Modular robotic arm motor assembly

Abstract

The utility model relates to mechanical arm motor component technical field especially relates to a kind of modular mechanical arm motor component.The utility model provides such a kind of modular mechanical arm motor component, including motor shell, first PCBA, first detection magnet, motor stator, motor rotor component, driving gear and driven gear, first PCBA is installed in motor shell rear side, motor stator is arranged in motor shell interior, motor rotor component is arranged in motor shell interior, motor rotor component penetrates motor stator, first detection magnet is installed in motor rotor component tail portion, motor rotor component's pulley end is provided with driving gear, driven gear.Two times detection improve the repeat positioning accuracy and absolute positioning accuracy of mechanical arm;When facing the demand of different torque and rotational speed, different motor rotor components can be selected, the difference of these components is in the stator rotor height, to realize the high efficiency design of motor, improve the integration and modularization of mechanical arm motor component.

Description

Technical Field

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

[0002] In modern industrial automation and robotics, robotic arms, as core actuators, are widely used in assembly, welding, handling, and inspection. Their joint drive systems typically consist of a motor, reducer, encoder, transmission mechanism, and control system.

[0003] Traditional robotic arm joints often employ a split design, where the motor, reducer, driver, and position sensor are arranged separately and connected mechanically via couplings, timing belts, or gears. However, this design has several drawbacks: First, the mechanical connections are prone to introducing transmission backlash and elastic deformation, limiting transmission accuracy; second, the system has low integration, complex structure, and large space requirements, making it difficult to meet lightweight and compact design needs; furthermore, for robotic arms of different models or with different load requirements, the joint structure usually needs to be redesigned, leading to redundant investment in R&D resources and hindering modular production and cost reduction at scale.

[0004] Therefore, a modular robotic arm motor assembly is needed. Utility Model Content

[0005] To overcome the shortcomings of traditional robotic arms, such as the tendency for mechanical connection links to introduce transmission backlash and elastic deformation, resulting in limited transmission accuracy; low system integration, complex structure, large space occupation, and difficulty in meeting the requirements of lightweighting and compactness; and the need to redesign the joint structure for different models or load requirements of robotic arms, leading to repeated investment of R&D resources and difficulty in achieving modular production and large-scale cost reduction, this utility model provides a modular robotic arm motor assembly.

[0006] The technical implementation scheme of this utility model is as follows: a modular robotic arm motor assembly, including a motor housing, a first PCBA, a first detection magnet, a motor stator, a motor rotor assembly, a drive gear, a driven gear, a second PCBA, and a second detection magnet. The first PCBA is installed on the rear side of the motor housing, the motor stator is disposed inside the motor housing, the motor rotor assembly is disposed inside the motor housing, the motor rotor assembly penetrates the motor stator, the first detection magnet is installed at the tail of the motor rotor assembly, the drive gear and the driven gear are disposed at the pulley end of the motor rotor assembly, the second PCBA is disposed inside the motor housing, and the second detection magnet is disposed on the driven gear.

[0007] Furthermore, it also includes a support plate, a rubber plate, a circulation pipe, a retaining ball, and a connecting pipe. The top and bottom of the motor housing are both secured with support plates, and a rubber plate is fixedly connected to the support plate. The two rubber plates share a common circulation pipe, which contacts the motor housing. Two sets of retaining balls are provided on the front side of the motor housing, and the retaining balls are secured to the support plate. The lower end of the circulation pipe is connected to a connecting pipe.

[0008] Furthermore, it also includes a fixing plate, a first protective shell, a second protective shell, a slanted panel, and a stabilizing component. The fixing plate is fixedly connected to the front side of the motor housing. The first protective shell is installed on the fixing plate through the stabilizing component. The second protective shell is set on the upper part of the first protective shell. Two slanted panels are fixedly connected to the inner side of the second protective shell. The slanted panels are inserted into the slots of the first protective shell. The first and second protective shells cover the motor housing.

[0009] Furthermore, it also includes a connecting plate, a shock-absorbing plate, and screws. The connecting plate is installed on the rear side of the motor housing by multiple screws, and the shock-absorbing plate is glued to the rear side of the connecting plate.

[0010] Furthermore, it also includes an extension tube, with the upper end of the circulation tube connected to and connected to the extension tube.

[0011] Furthermore, it also includes a cushioning pad, with a cushioning pad provided on the surface of the second protective shell.

[0012] Compared with the prior art, this utility model provides a modular robotic arm motor assembly, which has the following beneficial effects: 1. Improves the repeatability and absolute positioning accuracy of the robotic arm through two detections; when facing different torque and speed requirements, different motor rotor assemblies can be selected. The difference between these assemblies lies in the stator and rotor height, so as to achieve high-efficiency motor design and improve the integration and modularity of the robotic arm motor assembly.

[0013] 2. The circulation pipe is tightly fitted to the surface of the motor housing, forming a good heat conduction path. The coolant flows into the circulation pipe from the external cooling system through the connecting pipe, absorbs the heat generated during the operation of the motor, and then flows out through the extension pipe at the upper end, returning to the cooling system for cooling, thereby achieving continuous and efficient circulating heat dissipation.

[0014] 3. The first and second protective shells work together to shield the motor housing; the surface of the second protective shell is provided with a buffer pad, which can enhance the impact resistance and effectively protect the internal components. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0016] Figure 2 This is a partial sectional view of the motor body, support plate, rubber plate, and other components of this utility model.

[0017] Figure 3 This is an exploded view of the motor housing, motor stator, and motor rotor assembly of this utility model.

[0018] Figure 4 This is a partial sectional view of the fixing plate, the first protective shell, and the second protective shell components of this utility model.

[0019] Figure 5 This is a partial sectional view of the connecting plate, shock-absorbing plate, screws, and other components of this utility model.

[0020] In the above attached figures: 1: Motor housing; 101: First PCBA; 102: First detection magnet; 103: Motor stator; 104: Motor rotor assembly; 105: Drive gear; 106: Driven gear; 107: Second PCBA; 108: Second detection magnet; 2: Support plate; 3: Rubber plate; 4: Circulation pipe; 5: Ball clamp; 6: Connecting pipe; 7: Extension pipe; 8: Fixing plate; 9: First protective shell; 10: Second protective shell; 11: Sloping panel; 12: Stabilizer; 13: Buffer pad; 14: Connecting plate; 15: Shock absorber plate; 16: Screw. Detailed Implementation

[0021] References to embodiments herein mean that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the present invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0022] Example 1: A modular robotic arm motor assembly, please refer to... Figure 1 , Figure 2 , Figure 3 and Figure 5The system includes a motor housing 1, a first PCBA 101, a first detection magnet 102, a motor stator 103, a motor rotor assembly 104, a drive gear 105, a driven gear 106, a second PCBA 107, and a second detection magnet 108. The first PCBA 101 is mounted on the rear side of the motor housing 1. The motor stator 103 is disposed inside the motor housing 1. The motor rotor assembly 104 is disposed inside the motor housing 1 and passes through the motor stator 103. The first detection magnet 102 is mounted on the tail of the motor rotor assembly 104. The drive gear 105 and the driven gear 106 are disposed on the pulley end of the motor rotor assembly 104. The second PCBA 107 is disposed inside the motor housing 1. The second detection magnet 108 is disposed on the driven gear 106. A connecting plate 14 is mounted on the rear side of the motor housing 1 by four screws 16. A shock-absorbing plate 15 is bonded to the rear side of the connecting plate 14 to effectively absorb vibrations during the movement of the robotic arm and improve the stability and lifespan of the system.

[0023] In operation, current is transmitted through the first PCBA101 to the internal motor stator 103. The motor stator 103 generates a rotating magnetic field upon energization, driving the motor rotor assembly 104 to rotate within the stator 103. The shaft of the motor rotor assembly 104 is a synchronous belt pulley shaft. This design allows the motor shaft to directly serve as the drive shaft for the synchronous belt, eliminating the need for traditional couplings and fundamentally removing backlash issues caused by mechanical connections. This significantly improves transmission rigidity and absolute positioning accuracy. The shaft transmits torque to the next joint or actuator of the robotic arm via the synchronous belt, enabling motion control of the robotic arm. The first detection magnet 102 rotates synchronously with the rotor, and the resulting magnetic field changes are sensed in real-time by the Hall element on the first PCBA101, providing precise feedback on the electrical angle and speed of the motor rotor for vector control of the motor. A gear pair consisting of a driving gear 105 and a driven gear 106 is installed at the motor pulley end to adjust the output speed. Speed ​​and torque are measured by integrating a second detection magnet 108 on the driven gear 106. Its rotation angle reflects the actual output shaft position after gear transmission. The signal of the second detection magnet 108 is collected by a Hall sensor on the second PCBA 107 to obtain the mechanical position of the actual output end. The control system compares the signal difference between the first detection magnet 102 (motor end) and the second detection magnet 108 (output end) to identify and compensate for errors caused by gear meshing clearance, thermal deformation, or mechanical wear in real time. Dynamic calibration is performed through software algorithms, which significantly improves the repeatability and absolute positioning accuracy of the robotic arm. In addition, motor rotor assemblies 104 with different stator and rotor heights can be selected for different load requirements (such as high torque or high speed). Since the overall structure adopts a standardized design, there is no need to modify the motor housing 1, detection system, or transmission structure when replacing the rotor assembly, which facilitates rapid configuration and improves the integration and modularity of the robotic arm motor assembly.

[0024] Example 2: Based on Example 1, please refer to... Figure 1 and Figure 2 It also includes a support plate 2, a rubber plate 3, a circulation pipe 4, a retaining ball 5, and a connecting pipe 6. The top and bottom of the motor housing 1 are both secured with the support plate 2. The rubber plate 3 is fixedly connected to the support plate 2. The two rubber plates 3 are together equipped with the circulation pipe 4. The circulation pipe 4 is in contact with the motor housing 1. Two sets of retaining balls 5 are provided on the front side of the motor housing 1. The retaining balls 5 are secured with the support plate 2. The lower end of the circulation pipe 4 is connected to the connecting pipe 6. The upper end of the circulation pipe 4 is connected to and communicates with the extension pipe 7. The extension pipe 7 facilitates connection to the cooling system.

[0025] When the motor assembly is running, the circulation pipe 4 is in close contact with the surface of the motor housing 1, forming a good heat conduction path. The coolant flows from the external cooling system into the circulation pipe 4 through the connecting pipe 6, absorbs the heat generated during the operation of the motor, and then flows out through the extension pipe 7 at the upper end, returning to the cooling system for cooling, thereby achieving continuous and efficient circulating heat dissipation.

[0026] Please see Figure 1 and Figure 4 It also includes a fixing plate 8, a first protective shell 9, a second protective shell 10, a slanted panel 11, and a stabilizing component 12. The fixing plate 8 is fixedly connected to the front side of the motor housing 1. The first protective shell 9 is installed on the fixing plate 8 through the stabilizing component 12. The second protective shell 10 is provided on the upper part of the first protective shell 9. Two slanted panels 11 are fixedly connected to the inner side of the second protective shell 10. The slanted panels 11 are inserted into the slots of the first protective shell 9. The first protective shell 9 and the second protective shell 10 cover the motor housing 1. The slanted panels 11 are inserted into the slots of the first protective shell 9 to enhance the structural stability and prevent the housing from loosening. A buffer pad 13 is provided on the surface of the second protective shell 10.

[0027] The first protective shell 9 is installed on the front side of the motor housing 1 via the fixing plate 8 and the stabilizing component 12. The second protective shell 10 is installed on the upper part of the first protective shell 9. The two work together to shield the motor housing 1. The surface of the second protective shell 10 is provided with a buffer pad 13, which can enhance the impact resistance and effectively protect the internal components.

[0028] Although the present invention has been described in detail with reference to the above embodiments, it will be apparent to those skilled in the art that various changes or modifications can be made to the present invention without departing from the principles and spirit of the present invention as defined by the claims. Therefore, the detailed description of the embodiments in this disclosure is for explanation only and not for limiting the present invention, but rather the scope of protection is defined by the content of the claims.

Claims

1. A modular robotic arm motor assembly, characterized in that: The device includes a motor housing (1), a first PCBA (101), a first detection magnet (102), a motor stator (103), a motor rotor assembly (104), a drive gear (105), a driven gear (106), a second PCBA (107), and a second detection magnet (108). The first PCBA (101) is installed on the rear side of the motor housing (1). The motor stator (103) is installed inside the motor housing (1). The motor rotor assembly (104) is installed inside the motor housing (1). The motor rotor assembly (104) passes through the motor stator (103). The first detection magnet (102) is installed at the tail of the motor rotor assembly (104). The drive gear (105) and the driven gear (106) are provided at the pulley end of the motor rotor assembly (104). The second PCBA (107) is installed inside the motor housing (1). The second detection magnet (108) is provided on the driven gear (106).

2. A modular robotic arm motor assembly according to claim 1, characterized in that: It also includes a support plate (2), a rubber plate (3), a circulation pipe (4), a retaining ball (5), and a connecting pipe (6). The top and bottom of the motor housing (1) are both secured with the support plate (2). The support plate (2) is fixedly connected to the support plate (2). The two rubber plates (3) are together equipped with a circulation pipe (4). The circulation pipe (4) is in contact with the motor housing (1). Two sets of retaining balls (5) are provided on the front side of the motor housing (1). The retaining balls (5) are secured to the support plate (2). The lower end of the circulation pipe (4) is connected to the connecting pipe (6).

3. A modular robotic arm motor assembly according to claim 2, characterized in that: It also includes a fixing plate (8), a first protective shell (9), a second protective shell (10), a slanted panel (11), and a stabilizing component (12). The fixing plate (8) is fixedly connected to the front side of the motor housing (1). The first protective shell (9) is installed on the fixing plate (8) through the stabilizing component (12). The second protective shell (10) is provided on the upper part of the first protective shell (9). Two slanted panels (11) are fixedly connected to the inner side of the second protective shell (10). The slanted panels (11) are inserted into the slots of the first protective shell (9). The first protective shell (9) and the second protective shell (10) cover the motor housing (1).

4. A modular robotic arm motor assembly according to claim 3, characterized in that: It also includes a connecting plate (14), a shock-absorbing plate (15) and screws (16). The connecting plate (14) is installed on the rear side of the motor housing (1) by multiple screws (16), and the shock-absorbing plate (15) is glued to the rear side of the connecting plate (14).

5. A modular robotic arm motor assembly according to claim 4, characterized in that: It also includes an extension tube (7), and the upper end of the circulation tube (4) is connected to and communicates with the extension tube (7).

6. A modular robotic arm motor assembly according to claim 5, characterized in that: It also includes a buffer pad (13), and the surface of the second protective shell (10) is provided with a buffer pad (13).

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