushroom harvesting robot system, and the lifting mechanism 30 can adjust the height of the operating platform 40. The SCARA robotic arm 10 and the collaborative robotic arm 50 are set on the operating platform 40. The SCARA robotic arm 10 can pick mushrooms at a high speed and hand them over to the collaborative robotic arm 50. The collaborative robotic arm 50 delivers the mushrooms to be rooted and then placed into containers of the corresponding type.

[0032] SCARA robotic arms can have three, four, or more axes. The joint motors at each joint use planetary gear motors. Planetary gears are gear systems that, in addition to rotating around their own axis of rotation like fixed-axis gears, also rotate around the axes of other gears along with the planet carrier. They can directly convert the initial high speed and low torque of the sun gear of the joint motor into low speed and high torque output by the gear ring (output flange) to smoothly drive the downstream joint arm (the side away from the base).

[0033] Furthermore, the planetary gear joint motor of this invention is rigidly directly connected to the upstream structural component (the connected structural component near the base) and the downstream structural component (the connected structural component away from the base) via coaxial bearings. This means that the SCARA robotic arm has no other external reducers, synchronous belts, or multi-stage transmissions, significantly reducing its size and weight. Moreover, the rigid direct connection between the upstream structural component, planetary gear motor, and downstream structural component via coaxial bearings shortens the torque transmission path, allowing the joint output to directly act on the arm structure. This reduces backlash, phase lag, and micro-vibration amplification caused by components such as belts, synchronous pulleys, and two-stage reducers, thus facilitating the achievement of 10-micron-level positioning accuracy and high-speed positioning stability. (Refer to...) Figure 1 The movable base 100, the first articulated motor 201, the first articulated arm 215, and the movable base 100 shown are shown. Figure 3 The diagram shows a cross-sectional view along the plane of symmetry at the base 100, the first joint motor 201, and the first joint arm 215. The bearing 202 and the first joint motor 201 are mounted on the base 100. The outer ring of the bearing 202 is connected to the cover plate 203, and the inner ring of the bearing 202 is connected to the first joint arm 215. The output flange of the first joint motor 201 (the outer gear ring of the planetary gear motor) is connected to the first joint arm 215, directly driving the rotation of the first joint arm 215. (Refer to...) Figure 1 The first articulated arm 215, the second articulated motor 211, the second articulated arm 216, and... are shown. Figure 4 The diagram shows the cross-sectional view along the plane of symmetry of the first articulated arm 215, the second articulated motor 211, and the second articulated arm 216. The inner ring of the second articulated motor 211 and the bearing 212 is mounted to the far end of the first articulated arm 215 (the end away from the base 100). The proximal end of the second articulated arm 216 (the end close to the base 100) is connected to the outer ring of the bearing 212. The output flange of the second articulated motor 211 (the outer gear ring of the planetary gear motor) is connected to the proximal end of the second articulated arm 216, directly driving the second articulated arm 216 to rotate.

[0034] In existing SCARA solutions, a combination of "servo motor + external reducer / synchronous belt / multi-stage transmission" is often used to obtain a larger joint output torque. While this type of link can increase output torque, it introduces additional transmission backlash, elastic deformation, and efficiency loss. Especially during high-speed start-stop and frequent reversals, backlash and elastic energy storage can be converted into end-effector overshoot, ringing, and tailing, forcing the system to reduce acceleration or extend positioning time, thus affecting cycle time and accuracy. This invention integrates the motor body, reducer, and output flange into a single package, providing higher output torque and a wider usable speed range without the need for additional external reduction mechanisms. Simultaneously, the selected motor employs a higher pole pair design (e.g., 12-16 pole pairs, preferably 14 pole pairs), resulting in a higher torque constant and a lower no-load speed constant. This is beneficial for outputting larger joint torque under low-voltage power supply conditions, thereby supporting the robotic arm to maintain high acceleration / deceleration capabilities and end-effector movement speed even under end-effector load conditions. In one specific example, the joint motor can achieve a peak output torque of up to 25 Nm and an output speed of at least 100 RPM without the need for an additional two-stage reduction gear, thus meeting the requirements for high-speed end-effector movement and a fast cycle time.

[0035] In a preferred example, the SCARA robotic arm is a three-DOF SCARA structure with a total arm span of 800 mm, a lifting stroke of 250 mm, and a total weight not exceeding 6 kg. In terms of motion performance, the maximum speed of the lifting axis can reach 600 mm / s, the maximum rotational speed of the rotary joints can reach 650° / s, and the maximum end effector speed can reach 1.5 m / s. This combination of specifications is geared towards typical applications such as high-speed pick-and-place, assembly, loading / unloading, and embedded automation units, emphasizing the ability to maintain high motion rhythm and positioning capabilities over a large working area, while reducing the robot's dependence on external system support and installation conditions.

[0036] Based on the foregoing embodiments, in one embodiment, the movable base 100 includes: a base and a base motor 101, the base motor 101 being capable of driving the base to move on a slide rail. Specifically, depending on different usage requirements, the movable base 100 can be designed to move on a plane, as shown in the figure. Figure 1 Furthermore, the movable base 100 can be designed to move in the height direction. In a specific example, the base motor 101 has a rated output torque of 0.4 Nm and a rated speed of 4000 RPM; with output torque and speed performance close to that of a 400 W-class low-voltage servo motor, its overall size (including the motor body, drive module, and control module) is approximately 1 / 5 of that of similar low-voltage servo solutions. And, further referring to... Figure 5 The output shaft 102 of the base motor 101 has the same shape as the low-voltage servo output shaft, and can be directly connected to the coupling 103 of the lifting module, thereby reducing the cost of system modification and replacement, and improving the module's versatility and assembly efficiency. The above structural features support plug-and-play replacement and portability, which is crucial for "portability / embeddability".

[0037] Still refer to Figure 1 Based on the previous embodiment, in one embodiment, the movable base 100 can be adjusted along the height direction, and the joint motors adjust the joint arms in the horizontal plane. The degree of freedom design of this type of SCARA robotic arm makes its control algorithm design relatively simple, which is convenient for realizing repetitive actions and high-frequency control. It is especially suitable for realizing some high-speed motion and fast-paced scenarios, such as typical tasks such as picking, sorting, and retrieval.

[0038] Reference Figure 6 Based on the previous embodiment, in one embodiment, the base includes a back plate 204, a bracket 208, a bearing plate 207, and a cover plate 203; The back plate 204 is vertically arranged, and the cover plate 203 is perpendicularly connected to the back plate 204 at the top. The bracket is installed on the side of the back plate 204 to support the support plate 207. The outer ring of the proximal connecting bearing 202 of the first articulated arm 215 is installed between the support plate 207 and the cover plate 203. The first articulated motor 201 is located below the support plate 207. The first articulated motor 201 can drive the outer ring of the bearing 202 to rotate, thereby directly driving the first articulated arm 215 to rotate.

[0039] Because the combined structural components, articulated motors, and end effector load generate a significant bending moment on the horizontal arm, insufficient stiffness in the load-bearing path can cause the robotic arm to tilt and vibrate, thus affecting the accuracy of the high-speed trajectory and the arrival time. This embodiment employs coaxial bearings (bearings 202 and 212) at the connection between the articulated motor and the structural components, ensuring that the bending moment caused by the end effector load and the arm's own weight preferentially passes through the bearings and structural components (such as...). Figure 6 The cover plate 203 is closed to prevent the bending moment from being concentrated on the motor output shaft, thereby improving the output shaft's attitude stability and joint stiffness consistency, and reducing tilting and attitude drift. This embodiment eliminates flexible and backlash sources such as synchronous belts and two-stage reduction gears, and adopts a rigid connection between the joint motor output end and the arm body follower structure to achieve a short torque path, low backlash, and low elastic deformation, thereby improving high-speed positioning stability and accuracy from a structural perspective.

[0040] Based on the previous embodiment, in one embodiment, the back plate 204 and the cover plate 203 are interlocked by an interlaced structure.

[0041] In response to the larger bending moment of the base joint, the present invention further adopts an interlaced structure combination connection method at the cover plate 203 and back plate 204 that contact the outer ring of the bearing 202. The connection stability is improved by interlacing, thereby improving the structural stability and assembly reliability of the base joint under high-speed reciprocating and frequent start-stop conditions.

[0042] Reference Figure 7 Based on the previous embodiment, in one embodiment, the embedded portion on the back plate 204 is connected to the recessed portion of the cover plate 203 by a horizontally arranged screw 205; and the embedded portion on the cover plate 203 is connected to the recessed portion of the back plate 204 by a vertically arranged pin 206.

[0043] To address the issue of larger bending moments in the base joint, this invention further employs a combined connection method of "horizontal screw connection + vertical pin constraint" based on the aforementioned staggered structure. The screws 205 provide clamping and shear resistance, while the pins 206 provide consistency and resistance to fretting during repeated assembly, thereby improving the structural stability and assembly reliability of the base joint under high-speed reciprocating and frequent start-stop conditions. It should be noted that the adoption of this combined connection method of "horizontal screw connection + vertical pin constraint" also has specific considerations. Compared to the common "all-screw fastening" solution, this embodiment better ensures the "tight fit between the cover plate and the back plate" and the "level of the cover plate". If the screws are tightened vertically, the tightening force will cause a slight "compression" deformation near the contact point between the cover plate 203 and the back plate 204, and the distal end of the cover plate 203 will slightly lift up. This will also manifest as a slight tilt at the end of the robotic arm, reducing high-speed stability. For the "horizontal pin constraint + vertical screw connection" solution, the "vertical screw" can ensure that the cover plate 203 and the back plate 204 are tightly fitted in the horizontal plane, and the horizontal pin also provides an auxiliary role in ensuring tight fit in the horizontal plane. This solution cannot ensure that the cover plate 203 and the back plate 204 are tightly fitted in the vertical plane. This will cause the cover plate 203 to not be kept as level as possible. With installation errors, random small-angle tilts will occur, which will cause a large tilt at the end of the robotic arm, which is detrimental to the positioning and motion control of the end of the robotic arm. This embodiment can ensure both the "tight fit between the cover plate and the back plate" and the "level of the cover plate".

[0044] Based on the foregoing embodiments, in one embodiment, an energy release module 113 is provided on the back of the slide rail of the movable base 100. The energy release module 113 includes a braking module 110, a heat dissipation fin 111, and a heat dissipation fan 112. Braking module 110 can limit over-voltage; The heat sink 111 and the cooling fan 112 can dissipate heat from the braking module 110.

[0045] Specifically, under high-speed operation and frequent start-stop conditions, the joint motor generates regenerative energy backflow during deceleration or emergency stop, causing the drive DC bus voltage to rise. If existing embedded or lightweight systems lack an effective energy discharge channel, it may trigger overvoltage protection, cause braking instability or cycle interruption, thereby limiting the actual release of high-speed capabilities.

[0046] Because the high-dynamic articulated motor used generates strong regenerative energy backflow during high-speed deceleration, emergency stops, or frequent braking, the DC bus voltage of the driver rises. Without a proper energy discharge channel, this could trigger the driver's overvoltage protection or affect the stability of speed control. Therefore, this invention designs a module to release the motor's regenerative energy, as follows: Figure 7As shown. The energy release module 113 is located on the back of the base slide rail and consists of a braking module 110, heat dissipation fins 111, and a forced-air cooling fan 112. When the voltage of the main power supply line is higher than the threshold set by the braking module 110, the braking module 110 will chop the excess voltage, convert it into heat, and release it. The heat dissipation fins 111 are metal structural components that increase the contact area between the resistive surface in the braking module and the air, thereby conducting heat into the air as much as possible to accelerate its release. Finally, two forced-air cooling fans are placed above the heat dissipation fins 111 to accelerate convection cooling through active airflow. Since the heat dissipation fins 111 and the fans are completely in contact, the air pressure inside the fins will be insufficient, which will make it difficult for the heat flow to be released smoothly. Therefore, this invention leaves a certain gap between the fins and the fans. Through the combination of the above components, the braking energy absorption capacity and thermal stability are improved, ensuring the continuous and reliable operation of the system under high-speed start-stop and high-frequency operation.

[0047] Based on the foregoing embodiments, in one embodiment, the main body of each articulated arm is made of I-beams. For example, refer to... Figure 9 This illustrates the cross-sectional view of the first articulated arm 215. For long-span SCARA booms, structural components, joint assemblies, and end-loads generate significant bending moments on the horizontal boom. If the joint supports and boom cross-sectional stiffness are insufficient, tilting and increased deflection will occur, which, combined with inertial loads at high speeds, will lead to more pronounced vibrations and amplified errors. Existing technologies often increase stiffness by increasing boom thickness or base size to reduce tilting, but this often results in increased weight and reduced portability.

[0048] Because the combined structural components, joint motors, and end-effector loads will generate a significant bending moment on the horizontal arm, if the cross-sectional stiffness is insufficient, the robotic arm will tilt and vibrate, which will affect the accuracy of the high-speed trajectory and the arrival time.

[0049] The main body of the robotic arm adopts an I-shaped cross-section. By increasing the bending and torsional moments of inertia under unit mass constraints, the goal of "balancing lightweight and high rigidity" is achieved. This results in minimal deformation of the arm under control and keeps the deflection within a small range under load conditions, thereby reducing the impact of downward tilt on accuracy and stability.

[0050] Finally, this invention constructs a three-degree-of-freedom SCARA system based on a "small, highly integrated articulated motor with higher torque density," and specifically designs and optimizes solutions to problems introduced by this type of motor under high-speed conditions, such as structural load-bearing capacity, tilt control, and regenerative energy management. While supporting high speeds and medium loads, this invention achieves a large working space and high end-effector speed with a relatively small system weight, thus achieving a good balance between lightweight design, working range, and dynamic performance. It also possesses engineering advantages such as ease of portability, migration, or embedding into other robot systems and automation equipment. This invention does not simply reduce weight or increase speed, but rather reduces the structural redundancy required for the same working space and speed targets through the co-design of the drive architecture and structure, achieving a better balance of the three indicators at the system level. It achieves more balanced system-level performance across the three indicators of "lightweight design, large working space, and high speed."

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A SCARA robotic arm, characterized in that, include: A movable base, at least two articulated arms, and articulated motors at each joint; The movable base is connected to each articulated arm in stages; Each joint motor is a planetary gear motor, and each joint motor is rigidly directly connected to the follower structure through coaxial bearings; An end effector is mounted on the articulated arm at the end of the arm.

2. A SCARA robotic arm according to claim 1, characterized in that, The movable base includes: a base and a base motor, wherein the base motor is capable of driving the base to move on a slide rail.

3. A SCARA robotic arm according to claim 2, characterized in that, The movable base can be adjusted along the height direction, and each joint motor adjusts the joint arm in the horizontal plane.

4. A SCARA robotic arm according to claim 3, characterized in that, The base includes a back plate, a bracket, a load-bearing plate, and a cover plate; The back plate is vertically arranged, and the cover plate is perpendicularly connected to the back plate at the top of the back plate. The bracket is installed on the side of the back plate to support the carrier plate. The proximal end of the first articulated arm is installed between the carrier plate and the cover plate through a bearing. The first articulated motor is located below the carrier plate and can drive the first articulated arm to rotate through the bearing.

5. A SCARA robotic arm according to claim 4, characterized in that, The back plate and the cover plate are interlocked by an interlocking structure.

6. A SCARA robotic arm according to claim 5, characterized in that, The embedded portion on the back plate is connected to the recessed portion of the cover plate by horizontally arranged screws; the embedded portion on the cover plate is connected to the recessed portion of the back plate by vertically arranged pins.

7. A SCARA robotic arm according to claim 2, characterized in that, The movable base has an energy release module on the back of the slide rail. The energy release module includes a braking module, heat dissipation fins, and a heat dissipation fan. The braking module can limit excessive voltage; The heat dissipation fins and cooling fan can dissipate heat from the braking module.

8. A SCARA robotic arm according to claim 1, characterized in that, A gap is provided between the cooling fan and the cooling fins.

9. A SCARA robotic arm according to claim 1, characterized in that, Each joint motor uses an integrated planetary gear reducer.

10. A SCARA robotic arm according to claim 1, characterized in that, The main body of each articulated arm is made of I-beams.

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