KR101525540B1

KR101525540B1 - Apparatus for Assembling Motor Actuator

Info

Publication number: KR101525540B1
Application number: KR1020140064162A
Authority: KR
Inventors: 유재경; 위성기; 박정규
Original assignee: 아신유니텍 (주)
Priority date: 2014-05-28
Filing date: 2014-05-28
Publication date: 2015-06-03

Abstract

The present invention relates to an apparatus for assembling a motor actuator. Particularly, the present invention relates to an apparatus for assembling a motor actuator capable of successively assembling a motor and parts combined with the motor by an automatic process. The apparatus for assembling a motor actuator includes a rotation table (11) on which jigs (16) are arranged; an index module (12) which operates the rotation table (11) by the control of a control unit with a predetermined method; a first supply module (17) and a second supply module (18) which supply a case base and a case cover to the jigs (16); at least one feeder (S1 to S5) for supplying parts fixed to the case base; and a robot arm (15) which fixes each of the parts supplied from the feeder (S1 to S5) to the case base.

Description

[0001] Apparatus for Assembling Motor Actuator [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an assembly device for a motor actuator, and more particularly, to an assembling device for a motor actuator that allows a motor and components coupled thereto to be continuously assembled by an automatic process.

A motor actuator is a device for operating or controlling a mechanical structure or system by driving a motor. The motor actuator may include a motor, a connector including electrical wiring connected to the motor, and a gear, and each of the parts may be connected to each other and disposed inside the casing. Motor actuators are the main devices used in most machines that are automatically powered by the power supply.

The motor actuator must be formed so that a plurality of parts including a motor are connected to each other to operate, and each part has a different structure, so that it is difficult to be assembled by an automatic process.

Prior art relating to the assembly of motors is the registered motor no. 1092035 motor assembly. The prior art includes a lower plate having an opening in a central portion thereof; An upper plate coupled and fixed to the lower plate by a support plate; A lower portion having a lower fixing portion inserted into a lower end portion of the motor shaft, an upper portion having an upper fixing portion inserted into an upper end of the motor shaft, and a supporting portion connecting the lower portion and the upper portion; And a spindle inserted through a spindle insertion hole formed in an upper portion of the up-and-down moving unit. The spindle is inserted into the upper portion in a screwed manner, so that the up-and- To the motor assembly assembly.

Another prior art relating to the assembly of motors is disclosed in US Patent Application Publication No. 2013-0013641, entitled " Linear < RTI ID = 0.0 > Vibration < / RTI > The prior art includes a tray jig on which a weight assembly including a yoke is seated; A pickup device for vacuum picking up an armature assembled in the weight assembly and transferring the armature to an upper portion of the weight assembly; And a guide bush disposed on the upper portion of the tray jig and having a lower end inserted into the yoke and a tapered hole formed therein to concentrically assemble the armature to the weight assembly when the armature is supplied through the pickup device, The present invention relates to a concentric assembling device for a linear vibration motor.

The proposed prior art relates to the assembly of the parts connected to the motor and does not disclose the assembly of the motor actuator as a whole.

The present invention proposes an apparatus for assembling the entire motor actuator, and has the following purpose.

Prior Art 1: Registered Patent No. 1092035 (published by New Motek Co., Ltd., December 12, 2011) Prior Art 2: Open Patent No. 2013-0013641 (published by Samsung Electro-Mechanics Co., Ltd., February 06, 2013) Concentric assembly device and method for linear vibration motor

SUMMARY OF THE INVENTION It is an object of the present invention to provide an assembling device for a motor actuator which allows a motor and respective parts connected thereto to be assembled successively through a series of automated processes.

According to a preferred embodiment of the present invention, an assembly device for a motor actuator includes: a rotary table having a plurality of jigs arranged therein; An index module for operating the rotary table 11 in a predetermined manner under the control of the control unit; A first supply module and a second supply module for supplying the case base and the case cover to the plurality of jigs; At least one feeder for feeding a component fixed to the case base; And a robot arm for fixing each component supplied from the at least one feeder to the case base.

According to another preferred embodiment of the present invention, the first supply module includes at least one magazine in which a case base is stacked, a base plate to which the magazine is fixed and rotatable, a case support unit installed to be movable up and down along the magazine, And an elevator unit for moving the unit up and down.

According to another preferred embodiment of the present invention, the robot arm is composed of a supply robot arm and a placement robot arm, and a chuck unit is disposed at the end of each robot arm.

The assembling apparatus according to the present invention has an advantage that the production efficiency can be improved by enabling automatic assembly of the entire motor actuator. The assembling apparatus according to the present invention has an advantage that the occurrence of defects generated in the assembling process is reduced by assembling the motor with a series of processes that are automated.

1A and 1B show a plan view and a front view, respectively, of an embodiment of the assembling apparatus according to the present invention.
2A shows an embodiment of a rotary table that can be applied to an assembling device according to the present invention.
Figure 2b illustrates an embodiment of a supply module that may be applied to an assembling device according to the present invention.
FIGS. 3A, 3B and 3C are a plan view, a front view and a side view, respectively, of an embodiment of a robot arm which can be applied to the assembling apparatus according to the present invention.
FIG. 3D shows a detailed view of the chuck unit.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the embodiments shown in the accompanying drawings, but the present invention is not limited thereto. In the following description, components having the same reference numerals in different drawings have similar functions, so that they will not be described repeatedly unless necessary for an understanding of the invention, and the known components will be briefly described or omitted. However, It should not be understood as being excluded from the embodiment of Fig.

1A and 1B show a plan view and a front view, respectively, of an embodiment of the assembling apparatus according to the present invention.

Referring to FIGS. 1A and 1B, an assembly device for a motor actuator includes a rotary table 11 having a plurality of jigs 16 disposed therein; An index module (12) for operating the rotary table (11) in a predetermined manner by control of the control unit; A first supply module 17 and a second supply module 18 for supplying the case base and the case cover to the plurality of jigs 16; At least one feeder (S1 to S5) for feeding a component fixed to the case base; And a robot arm (15) for fixing each component supplied from the at least one feeder (S1 to S5) to the case base.

The assembling apparatus according to the present invention is for assembling an actuator and can be applied to the assembly of an actuator including a motor. The actuator may comprise a device or part such as a casing, a motor and a gear, and the assembling device allows the respective parts including the casing to be automatically assembled by a device such as, for example, a robot while supplying automation through the process. The entire assembly process can be controlled by the control unit. The motor actuator according to the present invention can be applied to devices such as, for example, automobiles, household appliances or robots, but is not limited thereto. The assembling apparatus according to the present invention can be applied to the assembly of any motor actuator through appropriate design changes.

A plurality of jigs 16 may be arranged on the rotary table 11 and a case base may be fixed to each jig 16. [ The rotary table 11 can have a disk shape and can be rotated at a predetermined angle by the index drive unit 121 operated by the index module 12. [

The index module 12 may be operated according to the input of the control panel C or may be operated according to a preset operation program. The jig 16 can be arranged along the circumferential surface of the rotary table 11 and can be arranged in an appropriate number according to the number of assembly processes.

The case base may be supplied from the first supply module 17, and the first supply module 17 may have a structure in which a plurality of case bases are stacked and sequentially supplied. When the case base is fixed to one jig 16 by the robot arm 15 from the first supply module 17, the rotary table 11 can be rotated and the respective parts can be arranged in turn on the case base have. At the same time, the case base can be fixed to the other jig 16 by the robot arm 15. The robot arm 15 can be disposed at a position where the jig 16 is disposed in a suitable structure according to a process and can proceed with the corresponding process such as fixing the base case, coupling the case cover, . The case cover can be supplied by the second supply module 18 after the placement of the components is completed and can be coupled to the case base by the robot arm 15. [ The component is disposed in the case base and the case cover is engaged and the completed motor actuator can be discharged through the discharge unit 19. [

Each component to be coupled to the motor actuator can be supplied by the feeders S1 to S5 and the feeders S1 to S5 can be, for example, bowl feeders, But is not limited to the structure of FIG. Different components can be supplied through the respective feeders S1 to S5 and each component can be conveyed through the feed path SL formed along the inner surface of the feeders S1 to S5. The parts transferred to the supply path SL can be sequentially disposed on the case base which is transported along the waiting path WL having a straight shape and fixed to the jig 16 by the robot arm 15. [ The ball feeder structure has the advantage that a predetermined number of parts are arranged in the waiting path WL while preventing the parts from being separated during the transportation process.

The plurality of motors MS stored in the magazine can be sequentially supplied through the transfer path P1 and fixed to the case base by the robot arm 15. [ The components including the motor can be supplied through various supply paths and arranged in the case base by the robot arm 15, and the present invention is not limited to the embodiments shown.

The control panel C can be fixed to the supporter 14 by a suitable fixing frame and the supporter 14 can be fixed to the frame F by a structure penetrating the central portion of the rotary table 11. A disc shaped upper base 13 can be provided above the rotary table 11 and each component can be moved from the feeders S1 to S5 to the jig 16 using the upper base 13 and the supporter 14 A robot arm 15 for moving the robot arm 15 may be provided. The rotary table 11 can be disposed below the upper base 13 and can be operated by the index module 12 and guided and rotated by the guide unit 111. [

In the assembling apparatus according to the present invention, the assembling process may be started by first supplying the case base in the first supply module 17. The first supply module 17 may have a magazine structure in which a plurality of case bases are stacked, and the uppermost case base may be moved to the jig 16 by the robot arm 15. When the case base is located on the jig 16, the rotary table 11 can be moved by a predetermined angle under the control of the control unit. And the case base may be fixed to the jig 16 located in the first supply module 17. [ And the pin supplied by the feeder S1 by the robot arm 15 can be moved to the jig 16 to which the case base is already fixed and can be fixed at a predetermined position of the case base. In this way, components such as helical gears or worm gears supplied from the respective feeders S2 to S5 can be supplied and fixed to the case base. During the rotation of the rotary table 11, the motor assembly can be supplied and lubricant can be applied. Thereafter, a component missing check is performed, and the case cover can be coupled to the case base by the second supply module 18. [ And the finished product can be discharged through the discharge unit 19. The robot arm 15 can be used in the process of discharging the motor actuator corresponding to the finished product from the jig 16.

The supply and fixing process of the components can be performed in any order and the installation of the robot arm 15 can be appropriately set in consideration of the positional relationship of the feeders S1 to S5 and the jig 16. [

The assembling apparatus according to the present invention can be operated in various ways and the present invention is not limited to the embodiments shown.

Each of the modules that can be applied to the assembling apparatus according to the present invention will be described below.

2A shows an embodiment of a rotary table that can be applied to an assembling device according to the present invention.

Referring to FIG. 2A, the rotary table 11 may have a disk shape, and a jig 16 may be disposed along a rim portion. The jig 16 may have a suitable shape in which the base part MA can be fixed, and may have various structures depending on the shape of the base part MA. The jig 16 may be fixed to the rotary table 11 and the position at which each component is fixed in the jig 16 and the position at which the fixing means such as a pin is engaged may be predetermined. And the robot arm can be moved to a predetermined position to place the components or to engage the fastening means. As described above, the coordinates of the jig 16 in the rotary table 11 relative to the respective robot arms are predetermined. Then, when the position of the jig 16 is transferred to the control unit, the control unit automatically causes the part to be coupled to the base part by moving the jig 16 and the robot arm according to predetermined coordinates.

Parts can be assembled separately if necessary. For example, a component such as a motor can be coupled to the motor alignment block 21, for example, a motor bracket MB. The need for such an independent component alignment block 21 can be generated when side coupling is required. Since the robot arm is installed so as to be movable up and down along the vertical direction, it may be difficult to operate the robot arm when components are to be coupled in the horizontal direction. In this case, a separate component alignment block 21 can be installed.

Fig. 2b shows an embodiment of a supply module 17 which can be applied to an assembling device according to the invention.

2B corresponds to the supply module 17 for supplying the case base, but the supply module for supplying the case cover may be supplied in the same or similar structure.

2B, the supply module 17 includes a case base (at least one magazine 171 in which CB is stacked, a base plate 172 to which the magazine 171 is fixed and rotatable, and a magazine 171) And the elevator unit 20 for moving the case supporting unit 175 up and down.

The magazine 171 may have, for example, a structure in which each case base CB is stacked, and the case base may be stacked in order above the case supporting unit 175. The base plate 172 can be installed to be rotatable by a driving device 173 such as a motor. A shaft member 174 having a function of supporting the base plate 172 in a rotatable manner can be installed in the supply module 17. A position sensor 174a is provided at the end of the shaft member 174 to detect the case base CB located at the uppermost position in the magazine 171. [ The elevator unit 20 can be installed on one side of the magazine 171 to raise the case base CB upward.

The elevator unit 20 includes a moving bracket 211 installed to be movable up and down together with a case supporting unit 175 coupled to the case supporting unit 175 and a guide unit for guiding the moving bracket 211 up and down A screw unit 217 for moving the moving bracket 211 up and down while being rotated by a driving device 216 such as a motor and a pusher 212 for moving the case base CB upward from a predetermined position .

The screw unit 217 is rotated by the operation of the driving unit 216 so that the moving bracket 211 is moved upward so that the case supporting unit 175 coupled to the moving bracket 211 is moved upward . When the uppermost case base CB is detected by the position sensor 174a, the operation of the driving device 216 is stopped. The uppermost case base CB is moved upward by the pusher 212 and can be moved to the rotary table by the robot arm. Then, the moving bracket 211 can be moved upward by the operation of the driving device 216 again. The moving bracket 211 can be guided and moved by the guide unit 216 and can be stopped at a position determined by the stopper 218. [ When all of the case bases CB mounted on one magazine 171 of this type are supplied to the rotary table, the moving bracket 211 moves downward from the magazine 171 in which the case base CB is exhausted, The engagement with the support unit 175 can be released. Then, the base plate 172 can be rotated by the operation of the driving device 173. The movement bracket 211 can then be coupled to the case support unit 175 of the new magazine 171. An elevator unit 20 corresponding to each magazine 171 may be installed as required. If necessary, the base unit 215 may be installed below the guide unit 214.

As described above, the second supply module 18 can also supply the jig with the case cover in the same manner as the first supply module 17 described above.

The case base CB and the case cover can be supplied to the jig in various ways, and the present invention is not limited to the embodiments shown.

3A, 3B and 3C are a plan view, a front view and a side view, respectively, of an embodiment of a robot arm 15 that can be applied to the assembling apparatus according to the present invention, and Fig. Fig.

3A, 3B and 3C, the robot arm 15 may be composed of a supply robot arm 31 and a placement robot arm 32, and may be provided at the end of each of the robot arms 31, Unit 33 may be disposed.

The feed robot arm 31 and the batch robot arm 32 are movable along the guide cylinders 311 and 312 respectively and the feed robot arm 31 and the batch robot arm 32 can be operated independently. However, the robot arm 15 may be composed of only the placement robot arm 32 according to the manner of supplying the parts.

A component such as the case base CB can be moved from the magazine 171 to the standby stage 36 by the supplying robot arm 31, for example. The position of the part in the waiting stage 36 can be detected by the component position sensor S11. And the parts located in the waiting stage 36 can be moved to the jig 16 by the placement robot arm 32. [ The arrangement of the component with respect to the jig 16 can be detected by the placement sensor 341 of the sensor module 34 having the movable structure.

The component can be gripped by a chuck unit 33 such as an air chuck and a pressing unit 33 is installed in the positioning robot arm 32 as necessary so that the component is fixed to the jig 16 at a constant pressure Or the part can be fixed to the case base CB.

The chuck unit 33 disposed at the end of the placement robot arm 32 may have a clamp structure capable of supporting a constant pressure as required. For example, if a component such as a pin is to be inserted into the case base CB, the chuck unit 33 is moved downward at a constant pressure by the pressing unit 33 after the component is moved by the chuck unit 33 A component such as a pin can be inserted into the case base CB. A repulsive force may act in the insertion process and the chuck unit 33 needs to have a structure capable of firmly holding the component against such a pressure.

Referring to FIG. 3D, the first unit 33 may include a pair of fastening branches 332 capable of adjusting the separation distance, and an adjustment bracket 331 for adjusting the moving distance of the fastening branch 332. The tightening branch 332 may be operated in an elastic or air-adsorbing manner, but is not limited thereto and may have any structure known in the art. Also, a fastening groove 333 is formed at the end of the tightening branch 332 so that the component can be firmly fixed.

The chuck unit 33 having various structures can be applied to the assembling apparatus according to the present invention and the present invention is not limited to the embodiments shown.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention . The invention is not limited by these variations and modifications, but is limited only by the claims appended hereto.

10: Assembly device 11: Rotary table
12: Index module 13: Upper base
14: Supporter 15: Robot arm
16: jig 17, 18: supply module
19: discharge unit 20: elevator unit
21: motor alignment block 31: feed robot arm
32: Arrangement robot arm 33: Chuck unit
34: sensor module 36: standby stage
111: guide unit 121: index drive unit
171: Magazine 172: Base plate
173: drive device 174: shaft member
174a: Position sensor 175: Case support unit
211: motor bracket 212: pusher
214: guide unit 216: drive unit

Claims

In an assembling device for a motor actuator,
A rotary table (11) in which a plurality of jigs (16) are arranged;
An index module (12) for operating the rotary table (11) in a predetermined manner by control of the control unit;
A first supply module 17 and a second supply module 18 for supplying the case base and the case cover to the plurality of jigs 16;
At least one feeder (S1 to S5) for feeding a component fixed to the case base; And
And a robot arm (15) for fixing each component supplied from the at least one feeder (S1 to S5) to the case base,
The first supply module 17 includes at least one magazine 171 on which a case base is stacked, a base plate 172 on which the magazine 171 is fixed and rotatable, a case 171 which is vertically movable along the magazine 171, And an elevator unit 20 for vertically moving the support unit 175 and the case support unit 175. The robot arm 15 is composed of a supply robot arm 31 and a placement robot arm 32, And a chuck unit (33) is disposed at an end of each of the robot arms (31).

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