A modular robotic arm column drive motor assembly

Abstract

This utility model relates to the field of industrial robot drive technology, and in particular to a modular column drive motor assembly for a robotic arm. It comprises a column drive motor mounting base, a motor module, a synchronous belt pulley motor shaft, and a pulley tensioning screw. The motor module is slidably mounted on the lower part of the column drive motor mounting base. The output end of the motor module is the synchronous belt pulley motor shaft, and the axial position of the motor module is adjusted and locked via the pulley tensioning screw. By integrating the motor module, brake device, synchronous belt drive mechanism, and output shaft support structure into the column drive motor mounting base, a standardized and modular independent drive unit is formed. The overall structural layout is reasonable, avoiding risks caused by accumulated assembly errors, improving power density and space utilization, and facilitating the miniaturization and lightweight design of the robotic arm.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot drive technology, and in particular to a modular mechanical arm column drive motor assembly. Background Technology

[0002] With the rapid development of industrial automation and intelligent manufacturing, industrial robots are increasingly widely used in automobile manufacturing, electronic assembly, logistics sorting, metal processing and other fields. As one of the core actuators of industrial robots, the performance of the robotic arm directly determines the positioning accuracy, response speed, load capacity and operational reliability of the system. Among them, the column joint undertakes the key function of adjusting the posture of the whole machine. Its drive system needs to have comprehensive performance with high torque output, compact structure, good rigidity and high safety. With the rapid development of industrial automation, service robots and special robots, the market has put forward requirements for robotic arms to be more flexible, lower cost, faster deployment speed and easier maintenance.

[0003] Currently, traditional robotic arm joint drive solutions typically employ a split design, where components such as servo motors, precision reducers, encoders, brakes, and servo drives are supplied by different manufacturers. The robotic arm manufacturer is then responsible for selection, procurement, assembly, and debugging. While this model offers flexibility, it also has several drawbacks. Because the components come from different suppliers, complex matching calculations are required during system integration, increasing design difficulty and development time. Furthermore, it can easily lead to cumulative errors during assembly, affecting transmission coaxiality and consequently impacting position repeatability and dynamic response characteristics. For example, uneven tension of the synchronous belt or loosening after prolonged use can increase transmission backlash, reducing overall system performance. In addition, additional mechanical structures such as flanges, brackets, and couplings are often required to connect and support the various independent components. This makes the overall structure complex and space-consuming, hindering the miniaturization and lightweight design of the robotic arm and increasing downtime and maintenance costs.

[0004] Therefore, there is an urgent need to provide a modular column drive motor assembly for robotic arms, which reduces the risk of assembly error accumulation and improves equipment availability and maintenance convenience by highly integrating multiple functional components into a compact unit. Utility Model Content

[0005] To overcome the shortcomings of traditional robotic arm column drive systems, such as low integration, complex structure, difficult installation and maintenance, and insufficient reliability, this utility model provides a modular robotic arm column drive motor assembly.

[0006] To address the aforementioned problems, this utility model adopts the following technical solution: a modular robotic arm column drive motor assembly, comprising a column drive motor mounting base, a motor module, a synchronous pulley motor shaft, a pulley tensioning screw, a brake, a brake drive stop, an output pulley shaft, a driven pulley, and a synchronous transmission belt. The motor module is slidably mounted on the lower part of the column drive motor mounting base. The output end of the motor module is the synchronous pulley motor shaft, and the axial position of the motor module is adjusted and locked via the pulley tensioning screw. The brake is mounted on the mounting base of the motor module. Its braking effect is transmitted to the synchronous pulley motor shaft through the brake drive flange. The brake drive flange is rigidly coupled to the synchronous pulley motor shaft. The output pulley shaft is mounted inside the bearing seat on the upper part of the column drive motor mounting base through rolling bearings. The driven pulley is mounted to the end of the output pulley shaft through a key connection. The synchronous transmission belt is arranged around the driven pulley and the synchronous pulley motor shaft to form a slip-free flexible torque transmission path.

[0007] Optionally, the column drive motor assembly integrates the braking, transmission mechanism and reduction components on the same column drive motor mounting base, forming an independent and detachable modular assembly.

[0008] Optionally, the system also includes a shock absorber, a fixed base, a connecting rod, a slider, a guide rod, a guide seat, an elastic element, and a base. The base serves as a foundational support platform for fixing the entire column drive motor mounting base to the ground or equipment. The shock absorber is fixedly installed at the bottom of the column drive motor mounting base and can undergo controllable displacement relative to the base in the vertical direction, forming a motion platform for the vibration damping system. The fixed base is fixed to the side of the shock absorber. The connecting rod is located at the bottom of the fixed base, with one end hinged to the fixed base and the slider hinged to the other end of the connecting rod, forming a two-degree-of-freedom linkage structure that converts the vertical movement of the shock absorber into the horizontal movement of the slider. The guide seat is fixed to the side of the base, with the guide rod passing through the guide seat. The slider is sleeved on the guide rod and slides along the axial direction of the guide rod, providing precise linear guidance for the slider. The elastic element is sleeved on the guide rod, with its two ends fixedly connected to the slider and the guide seat respectively, providing an inward restoring force for the slider.

[0009] Optionally, it also includes a protective housing, which is disposed outside the motor module.

[0010] Optionally, a heat dissipation vent is provided on the rear side of the protective shell.

[0011] Optionally, it also includes a cooling fan, which is installed inside the heat dissipation vent of the protective housing.

[0012] Compared with the prior art, the present invention has the following technical effects: 1. By integrating the motor module, the brake device, the synchronous belt transmission mechanism and the output shaft support structure into the column drive motor mounting base, a standardized and modular independent drive unit is formed. The overall structure layout is reasonable, avoiding the risks caused by the accumulation of assembly errors, improving power density and space utilization, and facilitating the miniaturization and lightweight design of the robotic arm.

[0013] 2. By setting up a passive vibration damping system consisting of a shock absorber, connecting rod, guide rod, slider and elastic element, the vibration energy generated during the operation of the robotic arm can be effectively absorbed and attenuated, reducing the vibration acceleration amplitude transmitted to the foundation structure and precision components. The system has an automatic reset function, which can restore the initial balance state after the disturbance is eliminated, significantly improving the overall stability of the machine and the durability of the structure, and extending the service life of key components. 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 output pulley shaft, driven pulley, and synchronous belt of this utility model.

[0016] Figure 3 This is an exploded view of the column drive motor mounting base, motor module, and synchronous belt pulley motor shaft of this utility model.

[0017] Figure 4 This is a three-dimensional structural diagram of the shock-absorbing seat, fixing seat, and connecting rod of this utility model.

[0018] Figure 5 This is a three-dimensional structural diagram of the column drive motor mounting base, protective shell, and cooling fan of this utility model.

[0019] Explanation of reference numerals in the attached drawings: 1-Motor mounting base for column drive motor, 2-Motor module, 3-Synchronous belt pulley motor shaft, 4-Pulley tensioning screw, 5-Brake, 6-Brake drive stop, 7-Output pulley shaft, 8-Driven pulley, 9-Synchronous transmission belt, 10-Shock absorber seat, 11-Fixed seat, 12-Connecting rod, 13-Slider, 14-Guide rod, 15-Guide seat, 16-Elastic element, 17-Base, 18-Protective shell, 19-Cooling fan. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] Please refer to Example 1 Figures 1-3 A modular robotic arm column drive motor assembly comprises a column drive motor mounting base 1, a motor module 2, a synchronous pulley motor shaft 3, a pulley tensioning screw 4, a brake 5, a brake drive stop 6, an output pulley shaft 7, a driven pulley 8, and a synchronous transmission belt 9. The motor module 2 is slidably mounted on the lower part of the column drive motor mounting base 1. The output end of the motor module 2 is the synchronous pulley motor shaft 3. The axial position of the motor module 2 is adjusted and locked via the pulley tensioning screw 4. Adjusting the tensioning screw allows for fine-tuning of the vertical position of the motor module 2, precisely controlling the preload of the synchronous transmission belt 9 to ensure no slippage or tooth skipping during transmission and extend the service life of the synchronous belt. The brake 5 is mounted on the motor module 2. On the mounting base, the braking action is transmitted to the synchronous pulley motor shaft 3 through the brake drive flange 6. The brake drive flange 6 is rigidly coupled to the synchronous pulley motor shaft 3. The output pulley shaft 7 is mounted inside the bearing seat on the upper part of the column drive motor mounting base 1 through rolling bearings. The driven pulley 8 is mounted to the end of the output pulley shaft 7 through a key connection. The synchronous transmission belt 9 is arranged around the driven pulley 8 and the synchronous pulley motor shaft 3, forming a slip-free flexible torque transmission path. The column drive motor assembly highly integrates the braking, transmission mechanism and reduction components on the same column drive motor mounting base 1, forming an independent and detachable modular component, which significantly reduces the overall volume, improves space utilization, and facilitates on-site replacement and maintenance.

[0022] When the control system issues a motion command, the motor module 2 starts, and its output torque causes the synchronous pulley motor shaft 3 to rotate. This rotational motion is transmitted to the driven pulley 8 via the synchronous transmission belt 9, achieving two-stage reduction, which in turn drives the output pulley shaft 7 to rotate. The rotation output of the output pulley shaft 7 is directly connected to the rotation mechanism of the robotic arm column joint, realizing precise control of the robotic arm's pitch or rotation posture. When the motor stops or the power is cut off, the brake 5 is automatically activated, and the brake drives the retaining edge 6 to mechanically lock the synchronous pulley motor shaft 3, preventing the output shaft from rotating in the opposite direction or drifting due to gravity load or inertia, ensuring the robotic arm's ability to maintain its position and operational safety when stationary. In addition, since the motor module 2 is adjustable, when the synchronous belt becomes loose or a new belt is replaced, the motor position can be manually adjusted by loosening the pulley tensioning screw 4 to re-establish the appropriate preload, and then locked in place. This design avoids the complex process of disassembling the entire unit or using an additional tensioning wheel in traditional fixed installations, improving maintenance efficiency.

[0023] Example 2: Based on Example 1, please refer to... Figure 4 It also includes a shock absorber 10, two fixed seats 11, four connecting rods 12, four sliders 13, four guide rods 14, two guide seats 15, four elastic elements 16, and a base 17. The base 17 serves as a foundational support platform for fixing the entire column drive motor mounting base 1 to the ground or equipment. The shock absorber 10 is fixedly installed at the bottom of the column drive motor mounting base 1. The shock absorber 10 can undergo controllable displacement relative to the base 17 in the vertical direction, forming the motion platform of the vibration damping system. The two fixed seats 11 are symmetrically fixed to the front and rear sides of the shock absorber 10. The four connecting rods 12 are arranged in pairs at the bottom of the two fixed seats 11. Each connecting rod 12... One end of the 2 is hinged to the fixed seat 11, and the four sliders 13 are respectively hinged to the other end of the four connecting rods 12, forming a two-degree-of-freedom linkage structure, which can convert the vertical movement of the shock absorber 10 into the horizontal movement of the sliders 13. The two guide seats 15 are symmetrically fixed on the left and right sides of the base 17. The four guide rods 14 are arranged in pairs and pass through the two guide seats 15 respectively. The four sliders 13 are respectively sleeved on the four guide rods 14 and slide along the axial direction of the guide rods 14 to provide precise linear guidance for the sliders 13. The four elastic elements 16 are respectively sleeved on the four guide rods 14, and their two ends are respectively fixedly connected to the sliders 13 and the guide seats 15 to provide the inward restoring force of the sliders 13.

[0024] When the column drive motor assembly generates vertical acceleration excitation due to motor start-stop impact, sudden load change, or external mechanical vibration during operation, the shock absorber 10 and its upper structure will undergo transient vertical displacement relative to the fixed base 17. This displacement drives the connecting rod 12 to swing around the upper hinge point through the fixed seat 11. Since the lower end of the connecting rod 12 is hinged to the slider 13, its swing motion is converted into the slider 13 sliding horizontally outward along the guide rod 14. During this process, the slider 13 compresses the elastic element 16 sleeved on the guide rod 14, causing it to undergo elastic compression deformation. Part of the input vibration kinetic energy is converted into elastic potential energy and stored in the elastic element 16. At the same time, energy dissipation is achieved through micro-friction inside the material or additional damping elements, thereby effectively attenuating the vibration amplitude. When the external excitation disappears, the elastic element 16 pushes the slider 13 back inward along the guide rod 14 under the action of restoring force, causing the connecting rod 12 to swing in the opposite direction, so that the shock absorber 10 and its upper assembly automatically return to the initial equilibrium position without manual intervention, ensuring that the system is always in the optimal working posture.

[0025] Please see Figure 5 It also includes a protective shell 18 and a cooling fan 19. The protective shell 18 covers the outside of the motor module 2, forming a physical enclosure and isolation of the motor body, the synchronous belt pulley motor shaft 3 connection part and part of the transmission area. The protective shell 18 has a heat dissipation vent on the rear side to improve air circulation. The cooling fan 19 is installed inside the heat dissipation vent of the protective shell 18. The cooling fan 19 is a rear exhaust mode, that is, the heat generated by the motor operation is extracted from the inside of the shell and discharged to the external environment, forming a directional airflow channel to improve heat dissipation efficiency.

[0026] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the present invention and should not be construed as limiting the scope of protection of the present invention in any way. Based on this explanation, those skilled in the art can conceive of other specific embodiments of the present invention without creative effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A modular robotic arm column drive motor assembly, characterized in that, The system comprises a column-driven motor mounting base (1), a motor module (2), a synchronous belt pulley motor shaft (3), a pulley tensioning screw (4), a brake (5), a brake drive stop (6), an output pulley shaft (7), a driven pulley (8), and a synchronous transmission belt (9). The motor module (2) is slidably mounted on the lower part of the column-driven motor mounting base (1). The output end of the motor module (2) is the synchronous belt pulley motor shaft (3). The axial position of the motor module (2) is adjusted and locked by the pulley tensioning screw (4). The brake (5) is mounted on the motor module (2). On the mounting base, its braking action is transmitted to the synchronous pulley motor shaft (3) through the brake drive flange (6), and the brake drive flange (6) is rigidly coupled to the synchronous pulley motor shaft (3). The output pulley shaft (7) is installed in the bearing seat on the upper part of the column drive motor mounting base (1) through rolling bearings. The driven wheel (8) is installed at the end of the output pulley shaft (7) through key connection. The synchronous transmission belt (9) is arranged around the driven wheel (8) and the synchronous pulley motor shaft (3) to form a slip-free flexible torque transmission path.

2. The modular robotic arm column drive motor assembly according to claim 1, characterized in that, The column drive motor assembly integrates the braking, transmission mechanism and deceleration components on the same column drive motor mounting base (1).

3. A modular robotic arm column drive motor assembly according to claim 2, characterized in that, It also includes a shock absorber (10), a fixed base (11), a connecting rod (12), a slider (13), a guide rod (14), a guide seat (15), an elastic element (16), and a base (17). The base (17) serves as a foundational support platform for fixing the entire column drive motor mounting base (1) to the ground or equipment. The shock absorber (10) is fixedly installed at the bottom of the column drive motor mounting base (1). The shock absorber (10) can undergo controllable displacement relative to the base (17) in the vertical direction, forming a motion platform for the vibration damping system. The fixed base (11) is fixed to the side of the shock absorber (10). The connecting rod (12) is located at the bottom of the fixed base (11), and one end of the connecting rod (12) is connected to the base. The fixed seat (11) is hinged, and the slider (13) is hinged to the other end of the connecting rod (12), forming a two-degree-of-freedom linkage structure. The vertical movement of the shock absorber (10) can be converted into the horizontal movement of the slider (13). The guide seat (15) is fixed to the side of the base (17). The guide rod (14) passes through the guide seat (15). The slider (13) is sleeved on the guide rod (14) and slides along the axial direction of the guide rod (14) to provide precise linear guidance for the slider (13). The elastic element (16) is sleeved on the guide rod (14), and its two ends are fixedly connected to the slider (13) and the guide seat (15) respectively to provide the inward restoring force of the slider (13).

4. A modular robotic arm column drive motor assembly according to claim 3, characterized in that, It also includes a protective shell (18) which covers the outside of the motor module (2).

5. A modular robotic arm column drive motor assembly according to claim 4, characterized in that, The protective shell (18) has a heat dissipation vent on the rear side.

6. A modular robotic arm column drive motor assembly according to claim 5, characterized in that, It also includes a cooling fan (19), which is installed inside the heat dissipation port of the protective shell (18).

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