Patent ID: 8001868

Claim:
A SCARA robot structure, comprising a base, at least a first arm that moves with respect to the base, both in translation along an axis of motion and in rotation about the same axis of motion, movement means for moving the first arm with respect to the base, an accepting member, accepting a tool, the accepting member being movable with respect to the first arm, and a power supply assembly powering auxiliary elements of the robot structure, one end of the power supply assembly being mounted near the accepting member, the movement means including a hollow movement member which is movable in translation along the axis of motion with respect to one of either the base or the first arm while at the same time being incapable of translational movement independently of the other of the base or the first arm, the hollow movement member being movable in rotation about the axis of motion with respect to one of either the base or the first arm, while at the same time being incapable of rotational movement independently of the other of the base or the first arm, the power supply assembly extending from the base towards the first arm through the hollow movement member, the movement means further including drive means engagable with the hollow movement member for moving the hollow movement member in translation and rotation with respect to the base and/or to the first arm, wherein the drive means includes a motor operably connected to drive a bushing that moves in rotation with respect to the base about the axis of motion but is bound to the base in translation or that moves in rotation with respect to the first arm about the axis of motion while at the same time being bound to the first arm in translation, the bushing being provided with engaging members arranged in a helix about the axis of motion and which cooperatively engage with at least one helical slot formed on the hollow movement member.