Scara robot

Abstract

The utility model relates to robot technical field, concretely discloses a SCARA robot among them, the input of horizontal moving mechanism and the base abut, and the output moves along the horizontal direction, the support pipe is located at the output of horizontal moving mechanism, and the support pipe rotates around the own axis, the pickup piece is located at the lower extreme of support pipe, and the pickup piece and the base are connected with the cable and the air pipe, the protection pipe is located between support pipe and horizontal moving mechanism, the adapter assembly includes the bearing, the outer ring of bearing is opposite fixed with support pipe, along the direction of cable and air pipe's wear, support pipe, the inner ring of bearing and protection pipe communicate in proper order. The above -mentioned setting has improved the service life of cable and air pipe.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a SCARA robot. Background Technology

[0002] Articulated robots, also known as articulated robotic arms or multi-joint robots, have joints that move in a rotational manner, similar to a human arm. Articulated robots are one of the most common types of industrial robots in today's industrial sectors, suitable for automated mechanical operations in many industries.

[0003] The articulated robot has a base, a robotic arm mounted on the base and capable of rotating about a vertical axis, and a mounting shaft located at the other end of the robotic arm and capable of rotating about a vertical axis. The lower end of the mounting shaft is equipped with a gripping pick-up component. Cables and air tubes are provided between the pick-up component and the base. The cables and air tubes pass through the hollow mounting shaft. However, when the mounting shaft rotates, relative friction occurs between the cables and air tubes and the upper opening of the mounting shaft. This friction generates noise and causes wear on the cables and air tubes, affecting their service life.

[0004] Therefore, there is an urgent need to research a SCARA robot to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide a SCARA robot that solves the problems in the prior art where friction and noise occur between the R-axis and cables and air tubes during rotation, and where wear and tear on the cables and air tubes affects their service life.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A SCARA robot, comprising:

[0008] Base;

[0009] A horizontal moving mechanism, wherein the input end of the horizontal moving mechanism abuts against the base, and the output end moves in the horizontal direction;

[0010] A support tube is provided at the output end of the horizontal moving mechanism, and the support tube rotates about its own axis;

[0011] A pickup component is located at the lower end of the support tube, and a cable and an air tube are connected between the pickup component and the base.

[0012] A protective tube is disposed between the support tube and the horizontal moving mechanism;

[0013] An adapter assembly includes a bearing, the outer ring of which is fixed relative to the support tube. Along the direction in which the cable and the air pipe pass through, the support tube, the inner ring of the bearing, and the protective tube are connected in sequence.

[0014] As an optional technical solution for SCARA robots, the adapter assembly also includes a mounting base connected to the support tube, and the outer ring of the bearing is mounted on the mounting base.

[0015] As an optional technical solution for SCARA robots, the top of the support tube is provided with a mounting flange, and the mounting base has a first mounting channel and a second mounting channel that are connected. The diameter of the first mounting channel is larger than the diameter of the second mounting channel, and the second mounting channel is connected between the first mounting channel and the support tube. The mounting flange and the mounting base are screwed together.

[0016] As an optional technical solution for SCARA robots, the outer ring of the bearing is connected to a connecting lug, the connecting lug having a first connecting hole, the mounting base having a second connecting hole, and fasteners passing through the first connecting hole and the second connecting hole to securely connect the mounting base and the outer ring of the bearing; and / or,

[0017] The outer ring of the bearing is located within the first mounting channel, and the inner ring of the bearing is arranged at intervals with the stepped surfaces between the first mounting channel and the second mounting channel.

[0018] As an optional technical solution for SCARA robots, the adapter assembly further includes a transfer seat and a first transfer bracket. The transfer seat is connected to the inner ring, and the first transfer bracket includes a base plate, a vertical plate, and a top plate. The base plate is connected to the transfer seat, the top plate is parallel to the base plate, the vertical plate is disposed between the base plate and the top plate, and the top plate is connected to the protective tube; and / or,

[0019] The adapter assembly also includes a second transfer bracket, which is connected between the protective tube and the horizontal moving mechanism.

[0020] As an optional technical solution for SCARA robots, the transfer base has a transfer channel and a first transfer hole through the transfer channel. The axial length of the inner ring of the bearing is greater than the axial length of the outer ring of the bearing. The inner ring of the bearing has a second transfer hole. The inner ring of the bearing passes through the transfer channel. Fasteners pass through the first transfer hole and the second transfer hole to connect the transfer base and the inner ring of the bearing.

[0021] As an optional technical solution for SCARA robots, the transfer channel includes a first transfer channel and a second transfer channel that are connected. The diameter of the first transfer channel is smaller than the diameter of the second transfer channel. The second transfer channel is fitted onto the inner ring of the bearing, and the end of the inner ring of the bearing abuts against the stepped surface between the first transfer channel and the second transfer channel. The first transfer hole is connected to the second transfer channel.

[0022] As an optional technical solution for SCARA robots, the base plate is provided with a bottom hole and a bottom mounting hole on the outer periphery of the bottom hole, the top of the transfer seat is provided with a top mounting hole, the bottom hole is connected to the first transfer channel, and the fastener passes through the bottom mounting hole and is screwed into the top mounting hole.

[0023] As an optional technical solution for SCARA robots, the outer periphery of the protective tube facing the first transfer bracket is provided with a stop and a threaded part. The top plate is provided with a top hole. The diameter of the top hole is larger than the diameter of the threaded part and smaller than the outer diameter of the stop. The threaded part passes through the top hole. The fastening nut is screwed into the threaded part, and the top plate is sandwiched between the fastening nut and the stop.

[0024] As an optional technical solution for SCARA robots, the horizontal movement mechanism includes a first arm and a second arm. One end of the first arm is rotatably disposed on the base about a first axis; one end of the second arm is rotatably disposed on the end of the first arm away from the base about a second axis; and the support tube is rotatably disposed on the end of the second arm away from the first arm about a third axis.

[0025] This utility model has at least the following beneficial effects:

[0026] This utility model provides a SCARA robot, which includes a base, a horizontal movement mechanism, a support tube, a pickup component, a protective tube, and a connecting assembly. The input end of the horizontal movement mechanism abuts against the base, and the output end moves horizontally. The support tube is located at the output end of the horizontal movement mechanism and rotates around its own axis. The pickup component is located at the lower end of the support tube, and a cable and an air tube are connected between the pickup component and the base. The protective tube is located between the support tube and the horizontal movement mechanism. The connecting assembly includes a bearing, the outer ring of which is fixed relative to the support tube. Along the direction in which the cable and air tube pass through, the support tube, the inner ring of the bearing, and the protective tube are connected in sequence.

[0027] With the above configuration, as the support tube rotates, it drives the outer ring of the bearing to rotate. The cable and air pipe come into contact with the inner ring. When relative rotation occurs between the inner ring and the outer ring, the inner ring rotates synchronously with the cable and air pipe, avoiding friction between the cable, air pipe, and inner ring. This prevents noise and reduces the probability of damage to the cable and air pipe, thus extending their service life. Additionally, the protective tube also protects the cable and air pipe from corrosion by oil and other impurities. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this utility model and these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the SCARA robot in an embodiment of the present invention;

[0030] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0031] Figure 3 This is a cross-sectional structural diagram of the adapter component in an embodiment of the present invention.

[0032] In the picture:

[0033] 100. Base;

[0034] 200. Horizontal moving mechanism; 210. First arm; 220. Second arm;

[0035] 300. Support pipe; 310. Mounting flange;

[0036] 400. Pick-up item;

[0037] 500. Protective tube; 510. Stop; 520. Threaded part; 530. Fastening nut;

[0038] 600, Adapter assembly; 610, Bearing; 611, Outer ring; 612, Inner ring; 613, Connecting lug; 6131, First connecting hole; 620, Mounting base; 621, First mounting channel; 622, Second mounting channel; 630, Transfer base; 631, First transfer channel; 632, Second transfer channel; 633, First transfer hole; 640, First transfer bracket; 641, Base plate; 6411, Bottom hole; 6412, Bottom mounting hole; 6413, Connecting groove; 642, Vertical plate; 643, Top plate; 650, Second transfer bracket. Detailed Implementation

[0039] Before explaining any implementation of this application in detail, it should be understood that this application is not limited to its application to the structural details and component arrangements set forth in the following description or shown in the above drawings.

[0040] In this application, the terms "comprising," "including," "having," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0041] In this application, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this application generally indicates that the preceding and following related objects have an "and / or" relationship.

[0042] In this application, the terms "connection," "combination," "coupling," and "installation" can refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without the need for an intermediary, while an indirect connection refers to two parts or components each being connected to at least one intermediary, with the connection achieved through the intermediary. Furthermore, "connection" and "coupling" are not limited to physical or mechanical connections or couplings, but can also include electrical connections or couplings.

[0043] In this application, those skilled in the art will understand that relative terms (e.g., “about,” “approximately,” “basically,” etc.) used in conjunction with quantities or conditions are to include the values ​​and have the meaning indicated by the context. For example, such relative terms include at least the degree of error associated with the measurement of a particular value, tolerances associated with the particular value due to manufacturing, assembly, use, etc. Such terms should also be considered as disclosing a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​that do not use relative terms should also be disclosed as specific values ​​with tolerances. Furthermore, “basically” when expressing relative angular relationships (e.g., substantially parallel, substantially perpendicular) may refer to a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) added to or subtracted from the indicated angle.

[0044] In this application, those skilled in the art will understand that the function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0045] In this application, the directional terms "upper," "lower," "left," "right," "front," and "rear" are used to describe the orientation and positional relationships shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should be understood that when an element is mentioned as being connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected through an intermediate element. It should also be understood that directional terms such as upper side, lower side, left side, right side, front side, and rear side not only represent positive orientation but can also be understood as lateral orientation. For example, "below" can include directly below, lower left, lower right, lower front, and lower rear.

[0046] like Figures 1 to 3 As shown, this embodiment provides a SCARA robot (Selective Compliance Assembly Robot). Arm (Chinese translation: compliant assembly robotic arm), this SCARA robot includes a base 100, a horizontal movement mechanism 200, a support tube 300, a pickup 400, a protective tube 500, and a transition assembly 600. The input end of the horizontal movement mechanism 200 abuts against the base 100, and its output end moves horizontally. The support tube 300 is located at the output end of the horizontal movement mechanism 200 and rotates around its own axis. The pickup 400 is located at the lower end of the support tube 300, and a cable and air pipe connect the pickup 400 and the base 100. The protective tube 500 is located between the support tube 300 and the horizontal movement mechanism 200. The transition assembly 600 includes a bearing 610, the outer ring 611 of which is fixed relative to the support tube 300. Along the direction of the cable and air pipe, the support tube 300, the inner ring 612 of the bearing 610, and the protective tube 500 are sequentially connected. With the above configuration, when the support tube 300 rotates, it drives the outer ring 611 of the bearing 610 to rotate. The cable and air pipe come into contact with the inner ring 612. When the cable and air pipe rotate relative to the outer ring 611, the inner ring 612 rotates synchronously with the cable and air pipe, avoiding friction between the cable, air pipe, and inner ring 612, thus preventing noise and reducing the probability of damage to the cable and air pipe, thereby increasing their service life. In addition, the protective tube 500 also protects the cable and air pipe, reducing corrosion from oil and other impurities.

[0047] To facilitate the installation of the bearing 610, in some embodiments, the adapter assembly 600 further includes a mounting base 620, which is connected to the support tube 300, and the outer ring 611 of the bearing 610 is mounted on the mounting base 620. Specifically, the top of the support tube 300 is provided with a mounting flange 310, and the mounting base 620 has a first mounting channel 621 and a second mounting channel 622 that are connected. The diameter of the first mounting channel 621 is larger than the diameter of the second mounting channel 622, and the second mounting channel 622 connects the first mounting channel 621 and the support tube 300. The mounting flange 310 and the mounting base 620 are screwed together. This arrangement allows cables and air pipes to pass through the support tube 300 and the second channel and enter the inner ring 612 of the bearing 610. In this embodiment, the mounting flange 310 has a mounting screw hole, and the mounting base 620 has a countersunk hole through the stepped surface between the first mounting channel 621 and the second mounting channel 622. The mounting screw passes through the countersunk hole and is screwed into the mounting screw hole.

[0048] Regarding the connection between the bearing 610 and the mounting base 620, in some embodiments, the outer ring 611 of the bearing 610 is connected to a connecting lug 613, the connecting lug 613 having a first connecting hole 6131, and the mounting base 620 having a second connecting hole. Fasteners pass through the first connecting hole 6131 and the second connecting hole to securely connect the mounting base 620 and the outer ring 611 of the bearing 610. The fasteners are screws, and the second connecting hole is a screw hole. The outer ring 611 of the bearing 610 is located within the first mounting channel 621, the connecting lug 613 is located on the outer periphery of the first mounting channel 621 and overlaps the top of the mounting base 620, and the stepped surfaces between the inner ring 612 of the bearing 610 and the first mounting channel 621 and the second mounting channel 622 are spaced apart to ensure that the inner ring 612 of the bearing 610 can rotate smoothly relative to the mounting base 620. The stepped surfaces between the outer ring 611 of the bearing 610 and the first mounting channel 621 and the second mounting channel 622 are spaced apart.

[0049] In some embodiments, the adapter assembly 600 further includes a transfer seat 630 and a first transfer bracket 640. The transfer seat 630 is connected to the inner ring 612. The first transfer bracket 640 includes a base plate 641, a vertical plate 642, and a top plate 643. The base plate 641 is connected to the transfer seat 630, the top plate 643 is parallel to the base plate 641, the vertical plate 642 is perpendicular to the top plate 643, and the vertical plate 642 is disposed between the base plate 641 and the top plate 643. The top plate 643 is connected to the protective tube 500. This arrangement ensures that the protective tube 500 and the support tube 300 are spaced apart, and the distance between them is the same as the height of the vertical plate 642. This allows the cables and air pipes to be supported by the vertical plate 642 after passing through the inner ring 612 of the bearing 610, preventing them from bending downwards. This reduces the probability of interference between the cables and air pipes and the horizontal movement mechanism 200, expands the movement range of the support tube 300, and improves the safety of use.

[0050] The transfer seat 630 has a transfer channel and a first transfer hole 633 passing through the transfer channel. The axial length of the inner ring 612 of the bearing 610 is greater than the axial length of the outer ring 611 of the bearing 610. The inner ring 612 of the bearing 610 has a second transfer hole. The inner ring 612 of the bearing 610 passes through the transfer channel. Fasteners pass through the first transfer hole 633 and the second transfer hole to connect the transfer seat 630 and the inner ring 612 of the bearing 610. The top of the inner ring 612 is higher than the top of the outer ring 611, thus facilitating the connection between the inner ring 612 and the transfer seat 630. In this embodiment, the fastener is a screw, and the second transfer hole is a threaded hole. The screw passes through the first transfer hole 633 and is screwed into the second transfer hole.

[0051] In some embodiments, the transfer channel includes a first transfer channel 631 and a second transfer channel 632 that are connected. The diameter of the first transfer channel 631 is smaller than the diameter of the second transfer channel 632. The second transfer channel 632 is fitted onto the inner ring 612 of the bearing 610, and the end of the inner ring 612 of the bearing 610 abuts against the stepped surface between the first transfer channel 631 and the second transfer channel 632. The first transfer hole 633 is connected to the second transfer channel 632. During installation, the second transfer channel 632 of the transfer seat 630 is directly fitted onto the inner ring 612 of the bearing 610, and the stepped surface between the first transfer channel 631 and the second transfer channel 632 acts as a limiting surface, ensuring the accuracy and efficiency of the connection between the first transfer hole 633 and the second transfer hole, thereby improving the installation efficiency of the transfer seat 630 and the inner ring 612 of the bearing 610.

[0052] The base plate 641 has a bottom hole 6411 and a bottom mounting hole 6412 located on the outer periphery of the bottom hole 6411. The top of the transfer seat 630 has a top mounting hole. The bottom hole 6411 communicates with the first transfer channel 631. Fasteners pass through the bottom mounting holes 6412 and are screwed into the top mounting holes. At least two bottom mounting holes 6412 are provided, located on either side of the bottom hole 6411. This arrangement allows cables and air pipes to pass through the bottom hole 6411 and then upwards into the protective tube 500, ensuring the connection area and stability between the base plate 641 and the transfer seat 630. Furthermore, the diameter of the bottom hole 6411 is smaller than the inner diameter of the inner ring 612 of the bearing 610, and the base plate 641 has a connecting groove 6413 communicating with the bottom hole 6411, allowing the diameter of the bottom hole 6411 to be flexibly adjustable. The cable and air pipe are clamped in the bottom hole 6411 to be fixed relative to the base plate 641, thereby fixing the cable and air pipe relative to the inner ring 612 of the bearing 610.

[0053] In some embodiments, the outer periphery of the protective tube 500 facing the first transfer bracket 640 is provided with a stop portion 510 and a threaded portion 520 in sequence. The top plate 643 is provided with a top hole, the diameter of which is larger than the diameter of the threaded portion 520 and smaller than the outer diameter of the stop portion 510. The threaded portion 520 passes through the top hole, and a fastening nut 530 is screwed onto the threaded portion 520. The top plate 643 is sandwiched between the fastening nut 530 and the stop portion 510 to ensure the reliability of the connection between the top plate 643 and the protective tube 500, thereby ensuring that the cables and air pipes between the top plate 643 and the bottom plate 641 always remain in a vertical state parallel to the upright plate 642. The upright plate 642 is provided with weight reduction holes.

[0054] In some embodiments, the adapter assembly 600 further includes a second transfer bracket 650, which is connected between the protective tube 500 and the horizontal moving mechanism 200. The structure of the second transfer bracket 650 is the same as that of the first transfer bracket 640, which also allows the cable and air tube to extend downward from the vertical direction onto the horizontal moving mechanism 200, preventing the cable and air tube from bending downward and lying flat on the horizontal moving mechanism 200, thus avoiding interference with the structure on the horizontal moving mechanism 200. At the same time, since the end of the cable is connected to the connecting terminal on the horizontal moving mechanism 200, the second transfer bracket 650 can prevent relative movement between the end of the cable and the connecting terminal on the horizontal moving mechanism 200, ensuring the reliability of the connection.

[0055] In some embodiments, the horizontal moving mechanism 200 includes a first arm 210 and a second arm 220. One end of the first arm 210 is rotatably mounted on the base 100 about a first axis; one end of the second arm 220 is rotatably mounted on the end of the first arm 210 away from the base 100 about a second axis, and a support tube 300 is rotatably mounted on the end of the second arm 220 away from the first arm 210 about a third axis. The first axis, the second axis, and the third axis all extend vertically and are parallel to each other. The arrangement of the first arm 210 and the second arm 220 allows the support tube 300 to move in the horizontal plane, expanding the moving points and improving the operating range. Specifically, a first servo motor is mounted on the base 100, and its output end is drivenly connected to the first arm 210; a second servo motor is mounted on the end of the first arm 210 away from the base 100, and its output end is drivenly connected to the second arm 220. In other embodiments, the driving method of the first arm 210 and the second arm 220 can be implemented using other existing technologies in the art.

[0056] It should be noted that the cable is connected to the sensor on the pickup 400 and the connection terminal on the second arm 220 to achieve electrical connection with an external power source, and the air pipe is connected to the cylinder on the pickup 400 for controlling the gripper and the connection port on the second arm 220 to achieve gas communication with an external air source.

[0057] In some embodiments, the support tube 300 reciprocates vertically relative to the base 100. Specifically, the second arm 220 has a vertical channel, within which a first driving member is provided. A slider is slidably disposed within the vertical channel and is drive-connected to the output end of the first driving member. The slider is equipped with a second driving member and a rotating member. The rotating member rotatably engages with the slider, and its rotation axis extends vertically. The rotating member is drive-connected to the second driving member. The support tube 300 passes through the rotation hole of the rotating member and rotates synchronously with it. The first driving member is a cylinder, and the second driving member is a motor. In other embodiments, the vertical movement of the support tube 300 can be configured with reference to existing technology, and will not be detailed here.

[0058] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A SCARA robot, characterized in that, include: Base (100); A horizontal moving mechanism (200) has an input end that abuts against the base (100) and an output end that moves in the horizontal direction. A support tube (300) is provided at the output end of the horizontal moving mechanism (200), and the support tube (300) rotates about its own axis; Pick-up component (400), the pick-up component (400) is located at the lower end of the support tube (300), and a cable and an air tube are connected between the pick-up component (400) and the base (100); A protective tube (500) is disposed between the support tube (300) and the horizontal moving mechanism (200); The adapter assembly (600) includes a bearing (610), the outer ring (611) of the bearing (610) is fixed relative to the support tube (300), and the support tube (300), the inner ring (612) of the bearing (610) and the protective tube (500) are connected in sequence along the direction of the cable and the air pipe.

2. The SCARA robot according to claim 1, characterized in that, The adapter assembly (600) also includes a mounting base (620) connected to the support tube (300), and the outer ring (611) of the bearing (610) is mounted on the mounting base (620).

3. The SCARA robot according to claim 2, characterized in that, The top of the support tube (300) is provided with a mounting flange (310), and the mounting seat (620) has a first mounting channel (621) and a second mounting channel (622) that are connected. The diameter of the first mounting channel (621) is larger than the diameter of the second mounting channel (622). The second mounting channel (622) is connected between the first mounting channel (621) and the support tube (300). The mounting flange (310) and the mounting seat (620) are screwed together.

4. The SCARA robot according to claim 3, characterized in that, The outer ring (611) of the bearing (610) is connected to a connecting lug (613), the connecting lug (613) is provided with a first connecting hole (6131), the mounting base (620) is provided with a second connecting hole, and fasteners are inserted through the first connecting hole (6131) and the second connecting hole to securely connect the mounting base (620) and the outer ring (611) of the bearing (610); and / or, The outer ring (611) of the bearing (610) is located in the first mounting channel (621), and the inner ring (612) of the bearing (610) is arranged at intervals with the stepped surfaces between the first mounting channel (621) and the second mounting channel (622).

5. The SCARA robot according to claim 1, characterized in that, The adapter assembly (600) further includes a transfer base (630) and a first transfer bracket (640). The transfer base (630) is connected to the inner ring (612). The first transfer bracket (640) includes a base plate (641), a vertical plate (642), and a top plate (643). The base plate (641) is connected to the transfer base (630), the top plate (643) is parallel to the base plate (641), the vertical plate (642) is located between the base plate (641) and the top plate (643), and the top plate (643) is connected to the protective tube (500); and / or, The adapter assembly (600) further includes a second transfer bracket (650) connected between the protective tube (500) and the horizontal moving mechanism (200).

6. The SCARA robot according to claim 5, characterized in that, The transfer seat (630) has a transfer channel and a first transfer hole (633) through the transfer channel. The axial length of the inner ring (612) of the bearing (610) is greater than the axial length of the outer ring (611) of the bearing (610). The inner ring (612) of the bearing (610) has a second transfer hole. The inner ring (612) of the bearing (610) passes through the transfer channel. Fasteners pass through the first transfer hole (633) and the second transfer hole to connect the transfer seat (630) and the inner ring (612) of the bearing (610).

7. The SCARA robot according to claim 6, characterized in that, The transfer channel includes a first transfer channel (631) and a second transfer channel (632) that are connected. The diameter of the first transfer channel (631) is smaller than the diameter of the second transfer channel (632). The second transfer channel (632) is fitted onto the inner ring (612) of the bearing (610), and the end of the inner ring (612) of the bearing (610) abuts against the stepped surface between the first transfer channel (631) and the second transfer channel (632). The first transfer hole (633) is connected to the second transfer channel (632).

8. The SCARA robot according to claim 7, characterized in that, The base plate (641) is provided with a bottom hole (6411) and a bottom mounting hole (6412) provided on the outer periphery of the bottom hole (6411). The top of the transfer seat (630) is provided with a top mounting hole. The bottom hole (6411) is connected to the first transfer channel (631). Fasteners are inserted through the bottom mounting hole (6412) and screwed into the top mounting hole.

9. The SCARA robot according to claim 5, characterized in that, The protective tube (500) has a stop (510) and a threaded part (520) on the outer periphery of one end facing the first transfer bracket (640). The top plate (643) has a top hole. The diameter of the top hole is larger than the diameter of the threaded part (520) and smaller than the outer diameter of the stop (510). The threaded part (520) passes through the top hole. The fastening nut (530) is screwed to the threaded part (520). The top plate (643) is sandwiched between the fastening nut (530) and the stop (510).

10. The SCARA robot according to any one of claims 1-9, characterized in that, The horizontal moving mechanism (200) includes a first arm (210) and a second arm (220). One end of the first arm (210) is rotatably disposed on the base (100) about a first axis; one end of the second arm (220) is rotatably disposed on the end of the first arm (210) away from the base (100) about a second axis; and the support tube (300) is rotatably disposed on the end of the second arm (220) away from the first arm (210) about a third axis.

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