KR101977692B1 - Integrated drive apparatus and industrial robot having the same - Google Patents

Abstract

An embodiment of the present invention provides an integrated drive device that can easily control power through input / output sensing and an industrial robot having the integrated drive device. Here, the integrated driving device includes a driving module, a cover, and an input / output module. The driving module has a driving unit that has a stator and a rotor and rotates a driving shaft coupled with the rotor, and a fixed housing that is coupled to the stator to receive the driving unit. The cover portion has a coupling portion coupled with the fixed housing and having an axial direction perpendicular to the drive shaft so that the drive module is received inside. The input / output module includes a harmonic drive coupled to the drive shaft and rotated concentrically with the drive shaft, an output unit coupled with the flex spline of the harmonic drive to output power of the drive shaft, and an output unit integrally formed with the output unit, Has a torque transmission portion, and rotates independently of the cover portion.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an integrated driving apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an integrated driving apparatus and an industrial robot having the same. More particularly, the present invention relates to an integrated driving apparatus for easily controlling power through sensing of input / output and an industrial robot having the integrated driving apparatus.

The harmonic drive is a kind of reducer which is compact and lightweight but can achieve a high reduction ratio, a large transmission torque capacity, and a small backlash so that a device for obtaining a precise reduction ratio, for example, Robots and the like.

Generally, a harmonic drive consists of a cylindrical circular spline, a cup-shaped flex spline and a wave generator. The wave generator usually has an elliptical shape and is installed inside the flex spline. The flex spline equipped with the wave generator is installed on the inner circumference of the circular spline. Generally, the inner circumferential surface of the circular spline and the outer circumferential surface of the flex spline are configured such that the teeth are processed to prevent slippage.

On the other hand, industrial robots mainly used in the industrial field are mainly used for transportation of materials, for loading and unloading of machinery, for use in manufacturing process, and for assembly and inspection. Recently, the use area of industrial robots has been expanded, and there is a growing demand for industrial robots capable of more precise and fine operation.

Particularly, with respect to high productivity support, it is becoming important to precisely control the robots together with the speed increase by improving the operation performance of the robots. Also, physical interactions that enable I / O feedback between the object to be manufactured and the industrial robot are also considered as important matters. For example, if the force applied to a part is too strong when assembling the part, it is necessary to reduce the force applied to the part in order to prevent breakage of the part. Further, when the force applied to the component is too weak, it is necessary to control such that the force applied to the component is increased so as to be assembled. Therefore, there is a need for an industrial robot equipped with an integrated drive device that can sense the force applied to the product or the force transmitted from the product, and thus quickly feed back the output.

Korean Patent Laid-Open Publication No. 2015-0104464 (published on September 15, 2015)

In order to solve the above problems, an object of the present invention is to provide an integrated drive device that can easily control power through sensing of input / output and an industrial robot having the integrated drive device.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the precise form disclosed. There will be.

According to an aspect of the present invention, there is provided a driving apparatus including a driving unit having a stator and a rotor to rotate a driving shaft coupled to the rotor, and a driving unit having a fixed housing coupled to the stator to receive the driving unit. ; A cover portion coupled to the fixed housing to receive the driving module therein and having a coupling portion having an axial direction perpendicular to the driving shaft; An output unit coupled with the flex spline of the harmonic drive and outputting power of the drive shaft, and a power unit that is integrally formed with the output unit and receives power from the outside, And an input / output module having a torque transmitting portion having an input portion and rotating independently of the cover portion.

In the embodiment of the present invention, the cover portion may include a first connection portion which is axially in close contact with an engagement ring portion protruding along the circumferential direction on the outer circumferential surface of the fixed housing and is formed in a plurality of first engagement holes formed in the engagement ring portion, A first cover having a fixing ring portion in which a ball is formed, an inner circumferential surface of which is in close contact with an outer circumferential surface of the coupling ring portion so as to surround an outer circumferential surface of the driving module and has a first step groove formed along a circumferential direction at one end thereof, A connecting ring coupled to the first stepped groove and having a second connecting hole formed corresponding to the plurality of second fastening holes formed in the first cover and forming a second stepped groove with a rim of the first cover, A third connection hole is formed to correspond to the second connection hole and a second cover which is located in the second stepped groove and is engaged with the connection ring and the first cover and covers the drive module.

In the embodiment of the present invention, a plurality of reinforcing ribs protrude in the longitudinal direction of the first cover at predetermined intervals along the circumferential direction on the inner circumferential surface of the first cover, and the second fastening holes are formed in the reinforcing ribs .

In the embodiment of the present invention, the coupling portion may have a coupling surface formed perpendicularly to the drive shaft, and a fourth coupling hole formed through the coupling surface to correspond to the plurality of first coupling holes formed in the input portion. have.

According to another aspect of the present invention, An integrated driving device in which an input / output module is coupled to the base; A first additional integrated driving device coupled to the driving shaft of the integrated driving device in an axial direction perpendicular thereto; A second further integrated drive device coupled to the first additional integrated drive device by a first link frame; And a third additional integrated drive device coupled to the second additional integrated drive device by a second link frame.

In the embodiment of the present invention, the first input / output module of the first additional integrated driving device is coupled to the coupling portion of the integrated driving device, and when the first input / output module is coupled and fixed to the integrated driving device, The first cover part of the first additional integrated driver may rotate independently of the first input / output module.

In the embodiment of the present invention, the first link frame may have one end connected to the first coupling portion of the first additional integrated driving device and the other end coupled to the second coupling portion of the second additional integrated driving device, The second additional integrated drive device may be rotated during rotation of the first cover portion of the first additional integrated drive device.

According to an embodiment of the present invention, the second additional integrated driving device may further include an auxiliary cover portion coupled to the second input / output module and rotating together with the second input / output module, And the other end may be coupled to the third engagement portion of the third additional integrated drive device.

According to the embodiment of the present invention, the processing section can be provided with rapid output feedback by controlling at least one of the rotational direction and the rotational speed of the drive shaft to be adjusted based on the strain of the torque transmitting section.

Further, according to the embodiment of the present invention, each of the integrated drive devices is coupled to each other to receive a force provided from another integrated drive device, and by controlling the output power based on the input force Stable operation may be possible while allowing the output to be tailored to the application.

It should be understood that the effects of the present invention are not limited to the effects described above, but include all effects that can be deduced from the description of the invention or the composition of the invention set forth in the claims.

1 is a perspective view illustrating an integrated driving apparatus according to an embodiment of the present invention.
2 is an exploded perspective view showing an integrated driving device according to an embodiment of the present invention.
3 is a cross-sectional view illustrating an integrated driving apparatus according to an embodiment of the present invention.
4 is a cross-sectional view mainly showing a driving module and an input / output module of an integrated driving device according to an embodiment of the present invention.
5 and 6 are perspective views showing an industrial robot according to an embodiment of the present invention.
FIG. 7 is a view illustrating a combined operation of the industrial robot and the first additional integrated driving apparatus according to an embodiment of the present invention; FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when a part is referred to as being "connected" (connected, connected, coupled) with another part, it is not only the case where it is "directly connected" "Is included. Also, when an element is referred to as " comprising ", it means that it can include other elements, not excluding other elements unless specifically stated otherwise.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is an exploded perspective view illustrating an integrated driving apparatus according to an embodiment of the present invention. FIG. 3 is a perspective view illustrating an integrated driving apparatus according to an exemplary embodiment of the present invention. Referring to FIG. 1, 4 is a cross-sectional view mainly showing a driving module and an input / output module of an integrated driving apparatus according to an embodiment of the present invention.

1 to 4, the integrated drive unit 10 may include a drive module 100, a cover unit 200, and an input / output module 300.

The driving module 100 may have a driving unit 110 and a fixed housing 130.

The driving unit 110 may have a stator 111 and a rotor 112.

The stator 111 may have a coil shape so that an electromagnetic force is generated, and an electromagnetic force may be generated when a current flows through the coil. The rotor 112 may be a magnet and may be rotated by the electromagnetic force generated by the stator 111. [ The rotor 112 may be coupled to the drive shaft 121 by the first support 120 so that when the rotor 112 is rotated the drive shaft 121 rotates together with the rotor 112 Can be rotated.

The first bearing 123 may be coupled to the outer circumferential surface of the second support member 122. The second support member 122 may be provided on the outer circumferential surface of the drive shaft 121 at one side of the rotor 112.

The second bearing 124 may be coupled to the outer circumferential surface of the drive shaft 121 to the other side of the rotor 112. The second bearing 124 may be provided so as to be in close contact with the engaging portion 125 protruding from the outer circumferential surface of the drive shaft 121. The second bearing 124 can be pressed on both sides by the engagement portion 125 and the first support member 120 to be firmly fixed to the drive shaft 121. [

The driving shaft 121 may have a through hole 126 formed in the axial direction and the core tube 127 may be provided in the through hole 126. The core tube 127 may be provided so as to have the same central axis as the drive shaft 121. The outer circumferential surface of the core tube 127 may be spaced apart from the inner circumferential surface of the driving shaft 121. So that the driving shaft 121 can rotate independently of the core tube 127. The core tube 127 may have a first passage portion 128 formed to pass through in the axial direction. The first passage portion 128 can function as a passage for allowing a cable (not shown) to pass inward. The cable may include a power cable and a communication cable, and may be installed to pass through a first passage formed in each integrated driving device.

The core tube 127 may have a flange portion 129 formed at one end of the core tube 127 on the outer side of the core tube 127.

The driving module 100 may have a first housing 131 and a second housing 132.

The first housing 131 may be provided to surround one end of the core tube 127 and may be coupled to the flange 129 of the core tube 127 by a fastening member or the like.

The stationary housing 130 may be configured to receive the stator 111 and the rotor 112 on the inner side. The fixed housing 130 may be extended to surround one side of the stator 111 and the lower end thereof may be coupled with a third support member 133 which closely supports the upper surface and the side surface of the first bearing 123 .

The fixed housing 130 may have a coupling ring 134 protruding along the circumferential direction on the outer circumferential surface. A plurality of first fastening holes 135 may be formed in the coupling ring portion 134 along the circumferential direction.

The second housing 132 may be coupled to the fixed housing 130 to cover the other side of the stator 111. The lower end of the second housing 132 may press the second bearing 124 to securely fix the second bearing 124. The second housing 132 may be formed in close contact with the coupling ring 134 of the fixed housing 130 and the first coupling hole 136 may be formed to correspond to the first coupling hole 135 .

When the rotor 112 is rotated, the first bearing 123, the first housing 131, the fixed housing 130, and the second housing 132 are fixed, And the second bearing 124, the drive shaft 121 can rotate.

The cover portion 200 may have a first cover 210, a connection ring 230, and a second cover 250.

The first cover 210 may be formed to surround the outer peripheral surface of the driving module 100. At this time, the first cover 210 may be provided so that its inner circumferential surface is in close contact with the outer circumferential surface of the engagement ring portion 134 and the outer circumferential surface of the second housing 132.

The first cover 210 may have a stationary ring portion 211 and the stationary ring portion 211 may protrude from the inner circumferential surface of the first cover 210 along the circumferential direction. A first connection hole 212 may be formed in the fixed ring portion 211 to correspond to the first connection hole 135 and a fixed ring portion 211 may be closely attached to the coupling ring portion 134 in the axial direction. The first fastening member 213 is connected to the first fastening hole 212 and the first fastening hole 135 and the second fastening hole 215 in the state where the second housing 132 and the fastening ring 211 are in close contact with the opposite sides of the fastening ring portion 134, The first cover 210 can be coupled to the driving module 100. The first cover 210 can be coupled to the driving module 100 through the first coupling hole 136. [

A first stepped groove 214 may be formed at one end of the first cover 210 along the circumferential direction. The first stepped groove 214 may be formed on the inner circumferential surface of the first cover 210.

In addition, the first cover 210 may have a reinforcing rib 215 protruding in the longitudinal direction of the first cover 210 on the inner circumferential surface thereof. The reinforcing ribs 215 may be formed at predetermined intervals along the circumferential direction of the first cover 210. A second fastening hole 216 may be formed at one end of the reinforcing rib 215 in the longitudinal direction of the reinforcing rib 215.

The connection ring 230 may be formed to be coupled to the first stepped groove 214. The connection ring 230 may be held in close contact with the first stepped groove 214 and the reinforcing rib 215. The connection ring 230 may have a second connection hole 231 formed to correspond to the plurality of second connection holes 216 formed in the first cover 210. A second fastening member 232 may be coupled to the second connection hole 231 and the second fastening hole 216 so that the connection ring 230 can be coupled to the first cover 210.

The connection ring 230 may have a plurality of third connection holes 233. The connection ring 230 may form the second stepped groove 234 together with the rim of the first cover 210 in a state where the connection ring 230 is engaged with the first cover 210.

A driver 240 may be coupled to the connection ring 230. The driver 240 may control driving of the driving unit 110. [ The driver 240 may be provided with a fourth connection hole 241 corresponding to the third connection hole 233 and the driver 240 may be formed such that the third connection member 242 is connected to the fourth connection hole 241, 3 connection hole 233, as shown in FIG.

The second cover 250 can be coupled to the second stepped groove 234. The second cover 250 may have a fifth connection hole 251 formed to correspond to the second connection hole 231 formed in the connection ring 230. The fifth connection hole 251 may be formed to correspond to a portion of the second connection hole 231 and a portion of the second connection hole 216. The fourth connection hole 251 may be formed to correspond to a portion of the second connection hole 231, The second cover 250 may be coupled to the connection ring 230 and the first cover 210 to cover the driving module 100 by the first cover 252.

The first cover 210 may have a coupling portion 220 and the coupling portion 220 may have a coupling surface 221, a second passage portion 222 and a fourth coupling hole 223 .

The engagement surface 221 may be formed perpendicular to the drive shaft 121 and may be formed flat.

The second passage portion 222 may be formed through the coupling surface 221 and the cable may pass through the second passage portion 222.

The fourth connection hole 223 may be formed through the coupling surface 221 and may correspond to a plurality of first coupling holes 336 formed in the input unit 335 to be described later. The fourth connection hole 223 may be formed along the periphery of the second passage portion 222.

The input / output module 300 may have a harmonic drive 310 and a torque transmitting portion 330.

The harmonic drive 310 may be coupled to the drive shaft 121. The harmonic drive 310 may have a wave generator 311, a circular spline 314 and a flex spline 315.

The wave generator 311 may have a connecting ring portion 312 and a rotating ring portion 313. The connection ring portion 312 may be coupled to the drive shaft 121 and rotate together with the drive shaft 121. The rotation ring portion 313 may be provided on the outer circumferential surface of the connection ring portion 312. The rotary ring portion 313 may be a bearing, and may be formed in an elliptical shape.

The circular spline 314 may be provided so as to surround the outer circumferential surface of the rotary ring portion 313 while being separated from the outer circumferential surface of the wave generator 311, specifically, the outer circumferential surface of the rotary ring portion 313. A notch (not shown) may be formed on the inner circumferential surface of the circular spline 314. The circular spline 314 may be fixed to the second housing 132 so as not to rotate.

The flex spline 315 may have a gear portion 316, a first connection portion 317, a second connection portion 318, and a turning weight portion 319.

The gear portion 316 may be provided between the rotary ring portion 313 of the wave generator 311 and the circular spline 314. [ The gear portion 316 can receive rotation force from the rotation ring portion 313 of the wave generator 311 and can be partially engaged with and engaged with the circular spline 314 while rotating. To be specific, a tooth (not shown) may be formed on the outer peripheral surface of the gear portion 316 to engage with a tooth formed on the inner peripheral surface of the circular spline 314. When the drive shaft 121 rotates, the elliptical rotary ring portion 313 is rotated together with the connection ring portion 312 so that the portion of the gear portion 316, which is pressed against the longitudinal portion of the rotary ring portion 313, It is pushed out. Then, the portion of the gear portion 316 pushed outward is engaged with the teeth of the circular spline 314. The number of teeth of the gear portion 316 may be smaller than the number of the teeth of the circular spline 314 so that the gear portion 316 is rotated by the wave generator 311 at a rotation amount smaller than the rotation amount of the wave generator 311, As shown in Fig.

The first connection portion 317 may be connected to the gear portion 316 and may be formed parallel to the drive shaft 121. The second connection portion 318 may be connected to the first connection portion 317 and may be formed in a radial direction of the drive shaft 121.

The rotating weight 319 may be connected to the second connecting part 318. The rotating weight portion 319 may be engaged with the torque transmitting portion 330 and the rotating member 340. The torque transmitting portion 330 and the rotating member 340 can be rotated together with the flex spline 315. [

The torque transmission portion 330 may have an output portion 331 and an input portion 335. [

The output section 331 may be a portion that is relatively close to the rotating weight section 319 of the flex spline 315 and the power provided by the flex spline 315 may be output at the output section 331. [

The input unit 335 may be integrally formed with the output unit 331, and a first coupling hole 336 may be formed. The input unit 335 can be coupled with an external configuration, and power provided from the outside can be input. When the magnitude of the power provided from the outside during the rotation of the drive shaft 121 is different from the magnitude of the rotational force of the drive shaft 121, or the rotational direction is different or the rotational speed is different, a deforming force is generated in the torque transmitting portion 330 .

Since the torque transmitting portion 330 is not connected to the cover portion 200, the torque transmitting portion 330 can rotate independently of the cover portion 200.

Meanwhile, the integrated driving apparatus 10 may further include a processing unit 400, and the processing unit 400 may have a sensing unit (not shown). The sensing unit may be provided in the torque transmitting unit 330 and may measure the strain of the torque transmitting unit 330. A strain gage may be used as the sensing unit. A plurality of sensing units may be provided.

The processing unit 400 may process the measurement signal transmitted from the sensing unit and may control the operation of the driving unit 110 based on the measurement signal. That is, the processing unit 400 may control one or more of the rotational direction and the rotational speed of the drive shaft 121 to be controlled based on the strain of the torque transmitting unit 330.

In the present invention, each of the integrated driving devices may be coupled to each other, and the input unit 335 may be coupled to the coupling portion of the first cover of the other integrated driving device. In addition, each integrated drive unit can receive a force provided from another integrated drive unit at the time of operation. By controlling the output power based on the input force, a stable output can be realized .

Hereinafter, an industrial robot having an integrated drive system will be described.

FIGS. 5 and 6 are perspective views illustrating an industrial robot according to an embodiment of the present invention, FIG. 7 is a view illustrating a combined operation of the industrial robot and the first additional integrated driving apparatus according to an embodiment of the present invention .

1 to 7, the industrial robot includes an integrated drive system 10, a base 20, a first additional integrated drive system 10a, a second additional integrated drive system 10b, and a third additional integrated drive system 10b. Device 10c.

The base 20 can be coupled to a place where the industrial robot is installed.

The integrated drive unit 10 may be coupled to the base 20 and the input unit 335 of the torque transfer unit 330 of the integrated drive unit 10 may be coupled to the base 20 at this time.

An adapter 21 may be further coupled to the torque transmitting portion 330 for convenience of connection with the base 20. [ The adapter 21 may have a first fastening hole 22 and the base 20 may have a second fastening hole 23 corresponding to the first fastening hole 22.

Output module 300 of the integrated drive unit 10 is fixed to the base 20 when the base 20 is fixed to the installation site and thus the operation of the drive module 100 of the integrated drive unit 10 The cover portion 200 is rotated. The cover unit 200 can be rotated independently of the input / output module 300.

The first additional integrated driving apparatus 10a may be coupled to the integrated driving apparatus 10 in such a manner that the first additional integrated driving apparatus 10a is moved in the axial direction perpendicular to the driving shaft 121 of the integrated driving apparatus 10 Can be combined. Specifically, the first input unit 335a of the first input / output module 300a of the first additional integrated driver 10a may be coupled to the coupling unit 220 of the integrated driver 10. When the first driving unit of the first additional integrated driving unit 10a is operated because the first input / output module 300a is coupled and fixed to the integrated driving unit 10, 1 cover portion 200a can be rotated. The first cover part 200a can be rotated independently of the first input / output module 300a.

The second additional integrated driving device 10b may be combined with the first additional integrated driving device 10a by the first link frame 30. [

One end of the first link frame 30 can be coupled to the first engagement portion 220a of the first additional integrated drive device 10a and the other end can be coupled to the second engagement portion 20b of the second additional integrated drive device 10b, (Not shown). Accordingly, when the first cover part 200a of the first additional integrated driving device 10a is rotated, the second additional integrated driving device 10b can rotate around the first driving shaft of the first additional integrated driving device .

The third additional integrated drive 10c can be combined with the second additional integrated drive 10b by the second link frame 40. [ Here, the second additional integrated driving apparatus 10b may further include an auxiliary cover unit 700 coupled to the second input / output module 300b and rotated together with the second input / output module 300b. The auxiliary cover portion 700 may be provided with an auxiliary coupling portion 710. The auxiliary coupling portion 710 may be formed in the same manner as the second coupling portion 220b provided in the second cover portion 200b of the second additional integrated drive device 10b.

One end of the second link frame 40 may be connected to the auxiliary coupling portion 710 and the other end may be connected to the third coupling portion 220c provided at the third cover portion 200c of the third additional integrated drive device 10c ). ≪ / RTI >

Since the second cover unit 200b is fixedly coupled to the first link frame 30 in the second additional integrated drive unit 10b, when the second input / output module 300b rotates, the auxiliary cover unit 700 Can be interlocked and rotated together.

When the auxiliary cover unit 700 is rotated, the third additional integrated drive unit 10c can be rotated together with the second link frame 40. [

Meanwhile, the fourth input / output module 300c of the third additional integrated driving apparatus 10c may be coupled to the fourth coupling unit 220d of the fourth additional integrated driving apparatus 10d. In the fourth additional integrated driving apparatus 10d, since the fourth cover portion 200d is fixed to the third additional integrated driving apparatus 10c, the fourth input / output module 300d is connected to the fourth cover portion 200d, Can be independently rotated.

The fourth input / output module 300d of the fourth additional integrated driving unit 10d may be coupled to the fifth combined unit 220e of the fifth additional integrated driving unit 10e. In the fifth additional integrated drive unit 10e, since the fifth cover unit 200e is fixed to the fourth additional integrated drive unit 10d, the fifth input / output module 300e is connected to the fifth cover unit 200e, Can be independently rotated. The fifth input / output module 300e may be combined with various tools for work.

For the sake of convenience, the integrated drive unit disposed after the integrated drive unit 10 coupled to the base 20 is referred to as an additional integrated drive unit 10a to 10e. The integrated drive unit 10 And the additional integrated driving devices 10a to 10e may all have the configurations described in Figs. 1 to 4 in common.

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

10: integrated drive device 30: first link frame
40: second link frame 100: drive module
110: driving part 130: fixed housing
134: engagement ring part 200: cover part
210: first cover 211: fixed ring portion
220: engaging portion 230: connecting ring
250: second cover 300: input / output module
310: Harmonic drive 330: Torque transmission part
400: processing section 700: auxiliary cover section
710:

Claims (8)

A driving module having a stator and a rotor, a driving unit for rotating a driving shaft coupled to the rotor, and a fixed housing coupled to the stator to receive the driving unit;
A cover portion coupled to the fixed housing to receive the driving module therein and having a coupling portion having an axial direction perpendicular to the driving shaft; And
An output unit coupled to the flex spline of the harmonic drive and outputting power of the drive shaft, and an input unit integrally formed with the output unit and being input with power from the outside, And an input / output module having a torque transmitting portion having a portion that rotates independently of the cover portion,
Wherein the drive shaft has a through hole formed in an axial direction,
Wherein the through-hole is provided with a core tube having the same central axis as the drive shaft and spaced apart from an inner peripheral surface of the drive shaft so that the drive shaft is fixed even when the drive shaft is rotated independently,
Wherein the driving module has a first housing fixedly installed to surround one end of the core tube,
The core tube has a first passage portion formed in an axial direction so as to allow a cable to pass therethrough and a flange portion formed at one end of the core tube and coupled to the first housing,
The cover portion includes a first cover which is in close contact with the fixed housing and is formed so as to surround the drive module, and a connection ring coupled to the first cover,
A driver for controlling driving of the driving unit is coupled to the connecting ring,
Wherein the coupling portion includes a coupling surface formed perpendicularly to the drive shaft, a second passage portion formed to penetrate the coupling surface and configured to allow the cable to pass therethrough, and a second passage portion formed to correspond to the plurality of first coupling holes formed in the input portion. And a fourth connection hole formed through the coupling surface along the periphery of the second passage portion. The method according to claim 1,
The cover portion has a second cover coupled to the connection ring and the first cover and covering the drive module,
Wherein the first cover includes a fixed ring portion having a first connection hole formed in the coupling ring portion protruding along the circumferential direction on the outer circumferential surface of the fixed housing so as to correspond to a plurality of first coupling holes formed in the coupling ring portion, And an inner circumferential surface which is in close contact with an outer circumferential surface of the coupling ring portion so as to surround an outer circumferential surface of the driving module, and has a first step groove formed at one end along a circumferential direction,
Wherein the connection ring has a second connection hole coupled to the first stepped groove and corresponding to a plurality of second fastening holes formed in the first cover, Lt; / RTI >
And the second cover has a fifth connection hole formed to correspond to the second connection hole, and is located in the second stepped groove. 3. The method of claim 2,
Wherein a plurality of reinforcing ribs are formed on the inner circumferential surface of the first cover at predetermined intervals along the circumferential direction in a longitudinal direction of the first cover and the second fastening holes are formed in the reinforcing ribs. . delete Base;
An integrated driving apparatus as claimed in any one of claims 1 to 3, wherein the integrated driving apparatus includes an input / output module coupled to the base;
A first additional integrated driving device coupled to the driving shaft of the integrated driving device in an axial direction perpendicular thereto;
A second further integrated drive device coupled to the first additional integrated drive device by a first link frame; And
And a third additional integrated drive device coupled to the second additional integrated drive device by a second link frame. 6. The method of claim 5,
The first input / output module of the first additional integrated driving device is coupled to the coupling portion of the integrated driving device, and the first input / output module of the first additional integrated driving device is coupled to the integrated driving device, 1 cover part independently rotates with the first input / output module. The method according to claim 6,
Wherein one end of the first link frame is coupled to the first engagement portion of the first additional integrated drive device and the other end is coupled to the second engagement portion of the second additional integrated drive device, And the second additional integrated drive device is rotated when the first cover part is rotated. 8. The method of claim 7,
The second additional integrated driving apparatus includes a second input / output module rotating independently of the second cover unit provided with the second coupling unit, and an auxiliary cover unit coupled to the second input / output module and rotating together with the second input / output module Having more,
Wherein one end of the second link frame is connected to an auxiliary coupling portion provided on the auxiliary cover portion and the other end portion is coupled to a third coupling portion of the third additional integrated drive device.

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