TWI752734B

TWI752734B - Rotary machine device and linear machine device

Info

Publication number: TWI752734B
Application number: TW109140594A
Authority: TW
Inventors: 鐘啟聞; 朱恩毅
Original assignee: 台達電子工業股份有限公司
Priority date: 2020-11-19
Filing date: 2020-11-19
Publication date: 2022-01-11
Also published as: TW202222013A

Abstract

The present disclosure provides a rotary machine device configured to contact with an external object. The rotary machine device includes a rotary motor, a first encoder, a fixed housing, a fixed shaft, an output shaft and a second encoder. The rotary motor includes a motor housing and an exerting shaft. The motor housing includes a stator and a rotor. As the rotor rotates for a rotation angle, the rotor drives the exerting shaft to rotate for an exerting angle simultaneously. The first encoder detects the rotation angle of the rotor. The fixed housing is connected to the motor housing and is around the exerting shaft. The fixed shaft includes an accommodation hole and is corresponding to the exerting shaft. The output shaft includes an elastomer and is inserted in the accommodation hole. The elastomer is penetrated through the output shaft and is connected to the exerting shaft. The second encoder includes a disk and a sensor disposed on the exerting shaft and the fixed shaft respectively. The sensor detects the exerting angle of the exerting shaft through the disk.

Description

旋轉機械裝置及直線型機械裝置Rotary Mechanisms and Linear Mechanisms

本案係關於一種旋轉機械裝置及直線型機械裝置，尤指一種具有編碼器的旋轉機械裝置及直線型機械裝置。This case is about a rotary mechanical device and a linear mechanical device, especially a rotary mechanical device with an encoder and a linear mechanical device.

如今，因應自動化系統之需求，對機械裝置的出力大小的精度要求越來越高，為此，多於施力末端設置力量感測器以監控受力大小。傳統上，力量感測器係通過貼附於彈性體上之應變規進行力量感測，具體而言，當彈性體受力形變時，應變規可測得其變形量，據此可結合彈性係數計算受力大小。然而，因應變規需出線且所貼附之彈性體需接觸施力末端，故將限制其應用場合。此外，彈性體上需增加供應變規貼附之空間，且應變規之貼附工藝製程繁瑣，導致貼附製程所需之空間較大，設計上亦較為複雜，加工成本較高。Nowadays, in response to the needs of the automation system, the precision of the output force of the mechanical device is getting higher and higher. For this reason, more force sensors are installed at the end of the force application to monitor the force. Traditionally, the force sensor uses a strain gauge attached to the elastic body for force sensing. Specifically, when the elastic body is deformed by force, the strain gauge can measure the amount of deformation, which can be combined with the elastic coefficient. Calculate the amount of force. However, the application of the strain gauge will be limited because the strain gauge needs to go out and the attached elastic body needs to contact the force application end. In addition, the elastic body needs to increase the space for supplying the strain gauge attachment, and the attachment process of the strain gauge is complicated, resulting in a larger space required for the attachment process, complicated design, and high processing cost.

因此，如何發展一種可改善上述習知技術之機械裝置，實為目前迫切之需求。Therefore, how to develop a mechanical device that can improve the above-mentioned conventional technology is an urgent need at present.

本案之目的在於提供一種旋轉機械裝置及直線型機械裝置，其通過設置彈性體及編碼器對出力軸的受力情況進行感測，結構設計上較為簡易，加工成本較低，且相較於現有貼附應變規之力量感測方式，本案之彈性體及編碼器在設置時所需的空間較小。The purpose of this case is to provide a rotary mechanical device and a linear mechanical device, which can sense the force of the output shaft by arranging an elastic body and an encoder, the structure design is relatively simple, the processing cost is low, and compared with the existing With the force sensing method attached to the strain gauge, the elastic body and the encoder in this case require less space for installation.

為達上述目的，本案提供一種旋轉機械裝置，用以接觸外部物件，且包括旋轉馬達、第一編碼器、固定殼體、固定軸、出力軸及第二編碼器。旋轉馬達包括馬達殼體及施力軸，其中馬達殼體包括定子及轉子，且施力軸具有連接部。定子連接轉子，且施力軸設置於馬達殼體並連接於轉子。當轉子旋轉旋轉角度時，轉子同時帶動施力軸旋轉施力角度。第一編碼器設置於馬達殼體以連接定子並偵測轉子的旋轉角度。固定殼體連接於馬達殼體且環繞於施力軸。固定軸包括容納孔，其中固定軸連接固定殼體且對應於施力軸。出力軸包括彈性體，且出力軸穿設於容納孔，其中彈性體穿過出力軸，且彈性體之末端連接於施力軸的連接部。第二編碼器包括碼盤及感測器，其中碼盤設置於施力軸且環繞於連接部，且感測器設置於固定軸。感測器於空間上相對於碼盤，且感測器藉由碼盤偵測施力軸的施力角度。In order to achieve the above purpose, the present application provides a rotating mechanical device for contacting an external object, and includes a rotating motor, a first encoder, a fixed casing, a fixed shaft, an output shaft and a second encoder. The rotary motor includes a motor casing and a force application shaft, wherein the motor casing includes a stator and a rotor, and the force application shaft has a connection portion. The stator is connected to the rotor, and the force-applying shaft is arranged on the motor housing and connected to the rotor. When the rotor rotates by the rotation angle, the rotor drives the force application shaft to rotate the force application angle at the same time. The first encoder is arranged on the motor casing to connect with the stator and detect the rotation angle of the rotor. The fixed casing is connected to the motor casing and surrounds the force-applying shaft. The fixed shaft includes an accommodating hole, wherein the fixed shaft is connected to the fixed housing and corresponds to the force application shaft. The output shaft includes an elastic body, and the output shaft passes through the accommodating hole, wherein the elastic body passes through the output shaft, and the end of the elastic body is connected to the connecting part of the force application shaft. The second encoder includes a code disc and a sensor, wherein the code disc is arranged on the force-applying shaft and surrounds the connecting portion, and the sensor is arranged on the fixed shaft. The sensor is spatially relative to the code disc, and the sensor detects the force-applying angle of the force-applying axis through the code disc.

為達上述目的，本案另提供一種旋轉機械裝置，用以接觸外部物件，其中旋轉機械裝置包括旋轉馬達、第一編碼器、動力傳輸裝置、施力軸、固定殼體、固定軸、出力軸及第二編碼器。旋轉馬達旋轉一旋轉角度以提供第一扭力。第一編碼器感測旋轉馬達之旋轉角度。動力傳輸裝置連接於旋轉馬達，其中動力傳輸裝置增加第一扭力以產生第二扭力。施力軸包括連接部，且施力軸設置於動力傳輸裝置之殼體，其中動力傳輸裝置之第二扭力帶動施力軸旋轉一施力角度。固定殼體連接於動力傳輸裝置之殼體且環繞於施力軸。固定軸包括容納孔，其中固定軸連接固定殼體且對應於施力軸。出力軸包括彈性體，且出力軸穿設於容納孔，其中彈性體穿過出力軸，且彈性體之末端連接於施力軸的連接部。第二編碼器包括碼盤及感測器，其中碼盤設置於施力軸且環繞於連接部，且感測器設置於固定軸。感測器於空間上相對於碼盤，且感測器藉由碼盤偵測施力軸的施力角度。In order to achieve the above purpose, the present case further provides a rotating mechanical device for contacting external objects, wherein the rotating mechanical device includes a rotating motor, a first encoder, a power transmission device, a force application shaft, a fixed casing, a fixed shaft, an output shaft and second encoder. The rotary motor rotates by a rotation angle to provide the first torque. The first encoder senses the rotation angle of the rotary motor. The power transmission device is connected to the rotary motor, wherein the power transmission device increases the first torque to generate the second torque. The force-applying shaft includes a connecting portion, and the force-applying shaft is disposed on the casing of the power transmission device, wherein the second torsion force of the power transmission device drives the force-applying shaft to rotate by a force-applying angle. The fixed casing is connected to the casing of the power transmission device and surrounds the force-applying shaft. The fixed shaft includes an accommodating hole, wherein the fixed shaft is connected to the fixed housing and corresponds to the force application shaft. The output shaft includes an elastic body, and the output shaft passes through the accommodating hole, wherein the elastic body passes through the output shaft, and the end of the elastic body is connected to the connecting part of the force application shaft. The second encoder includes a code disc and a sensor, wherein the code disc is arranged on the force-applying shaft and surrounds the connecting portion, and the sensor is arranged on the fixed shaft. The sensor is spatially relative to the code disc, and the sensor detects the force-applying angle of the force-applying axis through the code disc.

為達上述目的，本案另提供一種直線型機械裝置，用以接觸外部物件，其中直線型機械裝置包括直線型馬達、支撐座、第一編碼器、彈性元件、出力軸及第二編碼器。直線型馬達包括定子殼體及轉子殼體，其中定子殼體連接轉子殼體的第一側。轉子殼體包括線性轉子及施力單元，且施力單元設置於轉子殼體的第二側，其中第一側垂直地連接於第二側。轉子殼體的第三側的一部分直接貼合於支撐座的一平面上，且施力單元沒有接觸支撐座的該平面。當線性轉子移動一直線位移時，線性轉子同時帶動施力單元移動該直線位移，且該直線位移垂直於支撐座的該平面。其中該第三側垂直地連接於該第二側，且該第三側相對於該第一側。第一編碼器連接定子殼體以感測線性轉子的直線位移。彈性元件的第一末端連接施力單元。出力軸的第一末端連接彈性元件的第二末端。第二編碼器包括碼尺及感測器，其中碼尺設置於出力軸上，且感測器設置於支撐座的一側面。感測器於空間上相對於碼尺，且感測器藉由碼尺偵測出力軸的位移。To achieve the above purpose, the present application further provides a linear mechanical device for contacting external objects, wherein the linear mechanical device includes a linear motor, a support base, a first encoder, an elastic element, an output shaft and a second encoder. The linear motor includes a stator housing and a rotor housing, wherein the stator housing is connected to a first side of the rotor housing. The rotor housing includes a linear rotor and a force applying unit, and the force applying unit is disposed on the second side of the rotor housing, wherein the first side is vertically connected to the second side. A part of the third side of the rotor housing is directly attached to a plane of the support seat, and the force applying unit does not contact the plane of the support seat. When the linear rotor moves to a linear displacement, the linear rotor drives the force applying unit to move the linear displacement at the same time, and the linear displacement is perpendicular to the plane of the support seat. Wherein the third side is vertically connected to the second side, and the third side is opposite to the first side. The first encoder is connected to the stator housing to sense the linear displacement of the linear rotor. The first end of the elastic element is connected to the force applying unit. The first end of the output shaft is connected to the second end of the elastic element. The second encoder includes a code ruler and a sensor, wherein the code ruler is arranged on the output shaft, and the sensor is arranged at one side of the support base. The sensor is spatially relative to the yardstick, and the sensor detects the displacement of the force axis through the yardstick.

體現本案特徵與優點的一些典型實施例將在後段的說明中詳細敘述。應理解的是本案能夠在不同的態樣上具有各種的變化，其皆不脫離本案之範圍，且其中的說明及圖示在本質上係當作說明之用，而非用以限制本案。Some typical embodiments embodying the features and advantages of the present case will be described in detail in the description of the latter paragraph. It should be understood that this case can have various changes in different aspects, all of which do not depart from the scope of this case, and the descriptions and diagrams therein are essentially used for illustration rather than limiting the case.

第1A圖係為本案第一較佳實施例之旋轉機械裝置100的截面示意圖，第1B圖係為本案第一較佳實施例之旋轉機械裝置的架構示意圖。於第一較佳實施例中，如第1A圖及第1B圖所示，旋轉機械裝置100之出力軸15係用以接觸外部物件(未圖示)，且旋轉機械裝置100包括旋轉馬達11、第一編碼器12、固定殼體13、固定軸14、出力軸15及第二編碼器16。旋轉馬達11包括馬達殼體111及施力軸112，其中馬達殼體111包括定子(未圖示)及轉子(未圖示)，且施力軸112具有連接部113。定子連接轉子，且施力軸112設置於馬達殼體111並連接於轉子。當轉子旋轉一旋轉角度時，轉子同時帶動施力軸112旋轉一施力角度。第一編碼器12設置於馬達殼體111並連接定子，且第一編碼器12偵測轉子的旋轉角度。固定殼體13連接於馬達殼體111且環繞於施力軸112。固定軸14包括容納孔141，其中固定軸14連接固定殼體13且對應於施力軸112。出力軸15包括彈性體151，且出力軸15穿設於容納孔141。彈性體151穿過出力軸15，且彈性體151之末端連接於施力軸112的連接部113。彈性體151可為例如但不限於與出力軸15為一體成形或剛性聯結。第二編碼器16包括碼盤161及感測器162，其中碼盤161設置於施力軸112且環繞於連接部113，且感測器162設置於固定軸14。感測器162於空間上相對於碼盤161，且感測器162藉由碼盤161偵測施力軸112的施力角度。第一編碼器12及第二編碼器16可為例如但不限於光學編碼器或磁性編碼器。當出力軸15沒有接觸外部物件時，如果轉子帶動施力軸112旋轉一施力角度，則施力軸112透過彈性體151帶動出力軸15旋轉施力角度。當出力軸15接觸外部物件而被固定時，連接於連接部113的彈性體151之末端減少施力軸112的施力角度至一停止角度。FIG. 1A is a schematic cross-sectional view of the rotating mechanical device 100 according to the first preferred embodiment of the present invention, and FIG. 1B is a schematic structural diagram of the rotating mechanical device according to the first preferred embodiment of the present invention. In the first preferred embodiment, as shown in FIG. 1A and FIG. 1B, the output shaft 15 of the rotating mechanical device 100 is used to contact external objects (not shown), and the rotating mechanical device 100 includes a rotating motor 11, The first encoder 12 , the fixed housing 13 , the fixed shaft 14 , the output shaft 15 and the second encoder 16 . The rotary motor 11 includes a motor housing 111 and a force applying shaft 112 , wherein the motor housing 111 includes a stator (not shown) and a rotor (not shown), and the force applying shaft 112 has a connecting portion 113 . The stator is connected to the rotor, and the force-applying shaft 112 is disposed in the motor housing 111 and connected to the rotor. When the rotor rotates by a rotation angle, the rotor drives the force application shaft 112 to rotate by a force application angle at the same time. The first encoder 12 is disposed on the motor housing 111 and connected to the stator, and the first encoder 12 detects the rotation angle of the rotor. The fixed housing 13 is connected to the motor housing 111 and surrounds the force applying shaft 112 . The fixing shaft 14 includes an accommodating hole 141 , wherein the fixing shaft 14 is connected to the fixing housing 13 and corresponds to the force applying shaft 112 . The output shaft 15 includes an elastic body 151 , and the output shaft 15 passes through the accommodating hole 141 . The elastic body 151 passes through the output shaft 15 , and the end of the elastic body 151 is connected to the connecting portion 113 of the force application shaft 112 . The elastic body 151 can be, for example but not limited to, integrally formed with the output shaft 15 or rigidly connected. The second encoder 16 includes a code wheel 161 and a sensor 162 , wherein the code wheel 161 is disposed on the force application shaft 112 and surrounds the connecting portion 113 , and the sensor 162 is disposed on the fixed shaft 14 . The sensor 162 is spatially relative to the code wheel 161 , and the sensor 162 detects the force application angle of the force application shaft 112 through the code wheel 161 . The first encoder 12 and the second encoder 16 may be, for example, but not limited to, optical encoders or magnetic encoders. When the output shaft 15 is not in contact with external objects, if the rotor drives the force application shaft 112 to rotate by a force application angle, the force application shaft 112 drives the output shaft 15 to rotate through the force application angle through the elastic body 151 . When the output shaft 15 contacts the external object and is fixed, the end of the elastic body 151 connected to the connecting portion 113 reduces the force application angle of the force application shaft 112 to a stop angle.

於一些實施例中，旋轉機械裝置100還包括控制器150，其中控制器150用以偵測旋轉馬達11之馬達電流。其中旋轉機械裝置100的控制器150電性耦接於第一編碼器12和第二編碼器16。因此，第一編碼器12偵測馬達殼體111中的轉子的旋轉角度以輸出第一位置訊號S11給控制器150，且控制器150依據第一位置訊號S11計算轉子的角加速度。第二編碼器16的感測器162分別偵測施力角度或停止角度以輸出第二位置訊號S12或第三位置訊號S13給控制器150。In some embodiments, the rotating mechanical device 100 further includes a controller 150 , wherein the controller 150 is used to detect the motor current of the rotating motor 11 . The controller 150 of the rotating mechanical device 100 is electrically coupled to the first encoder 12 and the second encoder 16 . Therefore, the first encoder 12 detects the rotation angle of the rotor in the motor housing 111 to output the first position signal S11 to the controller 150, and the controller 150 calculates the angular acceleration of the rotor according to the first position signal S11. The sensor 162 of the second encoder 16 detects the force application angle or the stop angle, respectively, to output the second position signal S12 or the third position signal S13 to the controller 150 .

具體而言，當出力軸15沒有接觸外部物件時，施力軸112之旋轉不會被連接於連接部113的彈性體151之末端所限制。因此，馬達殼體111之轉子旋轉一旋轉角度，轉子可以帶動施力軸112旋轉一施力角度。此時，感測器162感測施力角度以輸出第二位置訊號S12。相反地，當出力軸15接觸外部物件時，施力軸112之旋轉被連接於連接部113的彈性體151之末端所限制。即使馬達殼體111之轉子旋轉一旋轉角度，轉子僅能帶動施力軸112旋轉一停止角度，且該施力軸112不會再跟著轉子旋轉。此時，感測器162感測停止角度以輸出第三位置訊號S13。Specifically, when the output shaft 15 is not in contact with an external object, the rotation of the force application shaft 112 is not restricted by the end of the elastic body 151 connected to the connecting portion 113 . Therefore, the rotor of the motor housing 111 rotates by a rotation angle, and the rotor can drive the force application shaft 112 to rotate by a force application angle. At this time, the sensor 162 senses the force application angle to output the second position signal S12. On the contrary, when the output shaft 15 contacts the external object, the rotation of the force application shaft 112 is restricted by the end of the elastic body 151 connected to the connecting portion 113 . Even if the rotor of the motor housing 111 rotates by a rotation angle, the rotor can only drive the force application shaft 112 to rotate by a stop angle, and the force application shaft 112 will not rotate with the rotor. At this time, the sensor 162 senses the stop angle to output the third position signal S13.

接者，當控制器150判斷角加速度隨著馬達電流進行一成正比變化時，控制器150判斷出力軸15沒有接觸外部物件且紀錄第二位置訊號S12以作為施力軸112的起始位置。具體而言，當出力軸15沒有接觸外部物件時，馬達電流的變化將直接影響角加速度，故轉子的角加速度會隨馬達電流之上升而上升，抑或是隨馬達電流之下降而下降，換言之，角加速度隨馬達電流進行成正比變化。當控制器150判斷馬達電流上升且角加速度沒有上升時，可得知出力軸15受到外力影響，故控制器150判斷出力軸15接觸外部物件且紀錄第三位置訊號S13以作為施力軸112的一停止位置。控制器150依據起始位置與停止位置之間的差值而計算出力軸15的扭力值，其中出力軸15的扭力值等於彈性體151之彈性係數和起始位置與停止位置之間的差值的乘積，且彈性體151之彈性係數可預設於控制器150中。若控制器150判斷扭力值高於安全閾值時，則控制器150減少轉子之旋轉角度或停止運轉旋轉馬達11，從而實現保護外部物件不會被旋轉機械裝置100過度出力而被破壞。在一些實施例中，外部物件可為晶片、積體電路、晶圓等，但本發明不限於此。Next, when the controller 150 determines that the angular acceleration changes proportionally with the motor current, the controller 150 determines that the force shaft 15 is not in contact with the external object and records the second position signal S12 as the initial position of the force application shaft 112 . Specifically, when the output shaft 15 is not in contact with external objects, the change of the motor current will directly affect the angular acceleration, so the angular acceleration of the rotor will increase with the increase of the motor current, or decrease with the decrease of the motor current, in other words, The angular acceleration varies proportionally with the motor current. When the controller 150 determines that the motor current increases and the angular acceleration does not increase, it can be known that the output shaft 15 is affected by an external force, so the controller 150 determines that the output shaft 15 is in contact with an external object and records the third position signal S13 as the output shaft 112 a stop position. The controller 150 calculates the torque value of the output shaft 15 according to the difference between the start position and the stop position, wherein the torque value of the output shaft 15 is equal to the elastic coefficient of the elastic body 151 and the difference between the start position and the stop position , and the elastic coefficient of the elastic body 151 can be preset in the controller 150 . If the controller 150 determines that the torque value is higher than the safety threshold, the controller 150 reduces the rotation angle of the rotor or stops the rotating motor 11 , so as to protect the external objects from being damaged by excessive force from the rotating mechanical device 100 . In some embodiments, the external object may be a chip, an integrated circuit, a wafer, etc., but the invention is not limited thereto.

藉此，通過設置彈性體151及編碼器 (12、16) 即可對出力軸15的受力情況進行感測，結構設計上較為簡易，加工成本較低，且相較於現有貼附應變規之力量感測方式，本案之彈性體151及編碼器 (12、16) 在設置時所需的空間較小。此外，因第二編碼器16之碼盤161及感測器162分別設置於施力軸112及固定軸14上，且僅有感測器162具有出線至控制器150，故施力軸112可進行旋轉而不受到出線限制。In this way, the force of the output shaft 15 can be sensed by arranging the elastic body 151 and the encoder (12, 16), the structure design is relatively simple, the processing cost is low, and compared with the existing attached strain gauges In the force sensing method, the elastic body 151 and the encoders (12, 16) in this case require less space for installation. In addition, because the code disc 161 and the sensor 162 of the second encoder 16 are respectively disposed on the force application shaft 112 and the fixed shaft 14, and only the sensor 162 has an outlet to the controller 150, the force application shaft 112 It can be rotated without being restricted by the outlet.

另外，當出力軸15與外部物件間之距離大於預設值時，馬達電流及角加速度可任意變化而不受限制，然而當出力軸15與外部物件間之距離小於預設值時，出力軸15準備與外部物件接觸，馬達電流及角加速度需被限制在較小的一特定範圍內。In addition, when the distance between the output shaft 15 and the external object is greater than the preset value, the motor current and angular acceleration can be changed arbitrarily without limitation, but when the distance between the output shaft 15 and the external object is smaller than the preset value, the output shaft 15 To prepare for contact with external objects, the motor current and angular acceleration need to be limited within a small specific range.

於一些實施例中，碼盤161的外徑大於彈性體151的外徑，故可產生放大彈性體151之變形量的效果，以利於感測變形量，且相較於現有貼附應變規之力量感測方式，本案在相同變形量的條件上具有較佳的結構剛性。In some embodiments, the outer diameter of the code wheel 161 is larger than the outer diameter of the elastic body 151, so it can produce the effect of amplifying the deformation of the elastic body 151, so as to facilitate the sensing of the deformation, and compared with the strength of the existing strain gauge attached In the sensing method, this case has better structural rigidity under the condition of the same deformation amount.

第2A圖係為本案第二較佳實施例之旋轉機械裝置200的截面示意圖，第2B圖係為本案第二較佳實施例之旋轉機械裝置的架構示意圖。於第二較佳實施例中，如第2A圖及第2B圖所示，旋轉機械裝置200係用以接觸外部物件(未圖示)，且旋轉機械裝置200包括旋轉馬達21、第一編碼器22、動力傳輸裝置23、施力軸24、固定殼體25、固定軸26、出力軸27及第二編碼器28。旋轉馬達21旋轉一旋轉角度以提供第一扭力。第一編碼器22感測旋轉馬達21之旋轉角度。動力傳輸裝置23連接於旋轉馬達21，並增加第一扭力以產生第二扭力，其中動力傳輸裝置23係依據其減速比減少角加速度並提升扭力。施力軸24包括連接部241，且施力軸24設置於動力傳輸裝置23之殼體，其中動力傳輸裝置23所產生之第二扭力帶動施力軸24旋轉一施力角度。固定殼體25連接於動力傳輸裝置23之殼體且環繞於施力軸24。固定軸26包括容納孔261，其中固定軸26連接固定殼體25且對應於施力軸24。出力軸27包括彈性體271，且出力軸27穿設於容納孔261。彈性體271穿過出力軸27，且彈性體271之末端連接於施力軸24的連接部。彈性體271可為例如但不限於與出力軸27為一體成形或剛性聯結。第二編碼器28包括碼盤281及感測器282，其中碼盤281設置於施力軸24且環繞於連接部241，且感測器282設置於固定軸26。感測器282於空間上相對於碼盤281，且感測器282藉由碼盤281偵測施力軸24的施力角度。第一編碼器22及第二編碼器28可為例如但不限於光學編碼器或磁性編碼器。當出力軸27沒有接觸外部物件時，施力軸24透過彈性體271帶動出力軸27旋轉施力角度。當出力軸27接觸外部物件而被固定時，彈性體271之末端減少施力軸24的施力角度至一停止角度。FIG. 2A is a schematic cross-sectional view of the rotating mechanical device 200 according to the second preferred embodiment of the present invention, and FIG. 2B is a schematic structural diagram of the rotating mechanical device according to the second preferred embodiment of the present invention. In the second preferred embodiment, as shown in FIG. 2A and FIG. 2B , the rotating mechanical device 200 is used to contact an external object (not shown), and the rotating mechanical device 200 includes a rotating motor 21 and a first encoder. 22. The power transmission device 23 , the force application shaft 24 , the fixed housing 25 , the fixed shaft 26 , the output shaft 27 and the second encoder 28 . The rotary motor 21 is rotated by a rotation angle to provide the first torque. The first encoder 22 senses the rotation angle of the rotary motor 21 . The power transmission device 23 is connected to the rotary motor 21 and increases the first torque to generate the second torque, wherein the power transmission device 23 reduces the angular acceleration and increases the torque according to its reduction ratio. The force application shaft 24 includes a connecting portion 241 , and the force application shaft 24 is disposed in the casing of the power transmission device 23 , wherein the second torsion force generated by the power transmission device 23 drives the force application shaft 24 to rotate by a force application angle. The fixed casing 25 is connected to the casing of the power transmission device 23 and surrounds the force applying shaft 24 . The fixed shaft 26 includes a receiving hole 261 , wherein the fixed shaft 26 is connected to the fixed housing 25 and corresponds to the force applying shaft 24 . The output shaft 27 includes an elastic body 271 , and the output shaft 27 passes through the accommodating hole 261 . The elastic body 271 passes through the output shaft 27 , and the end of the elastic body 271 is connected to the connecting portion of the force application shaft 24 . The elastic body 271 can be, for example but not limited to, integrally formed with the output shaft 27 or rigidly coupled. The second encoder 28 includes a code wheel 281 and a sensor 282 , wherein the code wheel 281 is disposed on the force applying shaft 24 and surrounds the connecting portion 241 , and the sensor 282 is disposed on the fixed shaft 26 . The sensor 282 is spatially relative to the code wheel 281 , and the sensor 282 detects the force application angle of the force application shaft 24 through the code wheel 281 . The first encoder 22 and the second encoder 28 may be, for example, but not limited to, optical encoders or magnetic encoders. When the output shaft 27 is not in contact with the external object, the force application shaft 24 drives the output shaft 27 to rotate through the force application angle through the elastic body 271 . When the output shaft 27 contacts the external object and is fixed, the end of the elastic body 271 reduces the force application angle of the force application shaft 24 to a stop angle.

在一些實施例中，動力傳輸裝置23為減速機，但本發明不限於此。由於本領域之通常知識者可以輕易了解減速機適用於增加馬達的扭力值，故本發明不細說明動力傳輸裝置23之運作原理。In some embodiments, the power transmission device 23 is a speed reducer, but the present invention is not limited thereto. Since those skilled in the art can easily understand that the speed reducer is suitable for increasing the torque value of the motor, the present invention does not describe the operation principle of the power transmission device 23 in detail.

於一些實施例中，旋轉機械裝置200還包括控制器250，其中控制器250用以偵測旋轉馬達21之馬達電流。第一編碼器22偵測旋轉馬達21的旋轉角度以輸出第一位置訊號S21給控制器250，且控制器250依據第一位置訊號S21計算旋轉馬達21的角加速度。第二編碼器28的感測器282分別偵測施力角度或停止角度以輸出第二位置訊號S22或第三位置訊號S23給控制器250。當控制器250判斷角加速度隨著馬達電流進行一成正比變化時，控制器250判斷出力軸27沒有接觸外部物件且紀錄第二位置訊號S22以作為施力軸24的起始位置。當控制器250判斷馬達電流上升且角加速度沒有上升時，可得知出力軸27受到外力影響，故控制器250判斷出力軸27接觸外部物件且紀錄第三位置訊號S23以作為施力軸24的一停止位置。控制器250依據起始位置與停止位置之間的差值而計算出力軸27的扭力值，其中出力軸27的扭力值等於彈性體271之彈性係數和起始位置與停止位置之間的差值的乘積，且彈性體271之彈性係數可預設於控制器250中。若控制器250判斷扭力值高於安全閾值時，則控制器250減少旋轉馬達21之旋轉角度或停止運轉旋轉馬達21，從而實現保護外部物件不會被旋轉機械裝置200過度出力而被破壞。In some embodiments, the rotating mechanical device 200 further includes a controller 250 , wherein the controller 250 is used to detect the motor current of the rotating motor 21 . The first encoder 22 detects the rotation angle of the rotary motor 21 to output a first position signal S21 to the controller 250 , and the controller 250 calculates the angular acceleration of the rotary motor 21 according to the first position signal S21 . The sensor 282 of the second encoder 28 detects the force application angle or the stop angle respectively to output the second position signal S22 or the third position signal S23 to the controller 250 . When the controller 250 determines that the angular acceleration changes proportionally with the motor current, the controller 250 determines that the force shaft 27 does not contact the external object and records the second position signal S22 as the initial position of the force application shaft 24 . When the controller 250 determines that the motor current increases and the angular acceleration does not increase, it can be known that the output shaft 27 is affected by an external force, so the controller 250 determines that the output shaft 27 is in contact with an external object and records the third position signal S23 as the output shaft 24 a stop position. The controller 250 calculates the torque value of the output shaft 27 according to the difference between the start position and the stop position, wherein the torque value of the output shaft 27 is equal to the elastic coefficient of the elastic body 271 and the difference between the start position and the stop position , and the elastic coefficient of the elastic body 271 can be preset in the controller 250 . If the controller 250 determines that the torque value is higher than the safety threshold, the controller 250 reduces the rotation angle of the rotary motor 21 or stops the rotary motor 21 , so as to protect the external objects from being damaged by excessive force from the rotary mechanical device 200 .

藉此，通過設置彈性體271及編碼器 (22、28) 即可對出力軸27的受力情況進行感測，結構設計上較為簡易，加工成本較低，且相較於現有貼附應變規之力量感測方式，本案之彈性體271及編碼器 (22、28) 在設置時所需的空間較小。此外，因第二編碼器28之碼盤281及感測器282分別設置於施力軸24及固定軸26上，且僅有感測器282具有出線，故施力軸24可進行旋轉而不受到出線限制。Therefore, the force of the output shaft 27 can be sensed by arranging the elastic body 271 and the encoders (22, 28), the structure design is simpler, the processing cost is lower, and compared with the existing attached strain gauges In the force sensing method, the elastic body 271 and the encoder (22, 28) in this case require less space for installation. In addition, because the code disc 281 and the sensor 282 of the second encoder 28 are respectively disposed on the force application shaft 24 and the fixed shaft 26, and only the sensor 282 has an outlet, the force application shaft 24 can be rotated to Not subject to outgoing restrictions.

另外，當出力軸27與外部物件間之距離大於預設值時，馬達電流及角加速度可任意變化而不受限制，然而當出力軸27與外部物件間之距離小於預設值時，出力軸27準備與外部物件接觸，馬達電流及角加速度需被限制在較小的一特定範圍內。In addition, when the distance between the output shaft 27 and the external object is greater than the preset value, the motor current and angular acceleration can be changed arbitrarily without limitation, but when the distance between the output shaft 27 and the external object is smaller than the preset value, the output shaft 27 To prepare for contact with external objects, the motor current and angular acceleration need to be limited within a small specific range.

於一些實施例中，碼盤281的外徑大於彈性體271的外徑，故可產生放大彈性體271之變形量的效果，以利於感測變形量，且相較於現有貼附應變規之力量感測方式，本案在相同變形量的條件上具有較佳的結構剛性。In some embodiments, the outer diameter of the code disc 281 is larger than the outer diameter of the elastic body 271, so it can produce the effect of amplifying the deformation amount of the elastic body 271, so as to facilitate the sensing of the deformation amount, and compared with the strength of the existing strain gauge attached In the sensing method, this case has better structural rigidity under the condition of the same deformation amount.

旋轉機械裝置200與旋轉機械裝置100之間的差異僅在於有無動力傳輸裝置23。其他有關於控制器計算出力軸之扭力值之原理相同，故不再贅述。The only difference between the rotary machine 200 and the rotary machine 100 is the presence or absence of the power transmission device 23 . The other principles about the controller to calculate the torque value of the force axis are the same, so it is not repeated here.

第3A圖係為本案第三較佳實施例之直線型機械裝置300的截面示意圖，第3B圖係為本案第三較佳實施例之直線型機械裝置的架構示意圖。於第三較佳實施例中，如第3A圖及第3B圖所示，直線型機械裝置300係用以接觸外部物件(未圖示)，且直線型機械裝置300包括直線型馬達31、支撐座32、第一編碼器33、彈性元件34、出力軸35及第二編碼器36。直線型馬達31包括定子殼體311及轉子殼體312，其中定子殼體311連接轉子殼體312的第一側312a。轉子殼體312包括線性轉子313及施力單元314，且施力單元314設置於轉子殼體312的第二側312b，其中轉子殼體312的第一側312a於空間上垂直地連接於轉子殼體312的第二側312b。轉子殼體312的第三側312c的一部分直接貼合於支撐座32的一平面上，其中，轉子殼體312的第三側312c於空間上相對於轉子殼體312的第一側312a且垂直地連接於轉子殼體312的第二側312b，且施力單元314沒有接觸支撐座32的該平面。當線性轉子313移動直線位移時，線性轉子313同時帶動施力單元314移動直線位移，且該直線位移垂直於支撐座32的該平面。第一編碼器33連接定子殼體311以感測線性轉子313的直線位移，且第一編碼器33包含碼尺331及感測器332。彈性元件34的第一末端連接施力單元314，出力軸35的第一末端連接彈性元件34的第二末端。彈性元件34可為例如但不限於與出力軸35為一體成形或剛性聯結。第二編碼器36包括碼尺361及感測器362，其中碼尺361設置於出力軸35上，且感測器362設置於支撐座32的一側面，其中感測器362於空間上相對於碼尺361，且感測器362藉由碼尺361偵測出力軸35的位移。第一編碼器33及第二編碼器36可為例如但不限於光學編碼器或磁性編碼器。此外，第3A圖中更示例線圈37、磁石38及線圈組主支撐座39的位置，以便於理解直線型馬達31之結構。當出力軸35的第二末端沒有接觸外部物件時，施力單元314藉由彈性元件34帶動出力軸35移動一出力位移。當出力軸35的第二末端接觸外部物件時，彈性元件34減少出力軸35的出力位移至一停止位移。FIG. 3A is a schematic cross-sectional view of the linear mechanical device 300 according to the third preferred embodiment of the present invention, and FIG. 3B is a schematic structural diagram of the linear mechanical device according to the third preferred embodiment of the present invention. In the third preferred embodiment, as shown in Figures 3A and 3B, the linear mechanical device 300 is used to contact external objects (not shown), and the linear mechanical device 300 includes a linear motor 31, a support The seat 32 , the first encoder 33 , the elastic element 34 , the output shaft 35 and the second encoder 36 . The linear motor 31 includes a stator housing 311 and a rotor housing 312 , wherein the stator housing 311 is connected to the first side 312 a of the rotor housing 312 . The rotor casing 312 includes a linear rotor 313 and a force applying unit 314, and the force applying unit 314 is disposed on the second side 312b of the rotor casing 312, wherein the first side 312a of the rotor casing 312 is vertically connected to the rotor casing in space The second side 312b of the body 312. A part of the third side 312c of the rotor housing 312 is directly attached to a plane of the support seat 32, wherein the third side 312c of the rotor housing 312 is spatially relative to the first side 312a of the rotor housing 312 and perpendicular to it The ground is connected to the second side 312 b of the rotor housing 312 , and the force applying unit 314 does not contact the plane of the support base 32 . When the linear rotor 313 moves for a linear displacement, the linear rotor 313 drives the force applying unit 314 to move in a linear displacement at the same time, and the linear displacement is perpendicular to the plane of the support base 32 . The first encoder 33 is connected to the stator housing 311 to sense the linear displacement of the linear rotor 313 , and the first encoder 33 includes a code ruler 331 and a sensor 332 . The first end of the elastic element 34 is connected to the force applying unit 314 , and the first end of the output shaft 35 is connected to the second end of the elastic element 34 . The elastic element 34 can be, for example but not limited to, integrally formed with the output shaft 35 or rigidly coupled. The second encoder 36 includes a code ruler 361 and a sensor 362, wherein the code ruler 361 is disposed on the output shaft 35, and the sensor 362 is disposed on one side of the support base 32, wherein the sensor 362 is spatially opposite to The yardstick 361 is provided, and the sensor 362 detects the displacement of the force shaft 35 through the yardstick 361 . The first encoder 33 and the second encoder 36 may be, for example, but not limited to, optical encoders or magnetic encoders. In addition, the positions of the example coil 37 , the magnet 38 and the main support seat 39 of the coil group are shown in FIG. 3A to facilitate the understanding of the structure of the linear motor 31 . When the second end of the output shaft 35 is not in contact with the external object, the force applying unit 314 drives the output shaft 35 to move an output displacement through the elastic element 34 . When the second end of the output shaft 35 contacts the external object, the elastic element 34 reduces the output displacement of the output shaft 35 to a stop displacement.

於一些實施例中，直線型機械裝置300還包括控制器350，其中控制器350用以偵測直線型馬達31之馬達電流。第一編碼器33偵測線性轉子313的直線位移以輸出第一位置訊號S31給控制器350，且控制器350依據第一位置訊號S31計算線性轉子313的加速度。第二編碼器36的感測器362分別偵測出力位移或停止位移以輸出第二位置訊號S32或第三位置訊號S33給控制器350。當控制器350判斷加速度隨著馬達電流進行一成正比變化時，控制器350判斷出力軸35沒有接觸外部物件且紀錄第二位置訊號S32以作為出力軸35的起始位置。當控制器350判斷馬達電流上升且加速度沒有上升時，可得知出力軸35受到外力影響，故控制器350判斷出力軸35接觸外部物件且紀錄第三位置訊號S33以作為出力軸35的一停止位置。控制器350依據起始位置與停止位置之間的差值而計算出力軸35的出力值，其中出力軸35的出力值等於彈性元件34之彈性係數和起始位置與停止位置之間的差值的乘積，且彈性元件34之彈性係數可預設於控制器350中。若控制器350判斷出力值高於安全閾值時，則控制器350減少線性轉子313之直線位移或停止運轉直線型馬達31，從而實現保護外部物件不會被直線型機械裝置300過度出力而被破壞。In some embodiments, the linear mechanical device 300 further includes a controller 350 , wherein the controller 350 is used to detect the motor current of the linear motor 31 . The first encoder 33 detects the linear displacement of the linear rotor 313 to output a first position signal S31 to the controller 350 , and the controller 350 calculates the acceleration of the linear rotor 313 according to the first position signal S31 . The sensor 362 of the second encoder 36 detects the force displacement or the stop displacement respectively to output the second position signal S32 or the third position signal S33 to the controller 350 . When the controller 350 determines that the acceleration changes proportionally with the motor current, the controller 350 determines that the power shaft 35 is not in contact with the external object and records the second position signal S32 as the initial position of the power shaft 35 . When the controller 350 determines that the motor current increases and the acceleration does not increase, it can be known that the output shaft 35 is affected by an external force, so the controller 350 determines that the output shaft 35 is in contact with an external object and records the third position signal S33 as a stop of the output shaft 35 Location. The controller 350 calculates the output value of the output shaft 35 according to the difference between the start position and the stop position, wherein the output value of the output shaft 35 is equal to the elastic coefficient of the elastic element 34 and the difference between the start position and the stop position , and the elastic coefficient of the elastic element 34 can be preset in the controller 350 . If the controller 350 determines that the force value is higher than the safety threshold, the controller 350 reduces the linear displacement of the linear rotor 313 or stops the operation of the linear motor 31 , so as to protect the external objects from being damaged by excessive output of the linear mechanical device 300 .

藉此，通過設置彈性元件34及編碼器 (33、36) 即可對出力軸35的受力情況進行感測，結構設計上較為簡易，加工成本較低，且相較於現有貼附應變規之力量感測方式，本案之彈性元件34及編碼器 (33、36) 在設置時所需的空間較小。此外，因第二編碼器36之碼尺361及感測器362分別設置於出力軸35及支撐座32上，且僅有感測器362具有出線，故出力軸35可進行移動而不受到出線限制。Therefore, the force of the output shaft 35 can be sensed by arranging the elastic element 34 and the encoder (33, 36), the structure design is simpler, the processing cost is lower, and compared with the existing attachment strain gauges In the force sensing method, the elastic element 34 and the encoder (33, 36) in this case require less space for installation. In addition, because the yardstick 361 and the sensor 362 of the second encoder 36 are respectively disposed on the output shaft 35 and the support base 32, and only the sensor 362 has an outlet, the output shaft 35 can move without being affected by Outgoing restrictions.

此外，當出力軸35與外部物件間之距離大於預設值時，馬達電流及加速度可任意變化而不受限制，然而當出力軸35與外部物件間之距離小於預設值時，出力軸35準備與外部物件接觸，馬達電流及加速度需被限制在較小的一特定範圍內。In addition, when the distance between the output shaft 35 and the external object is greater than the preset value, the motor current and acceleration can be changed arbitrarily without limitation, but when the distance between the output shaft 35 and the external object is smaller than the preset value, the output shaft 35 To prepare for contact with external objects, the motor current and acceleration need to be limited to a small, specific range.

以將第三較佳實施例之直線型機械裝置應用於壓合作業為例，請參閱第4圖及第5圖，第4圖中之出力軸35可為例如但不限於壓合治具，於第5圖中係以實線及虛線分別表示直線型馬達31之速度及電流。在時間t0至時間t1之期間，出力軸35與外部物件4間之距離d大於預設值D，直線型馬達31處於高速移動區。其中當該距離d遠大於預設值D時，可通過提升直線型馬達31之速度，以帶動出力軸35快速接近外部物件4，而隨著該距離d逐漸接近預設值D，直線型馬達31之速度亦逐漸下降。在時間t1至時間t2之期間，出力軸35與外部物件4間之距離小於預設值，直線型馬達31處於低速限制區，直線型馬達31之電流及速度較小且變化幅度較低。在時間t2時，出力軸35與外部物件4相接觸，直線型馬達31之電流上升，直線型馬達31之速度保持不變。在時間t2至時間t3之期間，出力軸35進行壓合動作，直線型馬達31之電流及速度均保持不變，故直線型馬達31之加速度固定為零，且於此期間，控制器350判斷出力值高於安全閾值並停止運轉直線型馬達31。Taking the application of the linear mechanical device of the third preferred embodiment to the pressing operation as an example, please refer to Fig. 4 and Fig. 5. The output shaft 35 in Fig. 4 can be, for example, but not limited to, a pressing jig. In FIG. 5, the speed and the current of the linear motor 31 are represented by the solid line and the broken line, respectively. During the period from time t0 to time t1, the distance d between the output shaft 35 and the external object 4 is greater than the preset value D, and the linear motor 31 is in the high-speed movement region. When the distance d is much larger than the preset value D, the speed of the linear motor 31 can be increased to drive the output shaft 35 to approach the external object 4 rapidly, and as the distance d gradually approaches the preset value D, the linear motor The speed of 31 also gradually decreased. During the period from time t1 to time t2, the distance between the output shaft 35 and the external object 4 is smaller than the preset value, the linear motor 31 is in the low speed limit area, the current and speed of the linear motor 31 are small and the variation range is low. At time t2, the output shaft 35 is in contact with the external object 4, the current of the linear motor 31 increases, and the speed of the linear motor 31 remains unchanged. During the period from time t2 to time t3, the output shaft 35 performs the pressing action, the current and speed of the linear motor 31 remain unchanged, so the acceleration of the linear motor 31 is fixed at zero, and during this period, the controller 350 determines The output value is higher than the safety threshold and the linear motor 31 is stopped.

在一些實施例中，製作彈性體151、彈性體271和彈性元件34的材料為具有延展性的材料，例如：金屬(包括：金、銀、鉑、鐵、鎳、銅、鋁、鋅或錫等)、合金或橡膠類等，但本發明不限於此。In some embodiments, the elastic body 151, the elastic body 271 and the elastic element 34 are made of materials with ductility, such as: metals (including: gold, silver, platinum, iron, nickel, copper, aluminum, zinc or tin) etc.), alloys or rubbers, etc., but the present invention is not limited thereto.

綜上所述，本案提供一種旋轉機械裝置(100、200)及直線型機械裝置300，通過設置彈性體及編碼器即可對出力軸之受力情況進行感測，結構設計上較為簡易，加工成本較低，且相較於現有貼附應變規之力量感測方式，本案之彈性體及編碼器在設置時所需的空間較小。此外，因第二編碼器之碼盤及感測器分別設置於出力軸及固定軸上，且僅有感測器具有出線，故出力軸可進行旋轉或移動而不受到出線限制。To sum up, the present application provides a rotary mechanical device (100, 200) and a linear mechanical device 300, which can sense the force of the output shaft by arranging an elastic body and an encoder. The structure design is relatively simple, and the processing The cost is low, and compared with the existing force sensing method of attaching strain gauges, the elastic body and the encoder of the present application require less space for installation. In addition, because the encoder disk and the sensor of the second encoder are respectively disposed on the output shaft and the fixed shaft, and only the sensor has an outlet, the output shaft can rotate or move without being restricted by the outlet.

此外，本發明的旋轉機械裝置(100、200)及直線型機械裝置300中，由於彈性體(或稱彈性元件)是被設計於接近出力軸接觸的外部物件，所以本發明的第二編碼器(16、28、36)可以更精準的量測出力軸的扭力值。相較於傳統的設計，通常彈性體(或稱彈性元件)是遠離出力軸接觸的外部物件，所以精準度比本發明來的低。In addition, in the rotary mechanical device (100, 200) and the linear mechanical device 300 of the present invention, since the elastic body (or elastic element) is designed to be close to the external object in contact with the output shaft, the second encoder of the present invention (16, 28, 36) can measure the torque value of the force shaft more accurately. Compared with the traditional design, the elastic body (or elastic element) is usually an external object that is far away from the output shaft, so the accuracy is lower than that of the present invention.

本領域之通常知識者可以輕易將控制器150、250及350分別設置於旋轉機械裝置100、200及直線型機械裝置300中，因本發明為了簡化圖式，故僅以框圖示意控制器150、250及350，而並未繪示控制器150、250及350於旋轉機械裝置100、200及直線型機械裝置300中之具體設置位置。Those skilled in the art can easily dispose the controllers 150 , 250 and 350 in the rotary mechanical devices 100 , 200 and the linear mechanical device 300 , respectively. In order to simplify the drawing of the present invention, only block diagrams are used to illustrate the controllers. 150 , 250 and 350 , but the specific arrangement positions of the controllers 150 , 250 and 350 in the rotary mechanical devices 100 , 200 and the linear mechanical device 300 are not shown.

須注意，上述僅是為說明本案而提出之較佳實施例，本案不限於所述之實施例，本案之範圍由如附專利申請範圍決定。且本案得由熟習此技術之人士任施匠思而為諸般修飾，然皆不脫如附專利申請範圍所欲保護者。It should be noted that the above-mentioned preferred embodiments are only proposed to illustrate the present case, and the present case is not limited to the described embodiments, and the scope of the present case is determined by the scope of the appended patent application. And this case can be modified by Shi Jiangsi, a person who is familiar with this technology, but none of them can be protected as attached to the scope of the patent application.

100:旋轉機械裝置 11:旋轉馬達 111:馬達殼體 112:施力軸 113:連接部 12:第一編碼器 13:固定殼體 14:固定軸 141:容納孔 15:出力軸 151:彈性體 16:第二編碼器 161:碼盤 162:感測器 150:控制器 S11:第一位置訊號 S12:第二位置訊號 S13:第三位置訊號 200:旋轉機械裝置 21:旋轉馬達 22:第一編碼器 23:動力傳輸裝置 24:施力軸 241:連接部 25:固定殼體 26:固定軸 261:容納孔 27:出力軸 271:彈性體 28:第二編碼器 281:碼盤 282:感測器 250:控制器 S21:第一位置訊號 S22:第二位置訊號 S23:第三位置訊號 300:直線型機械裝置 31:直線型馬達 311:定子殼體 312:轉子殼體 312a:第一側 312b:第二側 312c:第三側 313:線性轉子 314:施力單元 32:支撐座 33:第一編碼器 331:碼尺 332:感測器 34:彈性元件 35:出力軸 36:第二編碼器 361:碼尺 362:感測器 37:線圈 38:磁石 39:線圈組主支撐座 350:控制器 S31:第一位置訊號 S32:第二位置訊號 S33:第三位置訊號 4:外部物件 d:距離 D:預設值 t0、t1、t2、t3:時間100: Rotary Mechanisms 11: Rotary motor 111: Motor housing 112: Force shaft 113: Connector 12: The first encoder 13: Fixed shell 14: Fixed shaft 141: accommodating hole 15: Output shaft 151: Elastomer 16: Second encoder 161: Code Wheel 162: Sensor 150: Controller S11: First position signal S12: Second position signal S13: The third position signal 200: Rotary Mechanism 21: Rotary motor 22: The first encoder 23: Power Transmission Device 24: Force axis 241: Connector 25: Fixed shell 26: Fixed shaft 261: accommodating hole 27: Output shaft 271: Elastomer 28: Second encoder 281: Code Wheel 282: Sensor 250: Controller S21: First position signal S22: Second position signal S23: The third position signal 300: Linear Mechanism 31: Linear motor 311: stator housing 312: Rotor housing 312a: first side 312b: Second side 312c: third side 313: Linear Rotor 314: Force unit 32: Support seat 33: The first encoder 331: yardstick 332: Sensor 34: Elastic element 35: output shaft 36: Second encoder 361: yardstick 362: Sensor 37: Coil 38: Magnet 39: Coil group main support seat 350: Controller S31: First position signal S32: Second position signal S33: The third position signal 4: External Objects d: distance D: Default value t0, t1, t2, t3: time

第1A圖係為本案第一較佳實施例之旋轉機械裝置的截面示意圖。FIG. 1A is a schematic cross-sectional view of the rotating mechanical device according to the first preferred embodiment of the present invention.

第1B圖係為本案第一較佳實施例之旋轉機械裝置的架構示意圖。FIG. 1B is a schematic diagram of the structure of the rotating mechanical device according to the first preferred embodiment of the present invention.

第2A圖係為本案第二較佳實施例之旋轉機械裝置的截面示意圖。FIG. 2A is a schematic cross-sectional view of the rotating mechanical device according to the second preferred embodiment of the present invention.

第2B圖係為本案第二較佳實施例之旋轉機械裝置的架構示意圖。FIG. 2B is a schematic view of the structure of the rotating mechanical device according to the second preferred embodiment of the present invention.

第3A圖係為本案第三較佳實施例之直線型機械裝置的截面示意圖。FIG. 3A is a schematic cross-sectional view of the linear mechanical device according to the third preferred embodiment of the present invention.

第3B圖係為本案第三較佳實施例之直線型機械裝置的架構示意圖。FIG. 3B is a schematic diagram of the structure of the linear mechanical device according to the third preferred embodiment of the present invention.

第4圖係為第3A圖之直線型機械裝置之部分結構與工件的截面示意圖。FIG. 4 is a schematic cross-sectional view of a part of the structure of the linear mechanical device of FIG. 3A and the workpiece.

第5圖係為第3A圖之直線型機械裝置之直線型馬達的速度及電流的波形示意圖。FIG. 5 is a schematic diagram showing the waveforms of the speed and current of the linear motor of the linear mechanical device of FIG. 3A.

100:旋轉機械裝置 100: Rotary Mechanisms

11:旋轉馬達 11: Rotary motor

111:馬達殼體 111: Motor housing

112:施力軸 112: Force shaft

113:連接部 113: Connector

12:第一編碼器 12: The first encoder

13:固定殼體 13: Fixed shell

14:固定軸 14: Fixed shaft

141:容納孔 141: accommodating hole

15:出力軸 15: Output shaft

151:彈性體 151: Elastomer

16:第二編碼器 16: Second encoder

161:碼盤 161: Code Wheel

162:感測器 162: Sensor

Claims

一種旋轉機械裝置，用以接觸一外部物件，包括：一旋轉馬達，包括一馬達殼體及一施力軸，其中該馬達殼體包括一定子及一轉子，且該施力軸具有一連接部，其中該定子連接該轉子，且該施力軸設置於該馬達殼體並連接於該轉子，其中當該轉子旋轉一旋轉角度時，該轉子同時帶動該施力軸旋轉一施力角度；一第一編碼器，設置於該馬達殼體以連接該定子並偵測該轉子的該旋轉角度；一固定殼體，連接於該馬達殼體且環繞於該施力軸；一固定軸，包括一容納孔，其中該固定軸連接該固定殼體且對應於該施力軸；一出力軸，包括一彈性體，且該出力軸穿設於該容納孔，其中該彈性體穿過該出力軸，且該彈性體之一末端連接於該施力軸的該連接部；以及一第二編碼器，包括一碼盤及一感測器，其中該碼盤設置於該施力軸且環繞於該連接部，且該感測器設置於該固定軸，其中該感測器於空間上相對於該碼盤，且該感測器藉由該碼盤偵測該施力軸的該施力角度。 A rotating mechanism for contacting an external object, comprising: A rotary motor includes a motor casing and a force-applying shaft, wherein the motor casing includes a stator and a rotor, and the force-applying shaft has a connecting portion, wherein the stator is connected to the rotor, and the force-applying shaft is disposed on the The motor casing is connected to the rotor, wherein when the rotor rotates by a rotation angle, the rotor simultaneously drives the force application shaft to rotate by a force application angle; a first encoder disposed on the motor housing to connect the stator and detect the rotation angle of the rotor; a fixed casing, connected to the motor casing and surrounding the force-applying shaft; a fixed shaft, comprising an accommodating hole, wherein the fixed shaft is connected to the fixed housing and corresponds to the force-applying shaft; an output shaft including an elastic body, and the output shaft passes through the accommodating hole, wherein the elastic body passes through the output shaft, and one end of the elastic body is connected to the connecting portion of the force application shaft; and A second encoder includes a code disc and a sensor, wherein the code disc is disposed on the force-applying shaft and surrounds the connecting portion, and the sensor is disposed on the fixed shaft, wherein the sensor is located in the space and the sensor detects the force-applying angle of the force-applying shaft through the code plate.

如請求項1所述的旋轉機械裝置，其中當該出力軸沒有接觸該外部物件時，該施力軸透過該彈性體帶動該出力軸旋轉該施力角度；其中當該出力軸接觸該外部物件而被固定時，該彈性體之該末端減少該施力軸的該施力角度至一停止角度。The rotating mechanical device according to claim 1, wherein when the output shaft does not contact the external object, the force application shaft drives the output shaft to rotate the force application angle through the elastic body; wherein when the output shaft contacts the external object, it is When being fixed, the end of the elastic body reduces the force-applying angle of the force-applying shaft to a stop angle.

如請求項2所述的旋轉機械裝置，更包括一控制器，且該控制器用以偵測該旋轉馬達之馬達電流；其中該第一編碼器偵測該轉子的該旋轉角度以輸出一第一位置訊號給該控制器，且該控制器依據該第一位置訊號計算該轉子的一角加速度；其中該第二編碼器的該感測器分別偵測該施力角度或該停止角度以輸出一第二位置訊號或一第三位置訊號給該控制器。 The rotating mechanical device of claim 2, further comprising a controller, and the controller is used to detect the motor current of the rotating motor; wherein the first encoder detects the rotation angle of the rotor to output a first position signal to the controller, and the controller calculates an angular acceleration of the rotor according to the first position signal; Wherein the sensor of the second encoder detects the force angle or the stop angle respectively to output a second position signal or a third position signal to the controller.

如請求項3所述的旋轉機械裝置，其中當該控制器判斷該角加速度隨著該馬達電流進行一成正比變化時，該控制器判斷該出力軸沒有接觸該外部物件且紀錄該第二位置訊號以作為該施力軸的一起始位置。The rotating mechanical device of claim 3, wherein when the controller determines that the angular acceleration changes proportionally with the motor current, the controller determines that the output shaft does not contact the external object and records the second position The signal is used as a starting position of the force-applying axis.

如請求項4所述的旋轉機械裝置，其中當該控制器判斷該馬達電流上升且該角加速度沒有上升時，該控制器判斷該出力軸接觸該外部物件且紀錄該第三位置訊號以作為該施力軸的一停止位置。The rotating mechanical device of claim 4, wherein when the controller determines that the motor current increases and the angular acceleration does not increase, the controller determines that the output shaft contacts the external object and records the third position signal as the application A stop position of the force axis.

如請求項5所述的旋轉機械裝置，其中該控制器依據該起始位置及該停止位置之間的一差值來計算該出力軸的一扭力值。The rotating mechanical device of claim 5, wherein the controller calculates a torque value of the output shaft according to a difference between the starting position and the stopping position.

如請求項6所述的旋轉機械裝置，其中當該控制器判斷該扭力值高於一安全閥值時，該控制器減少該轉子之該旋轉角度或停止運轉該旋轉馬達。The rotating mechanical device of claim 6, wherein when the controller determines that the torque value is higher than a safety threshold, the controller reduces the rotation angle of the rotor or stops the rotating motor.

一種旋轉機械裝置，用以接觸一外部物件，其中該旋轉機械裝置包括：一旋轉馬達，旋轉一旋轉角度以提供一第一扭力；一第一編碼器，感測該旋轉馬達之該旋轉角度；一動力傳輸裝置，連接於該旋轉馬達，其中該動力傳輸裝置增加該第一扭力以產生一第二扭力；一施力軸，包括一連接部，且該施力軸設置於該動力傳輸裝置之殼體，其中該動力傳輸裝置之該第二扭力帶動該施力軸旋轉一施力角度；一固定殼體，連接於該動力傳輸裝置之該殼體且環繞於該施力軸；一固定軸，包括一容納孔，其中該固定軸連接該固定殼體且對應於該施力軸；一出力軸，包括一彈性體，且該出力軸穿設於該容納孔，其中該彈性體穿過該出力軸，且該彈性體之一末端連接於該施力軸的該連接部；以及一第二編碼器，包括一碼盤及一感測器，其中該碼盤設置於該施力軸且環繞於該連接部，且該感測器設置於該固定軸，其中該感測器於空間上相對於該碼盤，且該感測器藉由該碼盤偵測該施力軸的該施力角度。 A rotating mechanism for contacting an external object, wherein the rotating mechanism comprises: a rotary motor, which rotates by a rotation angle to provide a first torque; a first encoder for sensing the rotation angle of the rotary motor; a power transmission device connected to the rotary motor, wherein the power transmission device increases the first torque to generate a second torque; a force-applying shaft including a connecting portion, and the force-applying shaft is disposed on the casing of the power transmission device, wherein the second torsion force of the power transmission device drives the force-applying shaft to rotate by a force-applying angle; a fixed casing, connected to the casing of the power transmission device and surrounding the force-applying shaft; a fixed shaft, comprising an accommodating hole, wherein the fixed shaft is connected to the fixed housing and corresponds to the force-applying shaft; an output shaft including an elastic body, and the output shaft passes through the accommodating hole, wherein the elastic body passes through the output shaft, and one end of the elastic body is connected to the connecting portion of the force application shaft; and A second encoder includes a code disc and a sensor, wherein the code disc is disposed on the force-applying shaft and surrounds the connecting portion, and the sensor is disposed on the fixed shaft, wherein the sensor is located in the space and the sensor detects the force-applying angle of the force-applying shaft through the code plate.

如請求項8所述的旋轉機械裝置，其中當該出力軸沒有接觸該外部物件時，該施力軸透過該彈性體帶動該出力軸旋轉該施力角度；其中當該出力軸接觸該外部物件而被固定時，該彈性體之該末端減少該施力軸的該施力角度至一停止角度。The rotating mechanical device according to claim 8, wherein when the output shaft does not contact the external object, the force application shaft drives the output shaft to rotate the force application angle through the elastic body; wherein when the output shaft contacts the external object, it is When being fixed, the end of the elastic body reduces the force-applying angle of the force-applying shaft to a stop angle.

如請求項9所述的旋轉機械裝置，更包括一控制器，且該控制器用以偵測該旋轉馬達之馬達電流；其中該第一編碼器偵測該旋轉馬達的該旋轉角度以輸出一第一位置訊號給該控制器，且該控制器依據該第一位置訊號計算該旋轉馬達的一角加速度；其中該第二編碼器的該感測器分別偵測該施力角度或該停止角度以輸出一第二位置訊號或一第三位置訊號給該控制器。 The rotating mechanical device of claim 9, further comprising a controller, and the controller is used to detect the motor current of the rotating motor; Wherein the first encoder detects the rotation angle of the rotary motor to output a first position signal to the controller, and the controller calculates an angular acceleration of the rotary motor according to the first position signal; Wherein the sensor of the second encoder detects the force angle or the stop angle respectively to output a second position signal or a third position signal to the controller.

如請求項10所述的旋轉機械裝置，其中當該控制器判斷該角加速度隨著該馬達電流進行一成正比變化時，該控制器判斷該出力軸沒有接觸該外部物件且紀錄該第二位置訊號以作為該施力軸的一起始位置。The rotating mechanical device of claim 10, wherein when the controller determines that the angular acceleration changes proportionally with the motor current, the controller determines that the output shaft does not contact the external object and records the second position The signal is used as a starting position of the force-applying axis.

如請求項11所述的旋轉機械裝置，其中當該控制器判斷該馬達電流上升且該角加速度沒有上升時，該控制器判斷該出力軸接觸該外部物件且紀錄該第三位置訊號以作為該施力軸的一停止位置；其中該控制器依據該起始位置及該停止位置之間的一差值來計算該出力軸的一扭力值。The rotating mechanical device of claim 11, wherein when the controller determines that the motor current increases and the angular acceleration does not increase, the controller determines that the output shaft contacts the external object and records the third position signal as the application A stop position of the power shaft; wherein the controller calculates a torque value of the output shaft according to a difference between the start position and the stop position.

如請求項8所述的旋轉機械裝置，其中該碼盤的外徑大於該彈性體的外徑。The rotary mechanical device of claim 8, wherein the outer diameter of the code wheel is larger than the outer diameter of the elastic body.

如請求項8所述的旋轉機械裝置，其中該彈性體與該出力軸為一體成型或剛性聯結。The rotary mechanical device according to claim 8, wherein the elastic body and the output shaft are integrally formed or rigidly connected.

一種直線型機械裝置，用以接觸一外部物件，其中該直線型機械裝置包括：一直線型馬達，包括一定子殼體及一轉子殼體，其中該定子殼體連接該轉子殼體的一第一側，且該轉子殼體包括一線性轉子及一施力單元，且該施力單元設置於該轉子殼體的一第二側，其中該第一側垂直地連接於該第二側；一支撐座，其中該轉子殼體的一第三側的一部分直接貼合於該支撐座的一平面上，且該施力單元沒有接觸該支撐座的該平面，其中當該線性轉子移動一直線位移時，該線性轉子同時帶動該施力單元移動該直線位移，且該直線位移垂直於該支撐座的該平面，其中該第三側垂直地連接於該第二側，且該第三側相對於該第一側；一第一編碼器，連接該定子殼體以感測該線性轉子的該直線位移；一彈性元件，其中該彈性元件的一第一末端連接該施力單元；一出力軸，其中該出力軸的一第一末端連接該彈性元件的一第二末端；以及一第二編碼器，包括一碼尺及一感測器，其中該碼尺設置於該出力軸上，且該感測器設置於該支撐座的一側面，其中該感測器於空間上相對於該碼尺，且該感測器藉由該碼尺偵測該出力軸的位移。 A linear mechanical device for contacting an external object, wherein the linear mechanical device comprises: A linear motor includes a stator casing and a rotor casing, wherein the stator casing is connected to a first side of the rotor casing, and the rotor casing includes a linear rotor and a force applying unit, and the force applying unit is disposed on a second side of the rotor housing, wherein the first side is vertically connected to the second side; A support seat, wherein a part of a third side of the rotor housing is directly attached to a plane of the support seat, and the force applying unit does not contact the plane of the support seat, wherein when the linear rotor moves a linear displacement , the linear rotor drives the force applying unit to move the linear displacement at the same time, and the linear displacement is perpendicular to the plane of the support seat, wherein the third side is vertically connected to the second side, and the third side is relative to the first one side; a first encoder connected to the stator housing to sense the linear displacement of the linear rotor; an elastic element, wherein a first end of the elastic element is connected to the force applying unit; an output shaft, wherein a first end of the output shaft is connected to a second end of the elastic element; and A second encoder includes a yardstick and a sensor, wherein the yardage is arranged on the output shaft, and the sensor is arranged on a side of the support, wherein the sensor is spatially opposite on the yardstick, and the sensor detects the displacement of the output shaft through the yardstick.

如請求項15所述的直線型機械裝置，其中當該出力軸的一第二末端沒有接觸該外部物件時，該施力單元藉由該彈性元件帶動該出力軸移動一出力位移；其中當該出力軸的該第二末端接觸該外部物件時，該彈性元件減少該出力軸的該出力位移至一停止位移。The linear mechanical device according to claim 15, wherein when a second end of the output shaft does not contact the external object, the force applying unit drives the output shaft to move an output displacement through the elastic element; wherein when the output shaft is not in contact with the external object When the second end of the shaft contacts the external object, the elastic element reduces the output displacement of the output shaft to a stop displacement.

如請求項16所述的直線型機械裝置，更包括一控制器，且該控制器用以偵測該直線型馬達之馬達電流；其中該第一編碼器偵測該線性轉子的該直線位移以輸出一第一位置訊號給該控制器，且該控制器依據該第一位置訊號計算該線性轉子的一加速度；其中該第二編碼器的該感測器分別偵測該出力位移或該停止位移以輸出一第二位置訊號或一第三位置訊號給該控制器。 The linear mechanical device of claim 16, further comprising a controller, and the controller is used to detect the motor current of the linear motor; wherein the first encoder detects the linear displacement of the linear rotor to output a first position signal to the controller, and the controller calculates an acceleration of the linear rotor according to the first position signal; Wherein the sensor of the second encoder detects the output displacement or the stop displacement respectively to output a second position signal or a third position signal to the controller.

如請求項17所述的直線型機械裝置，其中當該控制器判斷該加速度隨著該馬達電流進行一成正比變化時，該控制器判斷該出力軸沒有接觸該外部物件且紀錄該第二位置訊號以作為該出力軸的一起始位置。The linear mechanical device of claim 17, wherein when the controller determines that the acceleration changes in proportion to the motor current, the controller determines that the output shaft does not contact the external object and records the second position The signal is used as a starting position of the output shaft.

如請求項18所述的直線型機械裝置，其中當該控制器判斷該馬達電流上升且該加速度沒有上升時，該控制器判斷該出力軸接觸該外部物件且紀錄該第三位置訊號以作為該出力軸的一停止位置。The linear mechanical device of claim 18, wherein when the controller determines that the motor current increases and the acceleration does not increase, the controller determines that the output shaft contacts the external object and records the third position signal as the A stop position of the output shaft.

如請求項19所述的直線型機械裝置，其中該控制器依據該起始位置及該停止位置之間的一差值來計算該出力軸的一出力值。The linear mechanical device of claim 19, wherein the controller calculates an output value of the output shaft according to a difference between the starting position and the stopping position.