A modular robotic arm assembly

Abstract

The utility model relates to robot technical field especially relates to a modular mechanical arm machine arm subassembly, by machine arm shell, protective cover and wiring partition, wherein, protective cover installs in machine arm shell front side through screw connection's detachable mode, and wiring partition is fixed in machine arm shell inside intermediate position, and the transmission cavity is physically isolated with electrical cavity. Through the cooperation of synchronous belt driven wheel and screw fixing structure, support multiple machine arm modules along the axial cascade splicing, can be freely combined arm length and degree of freedom according to actual application demand, realize quick assembly, significantly improve the reconfigurability and task adaptability of mechanical arm system, reduce the customization cost.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a modular robotic arm assembly. Background Technology

[0002] As a core execution component in the field of industrial automation, robotic arms have been widely used in various industrial scenarios such as welding, spraying, material handling, precision assembly, sorting and inspection, and machine tool loading and unloading. Their structural performance, motion accuracy, response speed, and configurability directly determine the flexibility, operating efficiency, and system reliability of automated production lines. Robotic arms not only need to have high precision and high load capacity, but also need to support rapid reconfiguration, flexible expansion, and multi-task adaptation to cope with small-batch, multi-variety, and fast changeover production modes.

[0003] Currently, traditional industrial robotic arms generally adopt an integrated and specialized design concept. Their arm structures are usually customized according to specific application scenarios, such as fixed loads, limited workspaces, and specific installation methods. Once the product is finalized, its key parameters, such as arm span, joint configuration, internal wiring channels, and power transmission paths, are fixed, lacking reconfigurability and scalability. It is impossible to increase or decrease the arm length or degrees of freedom as needed through simple combinations, making it difficult to meet the needs of non-standard application scenarios. As a result, when production tasks change or the working range needs to be adjusted, users often have to redesign the entire machine structure and purchase new robotic arm equipment, resulting in high equipment investment costs, long deployment cycles, and low resource utilization, which seriously restricts the response speed and production efficiency of automation systems.

[0004] Therefore, there is an urgent need to provide a modular robotic arm assembly that supports the rapid assembly of multiple arm modules and continuous power transmission, enabling flexible configuration of arm length and structure, thereby meeting the urgent needs of modern intelligent manufacturing for high flexibility, easy expansion, and rapid deployment of robot systems. Utility Model Content

[0005] In order to overcome the shortcomings of traditional robotic arms, such as fixed structure, poor expandability, complex assembly and maintenance, and difficulty in adapting to changing production needs, this utility model provides a modular robotic arm assembly.

[0006] To address the aforementioned problems, this utility model adopts the following technical solution: a modular robotic arm assembly, comprising an arm housing, a protective cover, a cable routing partition, a modular motor assembly, a synchronous belt tensioning screw, a synchronous belt drive pulley, crossed roller bearings, a rotating pulley, a synchronous belt driven pulley, a synchronous transmission belt, and a screw fixing structure. The protective cover is detachably installed on the front side of the arm housing. The cable routing partition is fixed inside the arm housing at the center, physically isolating the transmission cavity from the electrical cavity. The modular motor assembly is slidably installed on the right side of the arm housing and axially tensioned by the synchronous belt tensioning screw. Position adjustment and locking: The synchronous belt drive pulley is mounted on the output shaft of the modular motor assembly via a key connection, outputting power as the motor rotates. The crossed roller bearing is mounted on the left side of the arm housing, and the rotating wheel is fixedly connected to the outer ring of the crossed roller bearing. The synchronous belt driven pulley is fixed to the rotating wheel. The synchronous transmission belt is arranged around the synchronous belt drive pulley and the synchronous belt driven pulley, forming a closed flexible transmission link to realize power transmission. The screw fixing structure is used to realize rigid connection and rapid assembly between multiple arm modules, realizing the cascaded modular design of the arm assembly.

[0007] To further explain, the screw fixing structure includes an M3 screw, the end face of the driven pulley of the synchronous belt is provided with a plurality of M3 threaded holes evenly spaced apart, and the right side of the machine arm housing is provided with a plurality of through holes evenly spaced apart, and an M3 screw is inserted through them.

[0008] Further explanation: It also includes a fixed shell, a cooling fan, and a filter screen. The fixed shell is installed on the protective cover, with one end communicating with the inner cavity of the arm housing and the other end facing the external environment, forming an air guide channel. The cooling fan is installed inside the fixed shell, and the filter screen is inserted into the front end of the air inlet side of the cooling fan.

[0009] To further explain, it also includes a first magnet and a second magnet, with the first magnet disposed at the bottom of the filter screen and the second magnet disposed at the bottom of the fixed shell.

[0010] To further explain, it also includes a temperature detector, which is installed on the right side of the protective cover, and the detection probe of the temperature detector extends into the inside of the arm housing.

[0011] To further explain, it also includes an audible and visual warning light, which is installed on the right side of the protective cover and is electrically connected to the temperature detector.

[0012] Compared with the prior art, the present invention has the following technical effects: 1. Through the cooperation of the synchronous belt driven wheel and the screw fixing structure, multiple robotic arm modules can be cascaded and spliced ​​along the axial direction. The arm length and degree of freedom can be freely combined according to the actual application requirements to achieve rapid assembly, significantly improve the reconfigurability and task adaptability of the robotic arm system, and reduce customization costs.

[0013] 2. By adding a forced air cooling system with a filter to the protective cover, the internal temperature rise of the machine arm is effectively reduced, preventing the motor from overheating. The filter adopts a magnetic detachable design, which is convenient for regular cleaning or replacement. It takes into account both heat dissipation efficiency and environmental adaptability, and is suitable for complex industrial environments such as dusty and high-temperature environments. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0015] Figure 2 This is a three-dimensional structural diagram of the components of this utility model, including the arm shell, protective cover, and cable routing partition.

[0016] Figure 3 This is a three-dimensional structural diagram of the synchronous belt drive pulley, modular motor assembly, and synchronous belt tensioning screw of this utility model.

[0017] Figure 4 This is a three-dimensional cross-sectional view of the fixed shell, cooling fan, and filter screen of this utility model.

[0018] Figure 5 This is a three-dimensional structural diagram of the protective cover, temperature detector, and audible and visual warning light components of this utility model.

[0019] The markings in the attached diagram are as follows: 1: Arm housing, 2: Protective cover, 3: Cable routing partition, 4: Modular motor assembly, 5: Synchronous belt tensioning screw, 6: Synchronous belt drive pulley, 7: Cross roller bearing, 8: Rotating pulley, 9: Synchronous belt driven pulley, 10: Synchronous transmission belt, 11: Screw fixing structure, 1101: M3 threaded hole, 1102: Through hole, 1103: M3 screw, 12: Fixing shell, 13: Cooling fan, 14: Filter screen, 15: First magnet, 16: Second magnet, 17: Temperature detector, 18: Audible and visual warning light. Detailed Implementation

[0020] First, it should be noted that in different described embodiments, the same components are given the same reference numerals or the same component names. The disclosure contained throughout this specification can be applied semantically to the same components having the same reference numerals or the same component names. The location descriptions selected in the specification, such as upper, lower, lateral, etc., also refer to the directly described and illustrated figures and are semantically applied to the new location when the location changes.

[0021] Example 1: Please refer to Figures 1-3 A modular robotic arm assembly comprises an arm housing 1, a protective cover 2, a cable routing partition 3, a modular motor assembly 4, a synchronous belt tensioning screw 5, a synchronous belt drive pulley 6, a crossed roller bearing 7, a rotating pulley 8, a synchronous belt driven pulley 9, a synchronous transmission belt 10, and a screw fixing structure 11. The protective cover 2 is detachably mounted to the front of the arm housing 1 via screw connections, facilitating maintenance and repair. The cable routing partition 3 is fixed in the middle of the arm housing 1, physically isolating the transmission cavity from the electrical cavity, enabling internal management of power and signal cables, effectively preventing interference between the wiring harness and the synchronous belt during operation, and improving system reliability. The modular motor assembly 4 is slidably mounted on the right side of the arm housing 1 and is axially adjusted and locked via the synchronous belt tensioning screw 5. This design allows for fine-tuning of the horizontal position of the modular motor assembly 4 during assembly or maintenance, thereby ensuring precise... The timing belt preload is precisely controlled. The timing belt drive pulley 6 is mounted on the output shaft of the modular motor assembly 4 via a key connection, and outputs power as the motor rotates. The cross roller bearing 7 is mounted on the left side of the arm housing 1 to provide high rigidity and low friction rotational support. The rotating wheel 8 is fixedly connected to the outer ring of the cross roller bearing 7 via a flange or interference fit, and can achieve high-precision rotary motion under the support of the bearing. The timing belt driven pulley 9 is fixed on the rotating wheel 8, and its structure is designed as a hollow ring. The central through hole 1102 is used to accommodate the modular motor assembly 4 of the adjacent module, realizing efficient space utilization and compact stacking design. The timing transmission belt 10 is arranged around the timing belt drive pulley 6 and the timing belt driven pulley 9 to form a closed flexible transmission link to realize power transmission. The screw fixing structure 11 is used to realize rigid connection and rapid assembly between multiple arm modules, realizing the cascaded modular design of the arm assembly.

[0022] Please see Figure 2 and Figure 3The screw fixing structure 11 includes an M3 screw 1103. Eight M3 threaded holes 1101 are evenly spaced on the end face of the synchronous belt driven pulley 9. Eight 4.2mm through holes 1102 are evenly spaced on the corresponding position on the right side of the arm housing 1, and M3 screws 1103 are inserted through them. By passing the M3 screws through the through holes 1102 and screwing them into the threaded holes, the axial docking and radial positioning between the two arm components are realized, forming a stable mechanical connection.

[0023] This robotic arm assembly adopts a cascaded modular design, allowing users to flexibly combine multiple units to construct a multi-joint robotic arm system according to actual application needs, such as workspace, degree of freedom configuration, and arm span length. During assembly, the synchronous belt driven wheel 9 of one robotic arm module serves as the interface end face, aligning with the right end face of the robotic arm housing 1 of the next robotic arm module. At this time, the hollow structure of the synchronous belt driven wheel 9 of the preceding module precisely accommodates the modular motor assembly 4 of the following module, achieving spatial nesting and structural compactness. A rigid connection between the two modules is completed by passing an M3 screw through the through hole 1102 on the housing and screwing it into the M3 threaded hole 1101 on the driven wheel. When the robotic arm assembly operates, the modular motor assembly 4 of one module starts, and its output... The output shaft drives the synchronous belt drive pulley 6 to rotate, and transmits torque to the synchronous belt driven pulley 9 in the same module through the synchronous transmission belt 10, which in turn drives the rotating pulley 8 fixed to it to rotate. Since the rotating pulley 8 also serves as the output joint of this module and is connected to the overall structure of the next module through screws, it can realize the attitude control of the subsequent boom section. In this way, the modules are connected in series to form a continuous power transmission chain. Each stage can be driven independently or move in coordination to realize complex spatial motion trajectory control. In addition, the modular design supports quick disassembly and replacement of faults. If a module fails, it can be completely removed by simply loosening the M3 screws, and then reassembled after replacing it with a spare module, which greatly reduces maintenance costs and downtime.

[0024] Example 2: Based on Example 1, please refer to... Figure 4 and Figure 5It also includes a fixed housing 12, a cooling fan 13, a filter 14, a first magnet 15, a second magnet 16, a temperature detector 17, and an audible and visual warning light 18. The fixed housing 12 is installed on the protective cover 2, with one end communicating with the inner cavity of the arm housing 1 and the other end facing the external environment, forming an airflow channel. The cooling fan 13 is installed inside the fixed housing 12 and generates directional airflow after being powered on, forcibly expelling the heat accumulated inside the arm. The filter 14 is inserted at the front end of the air inlet side of the cooling fan 13 to block dust and particulate matter from the external environment from entering the arm, preventing them from adhering to key components such as the motor, synchronous belt, and circuit cables, thus ensuring the cleanliness and operational reliability of the system. The first magnet 15 is located at the bottom of the filter screen 14, and the second magnet 16 is located at the bottom of the fixed shell 12. Its polarity is opposite to that of the first magnet 15. The first magnet 15 and the second magnet 16 attract each other under the action of the magnetic field, forming a reliable magnetic adsorption lock to prevent the filter screen 14 from loosening or falling off during vibration or movement of the equipment. The temperature detector 17 is installed on the right side of the protective cover 2. The detection probe of the temperature detector 17 extends into the inside of the machine arm shell 1 to collect the internal ambient temperature data in real time. The audible and visual warning light 18 is installed on the right side of the protective cover 2. The audible and visual warning light 18 is electrically connected to the temperature detector 17 and can receive the temperature signal output by it to realize communication linkage.

[0025] During the operation of the robotic arm, the modular motor assembly 4 continuously generates heat, causing the internal temperature of the arm to rise. The temperature detector 17 monitors the internal temperature in real time and feeds the data back to the control system. When the temperature reaches the set start-stop threshold, the control system automatically starts the cooling fan 13, forming a forced convection airflow channel from the outside through the filter screen 14 and the fixed shell 12, entering the inner cavity of the arm and then being discharged, achieving efficient heat dissipation. If the cooling system is abnormal or the load is too high, causing the temperature to continue to rise and exceed the safety limit, the audible and visual warning light 18 is automatically triggered, with the light flashing and accompanied by a buzzer alarm sound, issuing an overheat warning to the operator, prompting them to check the cooling system, reduce the load, or stop the machine for maintenance, to avoid failures such as motor demagnetization, insulation aging, or control system abnormalities caused by excessive temperature rise.

[0026] The above embodiments are provided for those skilled in the art to implement or use the present invention. Those skilled in the art can make various modifications or changes to the above embodiments without departing from the inventive concept of the present invention. Therefore, the protection scope of the present invention is not limited to the above embodiments, but should be the maximum scope that conforms to the innovative features mentioned in the claims.

Claims

1. A modular robotic arm assembly, characterized in that, The system comprises a boom housing (1), a protective cover (2), a cable tray (3), a modular motor assembly (4), a synchronous belt tensioning screw (5), a synchronous belt drive pulley (6), a crossed roller bearing (7), a rotating pulley (8), a synchronous belt driven pulley (9), a synchronous transmission belt (10), and a screw fixing structure (11). The protective cover (2) is detachably installed on the front side of the boom housing (1). The cable tray (3) is fixed in the middle of the boom housing (1), physically isolating the transmission cavity from the electrical cavity. The modular motor assembly (4) is slidably installed on the right side of the boom housing (1) and its axial position is adjusted and locked by the synchronous belt tensioning screw (5). The synchronous belt drive pulley (6) is installed on the output shaft of the modular motor assembly (4) by key connection, and outputs power as the motor rotates. The cross roller bearing (7) is installed on the left side of the arm housing (1). The rotating wheel (8) is fixedly connected to the outer ring of the cross roller bearing (7). The synchronous belt driven pulley (9) is fixed on the rotating wheel (8). The synchronous transmission belt (10) is arranged around the synchronous belt drive pulley (6) and the synchronous belt driven pulley (9) to form a closed flexible transmission link to realize power transmission. The screw fixing structure (11) is used to realize rigid connection and rapid assembly between multiple arm modules, realizing the cascaded modular design of the arm assembly.

2. The modular robotic arm assembly according to claim 1, characterized in that, The screw fixing structure (11) includes an M3 screw (1103), and the end face of the synchronous belt driven pulley (9) is provided with a plurality of M3 threaded holes (1101) evenly spaced apart. The right side of the arm housing (1) is provided with a plurality of through holes (1102) evenly spaced apart, and an M3 screw (1103) passes through them.

3. A modular robotic arm assembly according to claim 2, characterized in that, It also includes a fixed shell (12), a cooling fan (13) and a filter screen (14). The fixed shell (12) is installed on the protective cover (2), with one end connected to the inner cavity of the arm shell (1) and the other end facing the external environment to form an air guide channel. The cooling fan (13) is installed inside the fixed shell (12), and the filter screen (14) is inserted into the front end of the air inlet side of the cooling fan (13).

4. A modular robotic arm assembly according to claim 3, characterized in that, It also includes a first magnet (15) and a second magnet (16), the first magnet (15) being disposed at the bottom of the filter screen (14) and the second magnet (16) being disposed at the bottom of the fixed shell (12).

5. A modular robotic arm assembly according to claim 4, characterized in that, It also includes a temperature detector (17), which is installed on the right side of the protective cover (2), and the detection probe of the temperature detector (17) extends into the inside of the arm housing (1).

6. A modular robotic arm assembly according to claim 5, characterized in that, It also includes an audible and visual warning light (18), which is installed on the right side of the protective cover (2) and is electrically connected to the temperature detector (17).

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