KR102449604B1 - Assembly jig for robot drive system comprising harmonic drive - Google Patents

Abstract

The present invention relates to an assembly jig for a robot drivetrain system including a harmonic drive that can be quickly and precisely aligned by using when assembling each element in a robot drivetrain system including a harmonic drive.

Description

ASSEMBLY JIG FOR ROBOT DRIVE SYSTEM COMPRISING HARMONIC DRIVE

The present invention relates to an assembling jig of a robot drivetrain system including a harmonic drive, and more particularly, to a jig set for performing alignment to assemble each sub-part.

Harmonic drives are widely used in industrial robots, machine tools, and various manufacturing devices. The harmonic drive is composed of a compact design, so there is no space limitation, and it has the advantage of having a large reduction ratio. On the other hand, since the harmonic drive generates vibration by a wave generator and operates with a high reduction ratio, it needs to be assembled precisely.

In addition, the drive system used in the robot operates based on the motor, brake, and harmonic drive, and is installed in the robot in a state of being combined into one assembly. In the harmonic drive, a plurality of fastening holes for connecting to the robot arm are generally formed through the input/output terminal. For example, 12 through-holes may be formed in each of the input and output terminals at intervals of 30 degrees along the rotational direction. When the input and output terminals are firmly connected to the robot arm at multiple points, the radial/axial alignment can be maintained, and the output end alignment can be achieved through a cross bearing, enabling stable performance guaranteed at the manufacturer level. Therefore, it is important to assemble a plurality of assemblies while maintaining high precision in order to secure performance and maintain durability in an assembled state of each module.

Meanwhile, Korean Patent Registration No. 10152554 (2015.05.28.) is disclosed in relation to a jig used for manufacturing such a drivetrain system. However, these jigs have a problem in that it is difficult to assemble each module while precisely maintaining each alignment state.

Republic of Korea Patent No. 10152554 (2015.05.28.)

An object of the present invention is to provide a jig capable of improving assembly precision when manufacturing a robot drive system, which is a problem in the prior art.

As a means of solving the above problem, the first jig, the motor module and the harmonic drive module configured to be seated on the upper side of the assembly to which the harmonic drive module and the shaft assembly are combined while supporting the motor module are pressed in the radial and axial directions by pressing After the second jig configured to align, the motor module and the harmonic drive module are combined, the oil-proof cap that is axially coupled to the harmonic drive module is pressed in radial and axial directions to align the third jig An assembly jig of a robot driveline system including a harmonic drive may be provided.

On the other hand, the first jig includes a first left block and a first left block configured to be able to adjust the distance between each other in the horizontal direction on the first base and the harmonic drive module seating part configured to seat the first base and the harmonic drive module. The assembly jig of the robot drive system system may be provided that includes one right block, and is configured such that the motor module approaches the harmonic drive module as the distance between the first left block and the first right block increases.

On the other hand, the first left block is provided with a left support for supporting the motor module, the first right block is provided with a right support for supporting the motor module, the left support and the right support are configured such that the thickness gradually decreases toward the end side adjacent to each other. can be

On the other hand, it may include a worm gear configured to be able to adjust the distance between the left support and the right support as the user rotates.

On the other hand, the maximum separation distance of the left support part and the right support part may be configured to be greater than the outer diameter of the motor module so that the support of the motor module is released at the maximum separation distance so that the motor module can be seated on the upper side of the harmonic drive module.

On the other hand, the second jig is a second left block and a second right block provided in a horizontal direction to press the second base, the motor module, and the harmonic drive module in a radial direction, and a second configured to be gripped by a user. It may include a second jig horizontal link assembly configured to include a horizontal gripping part of the jig, and to convert a pivotal movement of the second jig horizontal gripping part into a linear motion in the horizontal direction.

Meanwhile, the second left block includes a second left block pressing surface that comes into contact with and presses the motor module and the harmonic drive module, and the second right block includes a second right block pressing surface that comes in contact with and pressurizes the motor module and the harmonic drive module. Including, the second left block pressing surface and the second right block pressing surface may be configured as a concave surface having a greater curvature than the outer diameter of the motor module and the harmonic drive module in contact.

In addition, the second jig includes a second jig vertical pressing block configured to press the motor module and the harmonic drive module in the axial direction, and a second jig vertical gripping unit configured to generate a pivot movement by gripping the user. and a second jig vertical link assembly configured to generate a vertical linear movement by the pivot movement of the second jig vertical gripping part.

On the other hand, the second jig further includes a second jig vertical pressing block that is in contact with the upper side of the motor module, and the second jig vertical pressing block may have the fastening hole of the motor module exposed in the vertical direction while the motor module is pressed. It may include a second jig notch cut to be so.

On the other hand, the third jig is configured to press the third base, the motor module, and the harmonic drive module assembly in the horizontal direction, the third left block and the third right block, and the oil prevention cap seated on the harmonic drive module in the vertical direction. It may include a third jig vertical pressing block configured to be pressurized by the It may further include a third jig horizontal link assembly configured to convert the pivotal movement of the gripper into a horizontal linear movement.

On the other hand, the third left block includes a third left block pressing surface that comes into contact with and pressurizes the motor module, the harmonic drive module, and the oil protection cap, and the third right block is in contact with the motor module, the harmonic drive module and the oil protection cap A third right block pressing surface for pressing is included, and the third left block pressing surface and the third right block pressing surface are concave surfaces having a greater curvature than the outer diameters of the contacting motor module, harmonic drive module, and oil prevention cap. can

On the other hand, the third jig, the third right block, the third jig horizontal link assembly, the third jig horizontal direction gripper may further include a third right block support plate configured to move horizontally on the third base. can

On the other hand, the third jig is a third jig vertical pressing block configured to be in contact with the oil prevention cap to press the oil prevention cap in the axial direction, the third jig vertical to generate a pivot movement by gripping the user. It may further include a third jig vertical link assembly configured to generate a linear motion in the vertical direction by the pivot movement of the direction gripping part and the third jig vertical gripping part.

The jig according to the present invention has the effect of assembling the robot drive system including the harmonic drive precisely and quickly.

1 is a perspective view of a robot drive system system including a harmonic drive according to an embodiment of the present invention.
FIG. 2 is an exploded perspective view of the robot driving system system including the harmonic drive shown in FIG. 1 .
FIG. 3 is a cross-sectional view illustrating a cross-section taken along line I-I' in FIG. 1 .
4 is a view showing a set of assembly jigs of the robot drive system system including the harmonic drive according to the present invention.
5 is a perspective view showing the first jig.
6 is a front view of the first jig.
7A, 7B and 7C are cross-sectional views according to the operation of the first jig.
8 is a perspective view of a second jig.
9 is a plan view of the second jig.
10 is an enlarged cross-sectional view centered on the second harmonic dry module of the second jig.
11A to 11D are diagrams of a second jig in use.
12 is an enlarged perspective view of part II in FIG. 11D .
13 is a perspective view of a third jig;
14 is a plan view of the third jig.
15 is an enlarged cross-sectional view centering on a provisionally coupled assembly.
16A to 16E are diagrams of a third jig in use.

Hereinafter, an assembling jig of a robot drive system including a harmonic drive according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. And in the description of the embodiments below, the name of each component may be called another name in the art. However, if they have functional similarity and identity, even if a modified embodiment is employed, it can be viewed as an equivalent configuration. In addition, the code added to each component is described for convenience of description. However, the content shown in the drawings in which these symbols are indicated does not limit each component to the scope within the drawings. Similarly, even if an embodiment in which the configuration in the drawings is partially modified is employed, if there is functional similarity and sameness, it can be regarded as an equivalent configuration. In addition, in view of the level of a general engineer in the art, if it is recognized as a component to be included of course, a description thereof will be omitted.

Hereinafter, the assembly jig of the robot drive system including a harmonic drive in an embodiment of the present invention will be described in detail with reference to the accompanying drawings. And in the description of the embodiments below, the name of each component may be called another name in the art. However, if they have functional similarity and identity, even if a modified embodiment is employed, it can be viewed as an equivalent configuration. In addition, the code added to each component is described for convenience of description. However, the content shown in the drawings in which these symbols are indicated does not limit each component to the scope within the drawings. Similarly, even if an embodiment in which the configuration in the drawings is partially modified is employed, if there is functional similarity and sameness, it can be regarded as an equivalent configuration. In addition, in view of the level of a general engineer in the art, if it is recognized as a component to be included of course, a description thereof will be omitted.

1 is a perspective view of a robot drive system system including a harmonic drive according to an embodiment according to the present invention, FIG. 2 is an exploded perspective view of the robot drive system system including the harmonic drive shown in FIG. 1 , FIG. 3 is I-I in FIG. It is a cross-sectional view showing a cross-section cut by '. For convenience of description, the brake module is omitted in FIGS. 3 and 4 .

As shown, the robot driving system system 1 including the harmonic drive according to the present invention may be configured by assembling the driving system into one module. Hereinafter, for convenience of explanation, in the drive system system 1, the direction in which the motor module 100 faces the harmonic drive module 200 with respect to the central axis of rotation of the shaft assembly 400 is 'front', and the harmonic drive module ( The direction in which the 200) faces the motor module 100 is referred to as 'rear' and will be described.

The robot drivetrain system 1 including the harmonic drive according to the present invention includes a motor module 100 , a harmonic drive module 200 , a shaft assembly 400 , an oil prevention cap 500 and a brake module 800 . can be configured.

The motor module 100 may be configured to rotate the shaft assembly 400 by receiving power from the outside.

The motor module 100 may include a main housing 130 , a stator 110 , a rotor 120 , a rear bearing 180 , and an outer sleeve 160 .

The main housing 130 has an open front side so that the motor module 100 can be provided, and may be configured in a cylindrical shape with an empty inside. The stator 110 , a part of the shaft assembly 400 , and the rotor 120 may be disposed inside. The main housing 130 may be configured to be connected to the harmonic drive module 200 to be described later from the front side, which is one of the directions of the rotational center axis of the shaft assembly 400 .

The main housing 130 includes a sub-housing 131 forming a side wall in a cylindrical shape, a main housing cap 133 provided on the rear side upper surface, and an extension 132 extending radially from one side of the sub-housing 131 . ) may be included.

The extension part 132 is formed at the front end of the sub-housing 131 to extend a predetermined length in the radial direction with respect to the central axis of rotation of the shaft assembly 400 . The extension part 132 may be configured such that a plurality of fastening holes are formed along the radial direction so that a fixing bolt for connection with an external robot arm structure can be inserted. The extension part 132 may be provided with a bracket 140 and a bracket 140 accommodating part so that assembly can be performed quickly while maintaining precision when combined with the harmonic drive module 200 .

A through hole may be formed in the central portion of the sub-housing 131 to allow the shaft assembly 400 to pass therethrough. A step bent toward the front may be formed by placing a step around the through hole, and the rear bearing 180 may be configured to be inserted into the bent portion. The shaft assembly 400 may be inserted into the hollow of the rear bearing 180 to rotate smoothly. The rear bearing 180 may be inserted toward the front from the rear side of the main housing 130 .

The stator 110 may be configured to receive power from the outside to form a magnetic field. The stator 110 may be configured in a donut shape as an assembly of conductors and inserted into the main housing 130 . A wire is provided on one side of the stator 110 to be electrically connected to the outside, and one side of the wire may be exposed to the outside through a wire hole 170 formed on the rear side of the housing.

The rotor 120 may be configured to rotate in interaction with the stator 110 . The rotor 120 may be configured to include a permanent magnet, and may be configured in a ring shape to be rotatably configured according to a change in a magnetic field inside the stator 110 . The rotor 120 may be fixed to the motor module 100 or the shaft assembly 400 to transmit rotational force to the shaft assembly 400 .

The outer sleeve 160 is configured to prevent the aforementioned rear bearing 180 from being separated from the main housing cap 133 in the axial direction. The outer sleeve 160 may be configured as a plate-shaped member, and may be configured in a ring shape so that one side of the shaft assembly 400 that has passed through the bearing to the inside can pass therethrough. The outer sleeve 160 has a fastening hole 600 formed along the rotational direction, and may be fixed to the outer surface of the main housing cap 133 through a bolt.

The harmonic drive module 200 may be configured to reduce the rotational force generated from the motor module 100 . The harmonic drive module 200 receives the rotational force generated from the motor to the shaft assembly 400, and the gear teeth of the flex spline and the circular spline ( As the gear teeth provided on the inside of the 201 are engaged with each other, the flex spline 202 and the circular spline 201 rotate relative to each other. Meanwhile, since this principle is a configuration widely used in a widely used harmonic drive, a detailed description thereof will be omitted.

The shaft assembly 400 is configured to transmit power received from the motor module 100 to the harmonic drive. The shaft assembly 400 may include a main shaft 410 , a rotor 120 , a wave generator 210 , and a bearing shaft 420 . The main shaft 410 is an integrated structure on the rear side of the shaft assembly 400 , and is configured to receive rotational force from the motor module 100 . The main shaft 410 may be cut to have different outer diameters along the axial direction in order to secure rigidity, fasten the rotor 120, seal the oil, and connect the bearing. The rear side of the main shaft 410 is inserted into the motor module 100 , and the rotor 120 may be provided at a position corresponding to the stator 110 at the inserted position. Meanwhile, a hollow is formed in the center of the main shaft 410 so that an oil prevention cap 500 to be described later can be inserted thereinto.

The wave generator 210 may be provided with a wave generator 210 that is a part of the harmonic drive on the front side of the main shaft 410 . A bearing shaft 420 may be provided in front of the wave generator 210 . The wave generator 210 may constitute one assembly by coupling the main shaft 410 and the bearing shaft 420 from both sides in the axial direction.

The oil prevention cap 500 is provided on the front side of the harmonic drive module 200 to fix one side of the shaft assembly 400 and is configured to prevent the escape of a fluid such as grease applied to the harmonic drive module 200 . can be The oil-proof cap may be rotationally symmetrical to correspond to the size and shape of the harmonic drive module 200 .

The oil prevention cap 500 may include an inner pipe 510 and a front bearing 520 .

The inner pipe 510 may be configured to support the shaft assembly 400 inside the shaft assembly 400 . The inner pipe 510 is provided at the center of the oil prevention cap 500 and may have a length corresponding to the length of the shaft assembly 400 .

The front bearing 520 may be inserted and fixed from the rear side of the oil prevention cap 500 toward the front side. The bearing shaft 420 of the aforementioned shaft assembly 400 is inserted inside the inserted front bearing 520 to ensure smooth rotation.

Meanwhile, an annular sealing plate 300 may be provided between the harmonic drive module 200 and the motor module 100 . The annular sealing plate 300 may be configured in a shape configured as an annular shape on a plane. The annular sealing plate 300 is configured to prevent the grease applied to the inside of the harmonic drive module 200 from penetrating into the motor module 100 side. The annular sealing plate 300 may be made of a material having heat resistance, and may be made of polycarbonate as an example. Meanwhile, the configuration and function of the annular sealing plate 300 will be described in detail later with reference to FIG. 4 .

The brake module 800 may be configured to transmit a braking force to the shaft. It may be configured to include a brake module 800 and an encoder and a controller connected to the rear of the motor module 100 . For example, a brake hub 810 having a predetermined number of gear teeth may be coupled to the shaft assembly 400 , and the brake module 800 includes a portion of the shaft assembly 400 and the brake hub 810 as a center. can be configured so that braking force can be applied according to an external input by being inserted. The encoder may be configured to convert the rotation speed of the motor into an electrical signal, and the controller may be equipped with a control rule necessary to operate the brake module 800 and the motor module 100 . Meanwhile, the configuration of the brake module 800 , the encoder, and the control unit may be variously configured, and thus a further detailed description thereof will be omitted.

Hereinafter, an assembling jig of a robot drive system including a harmonic drive according to the present invention will be described in detail with reference to FIGS. 4 to 16E .

4 is a view showing a set of assembly jigs of the robot drive system system including the harmonic drive according to the present invention.

Referring to FIG. 4 , the assembly jig of the robot driveline system including the harmonic drive according to the present invention may be configured to be used when assembling each subassembly with each other in the robot driveline system including the above-described harmonic drive.

The assembly jig may include a first jig 1000 , a second jig 2000 , and a third jig 3000 . The first jig 1000 is configured to seat the motor module 100 on the harmonic drive module 200 . The second jig 2000 may be configured to be used when assembling the harmonic drive module 200 and the motor module 100 to each other. The third jig 3000 may be used to assemble the oil prevention cap 500 to the harmonic drive module 200 .

Hereinafter, the first jig 1000 will be described in detail with reference to FIGS. 5 to 7C .

5 is a perspective view illustrating the first jig 1000 , and FIG. 6 is a front view of the first jig 1000 . As shown, the first jig 1000 is configured to seat the motor module 100 on the harmonic drive module 200 seated on the first jig 1000 in a state in which radial alignment and axial alignment are performed. can be

Since the motor module 100 is provided with a permanent magnet, a force to attract the magnetic material is generated. Therefore, when the motor module 100 is seated on the harmonic drive module 200, attractive force is generated by the magnet together with gravity, thereby generating a strong impact.

Due to the characteristics of the motor module, the distance between the stator and the rotor including permanent magnets should be maintained at 1mm or less to secure performance. However, when assembling, there is a risk of contact between the stator and the rotor due to their mutual attraction force, and damage to the enamel coating outside the permanent magnet of the rotor occurs during contact. or more likely to cause long-term damage. Also, the stator armature may be deformed due to impact, which may affect the performance of the motor or electrical instability.

Therefore, the first jig 1000 is configured to seat the motor module 100 on the harmonic drive module 200 while preventing the shock.

The first jig 1000 includes a first base 1100 , a first harmonic drive module seating part 1200 , a first left block 1300 , a first right block 1400 , a distance adjustment part, and a first jig grip part 1700 and the first jig upper block 1800 and the first jig upper link 1900 may be included.

The first base 1100 becomes a base on which the first jig 1000 can be provided. For example, the first base 1100 may be formed of a plate-shaped member extending to a predetermined width in the horizontal direction.

The first harmonic drive module seating unit 1200 may be configured to correspond to the shape of the front side of the harmonic drive, and may be configured to restrict movement in a radial direction when the harmonic drive module is seated.

The first left block 1300 and the first right block 1400 may be configured to be supported on both sides of the motor module 100 to be seated. The first left block 1300 and the first right block 1400 may be configured to move horizontally in a direction facing each other on the first base 1100 . The lower sides of the first left block 1300 and the first right block 1400 are respectively connected to the linear guide 4000 so that the movement direction can be determined.

Referring to FIG. 6 , the first left block 1300 and the first right block 1400 may include a left support part 1310 and a right support part 1410 to support the motor module in directions adjacent to each other. Each of the left support part 1310 and the right support part 1410 may be configured in a shape symmetrical to each other, and may be configured in an inclined shape in which the thickness becomes thinner as they approach each other. The left support part 1310 and the right support part 1410 are configured to have an upper side inclined, respectively, and may be cut to a surface having a predetermined curvature to support the cylindrical motor module 100 along an arc path to form an inclined plane.

The distance adjusting unit may be configured to adjust the relative distance between the first left block 1300 and the first right block 1400 . The distance adjusting unit may be configured such that the distance of the first left block 1300 and the first right block 1400 can be moved in different directions at the same time according to an operation. The distance adjusting unit 1500 receives the rotational force from the first jig holding unit 1700 and the first jig holding unit 1700 configured to be rotated by the user, and the first left block 1300 and the first right block ( 1400) may be configured to include a worm gear 1600 that can convert the linear motion in the horizontal direction. Therefore, when the user rotates the first jig holding part 1700 in one direction, the first left block 1300 and the first right block 1400 come closer to each other, and conversely, the first jig holding part 1700 is rotated in the opposite direction. When rotated, the position is adjusted so that the first left block 1300 and the first right block 1400 move away from each other. On the other hand, the distance adjusting unit 1500 has the first left block 1300 and the first right block 1400 at the closest position to the limiter so that it can be maintained at a distance not in contact with the shaft assembly assembled to the harmonic drive module seated therein. may be provided. In addition, according to the rotation of the distance adjusting unit 1500, the distance between the first left block 1300 and the first right block 1400 is greater than the outer diameter of the harmonic drive module and larger than the outer diameter of the motor module. An adjustment range of (1500) may be determined. However, since the configuration related to the distance control can be used with various modifications, a further detailed description will be omitted.

The first jig upper block 1800 is configured to be able to fix the motor module 100 to be seated in the vertical and horizontal directions. The first jig upper block 1800 may be configured to be positioned vertically above the first harmonic drive module seating part 1200 . The first jig upper block 1800 may be configured to selectively fix and release the rear side of the motor module 100 .

The first jig upper link 1900 may be configured to vertically move the first jig upper block 1800 . A first jig upper link holding part 1910 is provided on one side of the first jig upper link 1900 , and the other side may be configured to be connected to the first jig upper block 1800 . The first jig upper link 1900 may be connected to be movable in the vertical direction in the first vertical frame 1110 provided on one side of the first base 1100 . The first jig upper link 1900 has a plurality of link structures when the user grips the first jig upper link gripper 1910 to generate a pivot movement, and the first jig upper link 1900 generates a linear movement. is mechanically linked and moved, and the first jig upper block 1800 may be configured to move in the vertical direction. The user can pivot the first jig upper link gripper 1910 to finally move the motor module fixed to the first jig upper block 1800 in a vertical direction.

Hereinafter, the operation of the first jig 1000 will be described in detail with reference to FIGS. 7A to 7C . In addition, for convenience of description, the first harmonic drive module seating part 1200 will be described with reference to a cross-section during operation.

7A, 7B and 7C are cross-sectional views according to the operation of the first jig 1000 .

Referring to FIG. 7A , the first left block 1300 and the first right block 1400 are separated by a sufficient distance to first rotate the distance adjusting unit to seat the harmonic drive module on the first harmonic drive module receiving unit 1200 . will widen the Thereafter, the harmonic drive module is vertically moved and seated on the first harmonic drive module seating part 1200 . Separately, the motor module is fixed on the upper block of the first jig 1000 to prepare for seating.

Referring to FIG. 7B , the user first manipulates the distance adjusting unit 1500 to adjust the distance between the first left block 1300 and the second left block 2300 to a distance smaller than that of the motor module. Thereafter, the motor module is lowered by pivoting the first jig upper link gripping part 1910 so that the lower end of the motor module can be supported on the left support part 1310 and the right support part 1410 . At this time, the shaft assembly coupled to the harmonic drive module is inserted into the central portion of the motor module while the axial alignment and the radial direction are aligned.

At this time, the inner side of the bearing of the main housing coupled with the shaft has a tolerance of h4 or h7, so after accurate concentric alignment, the pressing force equivalent to the fit assembly is transmitted in the vertical direction to press the shaft into the bearing of the main housing. do.

Referring to FIG. 7C , the user adjusts the distance adjusting unit 1500 and at the same time pivots the first jig upper link gripping unit 1910 to slowly lower the motor module as the distance adjusting unit 1500 moves away from each other. When the distance between the first left block 1300 and the first right block 1400 is greater than the outer diameter of the motor module as the distance adjusting unit 1500 is adjusted, the end of the motor module is in close contact with the end of the harmonic drive and is not seated. is done Thereafter, the motor module is removed from the first jig upper block 1800 , and the distance adjusting unit 1500 is operated in the reverse direction, and then the harmonic drive module and the motor module are removed at the same time.

Hereinafter, the second jig 2000 will be described in detail with reference to FIGS. 8 to 11D .

8 is a perspective view of the second jig 2000 , FIG. 9 is a plan view of the second jig 2000 , and FIG. 10 is an enlarged cross-sectional view centered on the second harmonic dryer module of the second jig 2000 .

8 to 10 , the second jig 2000 may be provided to seat the motor module on the harmonic drive module using the first jig 1000 and then fix the motor module to each other.

The second jig 2000 includes a second base 2100 , a second harmonic drive module seating part 2200 , a second left block 2300 , a second right block 2400 , and a second jig horizontal gripping part 2500 . ), a second jig horizontal link assembly 2600, a second jig vertical gripping part 2900, a second jig vertical link assembly 2800 and a second jig vertical pressing block 2700. Can be configured have.

The second base 2100 serves as a base on which other components of the second jig 2000 may be provided.

The second harmonic drive module seating unit 2200 is configured so that a pre-coupled assembly in which the motor module and the harmonic drive module are mounted using the first jig 1000 can be seated therein. The second harmonic drive module may have an upper surface corresponding to a lower shape of the harmonic drive module.

The second left block 2300 and the second right block 2400 may be configured to radially align the pre-coupled assembly seated on the harmonic drive module seat in a radial direction. The second left block 2300 and the second right block 2400 may each have a pressing surface to simultaneously press the outer surface of the motor module and the outer surface of the harmonic drive module.

Referring back to FIG. 9 , the second left block 2300 is provided with a second left block pressing surface 2310 , and the second right block 2400 is provided with a second right block pressing surface 2410 , and each The pressing surface may be configured by cutting into a curved surface having a radius of curvature greater than the radius of the harmonic drive module. Therefore, when the second right block 2400 is pressed in a state in which the temporary coupling assembly is seated, the radial position is naturally aligned due to the difference between the curvature of the side surface of the provisional coupling assembly and the curvature of the pressing surface. That is, alignment is naturally made in a direction perpendicular to the pressing direction of the second right block 2400 on the horizontal as well as the pressing direction of the second right block 2400 .

The second left block 2300 may be fixed on the second base 2100, and the second right block 2400 may be configured such that the distance from the second left block 2300 can be adjusted according to a user's manipulation. can The second right block 2400 may be connected to a second jig horizontal link assembly 2600 to be described later from one side, and the lower side is connected to the second base 2100 through the linear guide 4000 to the second base 2100 ) may be configured to be movable in the horizontal direction.

The second jig horizontal gripping part 2500 is configured to be pivoted by gripping the user. One side of the second jig horizontal gripping part 2500 may be connected to the second jig horizontal link assembly 2600, and the horizontal linear movement of the second jig horizontal link assembly 2600 may appear by a pivot operation. can be connected to

The second jig horizontal link assembly 2600 may be configured to include a plurality of links so as to receive a force from the second jig horizontal gripping unit 2500 and move in the horizontal direction. One side of the second jig horizontal link assembly 2600 may be slidably connected on the second base 2100 . The second jig horizontal link assembly 2600 is configured such that one side is connected to one side of the second right block 2400 , and horizontal movement can move the second right block 2400 .

The second jig vertical pressing block 2700 is configured to vertically press the assembly of the temporarily coupled harmonic drive module and the motor module. The second jig vertical pressing block 2700 may be configured to include an extension pressing portion 2710 that extends downward along a circular path to support the extension of the motor module. The extension pressing part 2710 may include a second jig notch part 2720 at a plurality of points in a vertical direction so that the fastening tool can easily access when the harmonic drive module and the motor module are fastened using bolts. have.

The second jig vertical gripping part 2900 and the second jig vertical link assembly 2800 are configured in the same manner as the above-described second jig horizontal gripping part 2500 and the second jig horizontal link assembly 2600 . It may be configured such that the vertical position of the second jig vertical pressing block 2700 can be finally adjusted by the user's manipulation of the holding part. The second jig vertical link assembly 2800 may be vertically slidably connected on the second vertical frame 2110 formed to extend in the vertical direction on the second base 2100 .

Hereinafter, the operation of the second jig 2000 will be described with reference to FIGS. 11A to 11D .

11A to 11D are diagrams of the second jig 2000 in use.

Referring to FIG. 11A , first, the user operates the second jig horizontal holding unit 2500 and the second jig vertical holding unit 2900 to operate the second right block 2400 and the second jig vertical pressing block 2700. move in the depressurization direction. Thereafter, the user places the assembly in which the harmonic drive module and the motor module are tentatively coupled to the second harmonic drive module seat.

Thereafter, referring to FIG. 11B , the user pivots the second jig horizontal gripping unit 2500 to press the second right block 2400 toward the second left block 2300 to perform radial alignment. At this time, as described with reference to FIG. 9 , due to the curvature of the second left block pressing surface 2310 and the second right block pressing surface 2410 , the temporary coupling assembly is aligned in the horizontal direction, that is, in the radial direction. .

Thereafter, referring to FIG. 11C , the second jig vertical pressing block 2700 is lowered by manipulating the second jig vertical gripping part 2900 , and the motor module and the harmonic drive module are pressed in the axial direction.

Thereafter, referring to FIG. 11D , the temporary fastening bolts fastened to the harmonic drive module are released through the second jig notch 2720 formed in the vertical pressing block of the second jig 2000 . Even if the temporary fastening bolt is disconnected, the alignment of the harmonic drive module itself is maintained by the second jig 2000 in a state that is not disturbed. After that, by fastening the bracket and temporary fastening bolts together, the motor module and the harmonic drive module can be firmly fixed.

FIG. 12 is an enlarged view of part II of FIG. 11D . 12, the extension part 132 of the main housing 130, the bracket 140, a part of the harmonic drive module 200, and the temporary fixing bolt 700 are shown.

Referring to FIG. 12( a ), in the state in which the main housing 130 and the harmonic drive module 200 are pressed in FIG. 11d , the harmonic drive module 200 is inserted into the temporary fixing bolt receiving groove 141 formed in the extension part 132 . ) is in a state in which the temporary fixing bolt 700 for fixing it is inserted. Therefore, even if the temporary fixing bolt 700 protrudes from one surface of the harmonic drive module 200, the head of the temporary fixing bolt 700 is inserted into the temporary fixing bolt receiving groove 141 while the extension 132 and the harmonic drive module ( 200) can be maintained in close contact with each other.

Next, referring to FIG. 12B , the temporary fixing bolt 700 is released while the extension part 132 and the harmonic drive module 200 are pressed together in the axial direction. Therefore, even if the temporary fixing bolt 700 is released, the alignment inside the harmonic drive module can be maintained by the second jig vertical pressing block 2700 that is pressed in the axial direction from both sides.

Next, referring to FIG. 12( c ), in a state in which the bracket 140 is seated on the bracket seating part 150 , the temporary fixing bolt 700 is again inserted in the axial direction and fastened to the harmonic drive module 200 . . While the head of the temporary fixing bolt 700 supports the bracket 140 , the seating part of the motor module 100 and the harmonic drive module 200 are in close contact with each other, and it is possible to secure the fastening force firmly along the circumferential direction. At this time, the second jig vertical pressing block 2700 is provided with a second jig notch portion 2720 so that the temporary fixing bolt 700 can be easily fastened.

Hereinafter, the third jig 3000 will be described in detail with reference to FIGS. 13 to 16E .

13 is a perspective view of the third jig 3000 , FIG. 14 is a plan view of the third jig 3000 , and FIG. 15 is an enlarged cross-sectional view centering on a provisionally coupled assembly.

13 to 15 , the third jig 3000 uses the second jig 2000 to connect the motor module 100 to the assembly to which the harmonic drive module 200 is fixed and the oil prevention cap 500 is coupled. may be provided for

The third jig 3000 includes a third base 3100 , a third left block 3200 , a third right block 3300 , a third right block support plate 3400 , and a third jig horizontal gripping part 3600 . , the third jig horizontal link assembly 3500, the third jig vertical direction gripper 3800, the third jig vertical link assembly 3700 and the third jig vertical pressure block 3900 It may be configured to include. .

The third base 3100 serves as a base on which other components of the third jig 3000 can be provided. In addition, a third vertical frame 3110 formed to extend in the vertical direction may be provided on the upper surface of the third base 3100, and is configured to be provided with an element for pressing in the axial direction.

The third left block 3200 and the third right block 3300 are radially aligned by radially pressing the temporary coupling assembly having the oil prevention cap seated on the front side in a state in which the harmonic drive module and the motor module are coupled. It can be configured to The third left block 3200 and the third right block 3300 are press surfaces to press the side of the temporary coupling assembly on which the oil prevention cap is seated on the front side while the harmonic drive module and the motor module are coupled at the same time. This may be provided.

Referring back to FIG. 14 , the third left block 3200 is provided with a third left block pressing surface 3210 , and the third right block 3300 is provided with a third right block pressing surface 3310 , and each The pressing surface may be configured by cutting into a plurality of curved surfaces having a radius of curvature larger than the radius of the harmonic drive module and the oil prevention cap. That is, the third left block pressing surface 3210 and the third right block pressing surface 3310 may be stepped in the axial direction to have different curvatures corresponding to the outer diameter of the temporary coupling assembly supported in the vertical direction. have. Therefore, when the third right block 3300 is pressed in a state in which the provisional coupling assembly is seated, the radial position is naturally aligned due to the difference between the curvature of the side surface of the provisional coupling assembly and the curvature of the pressing surface. That is, alignment is naturally made in a direction perpendicular to the pressing direction of the third right block 3300 on the horizontal as well as in the pressing direction of the third right block 3300 .

The third left block 3200 may be fixed on the third base 3100, and the third right block 3300 may be configured such that the distance from the third left block 3200 can be adjusted according to a user's manipulation. can The third right block 3300 may be connected from one side to a third jig horizontal link assembly 3500 to be described later.

The third right block support plate 3400 horizontally moves the third right block 3300 , the third jig horizontal link assembly 3500 and the third jig horizontal gripping part 3600 at the same time on the third base 3100 . configured to do so. The lower side of the third right block support plate 3400 may be connected to the upper side of the third base 3100 through the linear guide 4000 .

The third right block support plate 3400 is configured such that the lower side of the third right block 3300 is connected to the upper side of the third right block support plate 3400 through the linear guide 4000 so that it can be moved in the horizontal direction. can

The third jig horizontal gripping part 3600 is configured to be pivoted by gripping the user. One side of the third jig horizontal gripping part 3600 may be connected to the third jig horizontal link assembly 3500, and the horizontal linear movement of the third jig horizontal link assembly 3500 is displayed by pivot movement. can be connected to

The third jig horizontal link assembly 3500 may be configured to include a plurality of links so as to receive a force from the third jig horizontal gripping part 3600 and move in the horizontal direction. One side of the third jig horizontal link assembly 3500 may be slidably connected on the third right block support plate 3400 . The third jig horizontal link assembly 3500 is configured such that one side is connected to one side of the third right block 3300 , and horizontal movement can move the third right block 3300 .

The third jig vertical pressing block 3900 is configured to press the temporarily coupled assembly vertically downward. The third jig vertical pressing block 3900 is provided on the third vertical frame 3110, and the oil prevention cap axial pressing part extending downward along a circular path to support the oil prevention cap 500 ( 3910) may be included. The oil prevention cap axial pressing part 3910 is a third in the vertical direction at a plurality of points so that the fastening tool can be easily accessed when the oil prevention cap 500 is fastened to the harmonic drive module 200 using a bolt. It may include a jig notch 3920 .

The third jig vertical gripping part 3800 and the third jig vertical link assembly 3700 are configured in the same manner as the third jig horizontal gripping part 3600 and the third jig horizontal link assembly 3500 described above. It may be configured so that the vertical position of the third jig vertical pressing block 3900 can be finally adjusted by the user's manipulation of the holding part. The third jig vertical link assembly 3700 may be vertically slidably connected on the third vertical frame 3110 extending in the vertical direction on the third base 3100 .

Hereinafter, the operation of the third jig 3000 will be described with reference to FIGS. 16A to 16E .

16A to 16E are diagrams of the third jig 3000 in use.

Referring to FIG. 16A , first, the user moves the third right block support plate 3400 to a position away from the third left block 3200, and then the third jig horizontal gripper 3600 and the third jig vertical direction By manipulating the gripping unit 3800, the third right block 3300 and the third jig vertical pressing block 3900 are moved in the depressurization direction. After that, the user places the oil prevention cap 500 on the third left block 3200 in a state in which the harmonic drive module 200 and the motor module 100 are coupled to the harmonic drive module 200 in a state in which they are tentatively coupled. do. On the other hand, the order of opening and movement of the third right block support plate 3400, the third right block 3300 and the third jig vertical pressing block 3900 described above may be operated in a different order from the above-described order.

Thereafter, referring to FIG. 16B , the user moves the third right block support plate 3400 to a position adjacent to the third left block 3200 and then fixes the position on the third base 3100 .

Then, referring to FIG. 16C , the user pivots the third jig horizontal gripping part 3600 to press the third right block 3300 toward the third left block 3200 to perform radial alignment. At this time, as described with reference to FIG. 9 , due to the curvature of the third left block pressing surface 3210 and the third right block pressing surface 3310 , the temporary coupling assembly is aligned in the horizontal direction, that is, in the radial direction. .

Then, referring to FIG. 16D , the third jig vertical pressing block 3900 is lowered by manipulating the third jig vertical holding part 3800 to press the oil prevention cap 500 and the harmonic drive module 200 in the axial direction. will do

Thereafter, referring to FIG. 16E , the third jig 3000 , through the third jig notch portion 3920 formed in the vertical pressing block, bolts to the fastening hole of the oil prevention cap 500 and the harmonic drive module 200 are fastened to the oil. The prevention cap 500 is firmly fixed.

As described above, the jig according to the present invention is used when assembling each element in a robot drive system including a harmonic drive, and has an effect that can be quickly and precisely aligned.

1000: first jig
1100: first base
1110: first vertical frame
1200: first harmonic drive module seating part 1200
1300: the first left block (1300) (!300) ?? 1310: left support
1400: first right block ?? 1410: right support
1500: distance control unit
1600: worm gear
1700: first jig grip portion
1800: first jig upper block
1900: first jig upper link
1910: first jig upper link gripping part
2000: 2nd jig
2100: second base
2110: second vertical frame
2200: second harmonic drive module seating part
2300: second left block ?? 2310: second left block pressing surface
2400: second right block ?? 2410: second right block pressing surface
2500: second jig horizontal gripping part
2600: second jig horizontal link assembly
2700: second jig vertical pressure block
2710: extension pressing part
2720: second jig notch
2800: second jig vertical link assembly
2810: second jig vertical gripping part
3000: the third jig
3100: third base
3110: third vertical frame
3200: third left block
3210: third left block pressing surface
3300: third right block
3310: third right block pressing surface
3400: third right block support plate
3500: third jig horizontal link assembly
3600: third jig horizontal gripping part
3700: third jig vertical link assembly
3800: third jig vertical gripping part
3900: third jig vertical pressure block
3910: oil-proof cap axial pressing part
3920: third jig notch
4000: linear guide

Claims (14)

a first jig configured to be temporarily coupled by seating the motor module on the upper side of the assembly to which the harmonic drive module and the shaft assembly are coupled while preventing impact;
a second jig configured to align the motor module and the harmonic drive module withdrawn from the first jig by pressing them in radial and axial directions;
After the motor module and the harmonic drive module are coupled in an aligned state in the second jig, the oil-proof cap coupled to the harmonic drive module in the axial direction is pressed in the radial direction and the axial direction to be aligned 3 Assembly jig of the robot drivetrain system including the harmonic drive including the jig. The method of claim 1,
The first jig,
first base and
a harmonic drive module seating part configured to seat the harmonic drive module; and
It includes a first left block and a first right block configured to be able to adjust the distance between each other in the horizontal direction on the first base,
The assembly jig of the robot drive system system, characterized in that the motor module is configured to approach the harmonic drive module side as the distance between the first left block and the first right block increases. 3. The method of claim 2,
The first left block is provided with a left support for supporting the motor module,
The first right block is provided with a right support for supporting the motor module,
The assembly jig of a robot drive system including a harmonic drive, characterized in that the left support part and the right support part are configured to gradually decrease in thickness toward the ends adjacent to each other. 4. The method of claim 3,
An assembly jig for a robot drive system including a harmonic drive, characterized in that it includes a worm gear configured to adjust the distance between the left support part and the right support part as the user rotates. 5. The method of claim 4,
The maximum separation distance is greater than the outer diameter of the motor module so that the left support part and the right support part can be seated on the upper side of the harmonic drive module by releasing the support of the motor module at the maximum separation distance An assembly jig of a robot drivetrain system including a harmonic drive, characterized in that it. The method of claim 1,
The second jig,
a second base;
a second left block and a second right block provided in a horizontal direction to radially press the motor module and the harmonic drive module;
A second jig horizontal link assembly comprising a second jig horizontal gripping part configured to be gripped by a user, and configured to convert a pivot movement of the second jig horizontal gripping part into a horizontal linear motion. Assembly jig of the robot drive system including a harmonic drive, characterized in that it comprises a. 7. The method of claim 6,
The second left block includes a second left block pressing surface that comes into contact with and presses the motor module and the harmonic drive module,
The second right block includes a second right block pressing surface that comes into contact with and presses the motor module and the harmonic drive module,
A robot drive system including a harmonic drive, characterized in that the second left block pressing surface and the second right block pressing surface are concave surfaces having a greater curvature than the outer diameters of the motor module and the harmonic drive module in contact. of assembly jigs. 8. The method of claim 7,
The second jig,
a second jig vertical pressing block configured to press the motor module and the harmonic drive module in an axial direction;
a second jig vertical gripper configured to be gripped by a user to generate a pivot movement; and
Assembly of a robot drive system including a harmonic drive, characterized in that it further comprises a second jig vertical link assembly configured to generate a vertical linear motion by the pivot movement of the second jig vertical gripping part. now. 9. The method of claim 8,
The second jig,
Further comprising a second jig vertical pressing block in contact with the upper side of the motor module,
The second jig vertical pressing block is a robot drive system including a harmonic drive, characterized in that it includes a second jig notch cut so that the fastening hole of the motor module is exposed in the vertical direction in a state in which the motor module is pressed. of assembly jigs. 3. The method of claim 2,
The third jig,
a third base;
a third left block and a third right block configured to horizontally press the motor module and the harmonic drive module assembly; and
An assembly jig for a robot drive system including a harmonic drive, characterized in that it comprises a third jig vertical pressing block configured to vertically press the oil prevention cap seated on the harmonic drive module. 11. The method of claim 10,
The third jig,
A third jig horizontal link assembly comprising a third jig horizontal gripping part configured to be gripped by a user, and configured to convert a pivot movement of the third jig horizontal gripping part into a horizontal linear motion. Assembly jig of the robot drive system including a harmonic drive, characterized in that it further comprises. 12. The method of claim 11,
The third left block includes a third left block pressing surface that comes into contact with and presses the motor module, the harmonic drive module, and the oil prevention cap,
The third right block includes a third right block pressing surface that comes into contact with and presses the motor module, the harmonic drive module, and the oil prevention cap,
The third left block pressing surface and the third right block pressing surface are concave surfaces having a greater curvature than the outer diameters of the motor module, the harmonic drive module and the oil prevention cap in contact. Assembly jig of the robot drivetrain system including. 13. The method of claim 12,
The third jig,
The third right block, the third jig horizontal link assembly, and the third jig horizontal direction gripper further comprising a third right block support plate configured to be movable in the horizontal direction on the third base An assembly jig for a robot drivetrain system including a harmonic drive. 14. The method of claim 13,
The third jig,
a third jig vertical pressing block configured to be in contact with the oil-proof cap to press the oil-proof cap in the axial direction;
a third jig vertical gripper configured to be gripped by a user to generate a pivot movement; and
Assembly of a robot drive system including a harmonic drive, characterized in that it further comprises a third jig vertical link assembly configured to generate a vertical linear motion by the pivot movement of the third jig vertical gripping part now.

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