TWI772118B

TWI772118B - Joint actuator of robot

Info

Publication number: TWI772118B
Application number: TW110126712A
Authority: TW
Inventors: 劉光耀; 張明儒; 張永裕; 謝啟堂
Original assignee: 中強光電股份有限公司
Priority date: 2021-07-21
Filing date: 2021-07-21
Publication date: 2022-07-21
Also published as: TW202304676A

Abstract

A joint actuator of a robot includes a driving device, a driving shaft, a reducer, a torsion sensor and a dual encoder. The driving shaft is connected to the driving device, and the driving device is configured to drive the driving shaft to rotate. The reducer includes a motive power input component and a motive power output component, the motive power input component and the motive power output component are fitted around the driving shaft, and the motive power input component is connected between the driving shaft and the motive power output component. The torsion sensor is connected to the motive power output component. The dual encoder is connected to the driving device and the driving shaft, the driving device is located between the dual encoder and the reducer.

Description

機器人之關節致動器Robot Joint Actuator

本發明是有關於一種關節致動器，且特別是有關於一種機器人之關節致動器。The present invention relates to a joint actuator, and more particularly, to a robot joint actuator.

工業機器人不僅可以克服惡劣環境對生產的影響並減少人力的使用，還能夠提高生產效率，從而保證產品品質。隨著工業機器人技術的不斷發展，其不再只具有搬運重物的功能，而可進行各種高精度智能化的工作，如焊接、精密組裝、研磨、開動等動作。然而，傳統機器手臂的關節致動器沒有裝配扭力感測器，無法進行這些高精度的工作。目前一些機器手臂的關節致動器雖裝配了扭力感測器，但其與減速機相連接之結構設計較為複雜而增加了裝置成本。此外，單就扭力感測器對輸出端之力的感測，無法準確地進行碰撞偵測與反應以及順應控制。Industrial robots can not only overcome the impact of harsh environments on production and reduce the use of manpower, but also improve production efficiency to ensure product quality. With the continuous development of industrial robot technology, it no longer only has the function of carrying heavy objects, but can carry out various high-precision and intelligent work, such as welding, precision assembly, grinding, starting and other actions. However, the joint actuators of traditional robotic arms are not equipped with torsion sensors and cannot perform these high-precision tasks. At present, although the joint actuators of some robotic arms are equipped with torsion sensors, the structural design of the joint actuators connected with the reducer is relatively complicated, which increases the cost of the device. In addition, only for the torque sensor to sense the force of the output end, it is impossible to accurately perform collision detection and response and compliance control.

“先前技術”段落只是用來幫助瞭解本發明內容，因此在“先前技術”段落所揭露的內容可能包含一些沒有構成所屬技術領域中具有通常知識者所知道的習知技術。在“先前技術”段落所揭露的內容，不代表該內容或者本發明一個或多個實施例所要解決的問題，在本發明申請前已被所屬技術領域中具有通常知識者所知曉或認知。The "prior art" paragraph is only used to help understand the content of the present invention, so the content disclosed in the "prior art" paragraph may contain some that do not constitute the prior art known to those with ordinary skill in the art. The content disclosed in the "prior art" paragraph does not represent the content or the problem to be solved by one or more embodiments of the present invention, and has been known or recognized by those with ordinary knowledge in the technical field before the application of the present invention.

本發明提供一種機器人之關節致動器，可準確地進行高精度的動作，且其扭力感測器與減速機相連接之結構設計較為簡化。The present invention provides a joint actuator of a robot, which can accurately perform high-precision movements, and the structural design of the connection between the torque sensor and the reducer is simplified.

本發明的機器人之關節致動器包括一驅動裝置、一驅動軸、一減速機、一扭力感測器及一雙編碼器。驅動軸連接於驅動裝置，驅動裝置用以驅動驅動軸轉動。減速機包括一動力輸入件及一動力輸出件，動力輸入件及動力輸出件套設於驅動軸，動力輸入件配置於驅動軸與動力輸出件之間。扭力感測器連接於減速機的動力輸出件。雙編碼器連接驅動裝置及驅動軸，驅動裝置位於雙編碼器及減速機之間。The joint actuator of the robot of the present invention includes a drive device, a drive shaft, a reducer, a torque sensor and a pair of encoders. The drive shaft is connected to the drive device, and the drive device is used for driving the drive shaft to rotate. The reducer includes a power input piece and a power output piece, the power input piece and the power output piece are sleeved on the drive shaft, and the power input piece is arranged between the drive shaft and the power output piece. The torque sensor is connected to the power output of the reducer. The double encoder is connected to the drive device and the drive shaft, and the drive device is located between the double encoder and the reducer.

在本發明的一實施例中，上述的動力輸入件為一帽型柔輪，動力輸出件為一剛輪。In an embodiment of the present invention, the above-mentioned power input member is a hat-shaped flexible wheel, and the power output member is a rigid wheel.

在本發明的一實施例中，上述的機器人之關節致動器包括至少一鎖附件，其中至少一鎖附件將扭力感測器鎖附於動力輸出件。In an embodiment of the present invention, the above-mentioned joint actuator of the robot includes at least one lock attachment, wherein the at least one lock attachment locks the torque sensor to the power output member.

在本發明的一實施例中，上述的扭力感測器一體成形地連接於動力輸出件。In an embodiment of the present invention, the above-mentioned torque sensor is integrally formed and connected to the power output member.

在本發明的一實施例中，上述的雙編碼器包括輸入模組及輸出模組，驅動軸包括輸入軸及輸出軸，其中輸入模組連接於輸入軸且同步轉動，輸出模組連接輸出軸且同步轉動，輸入模組及輸出模組共軸設置。In an embodiment of the present invention, the above-mentioned dual encoder includes an input module and an output module, the drive shaft includes an input shaft and an output shaft, wherein the input module is connected to the input shaft and rotates synchronously, and the output module is connected to the output shaft And synchronously rotate, the input module and the output module are coaxially arranged.

在本發明的一實施例中，上述的輸入模組包括輸入磁盤及輸入旋轉件，輸出模組包括輸出磁盤及輸出旋轉件，其中輸入磁盤固定於輸入旋轉件，輸入旋轉件鎖固於輸入軸上，輸出磁盤固定於輸出旋轉件，輸出旋轉件鎖固於輸出軸上。In an embodiment of the present invention, the above-mentioned input module includes an input disk and an input rotating member, and the output module includes an output disk and an output rotating member, wherein the input disk is fixed to the input rotating member, and the input rotating member is locked to the input shaft The output disk is fixed on the output rotary member, and the output rotary member is locked on the output shaft.

在本發明的一實施例中，上述的雙編碼器包括一電路板、輸入感測器及輸出感測器，輸入感測器及輸出感測器配置於電路板上，輸入感測器對應於輸入旋轉件的輸入磁盤，輸出感測器對應於輸出旋轉件的輸出磁盤。In an embodiment of the present invention, the above-mentioned dual encoder includes a circuit board, an input sensor and an output sensor, the input sensor and the output sensor are arranged on the circuit board, and the input sensor corresponds to The input disk of the input rotor, and the output sensor corresponding to the output disk of the output rotor.

在本發明的一實施例中，上述的兩磁盤共平面地設置。In an embodiment of the present invention, the above-mentioned two magnetic disks are arranged coplanarly.

在本發明的一實施例中，上述的機器人之關節致動器包括一驅動電路板，驅動電路板耦接扭力感測器及雙編碼器，用以接收扭力感測器之感測訊號。In an embodiment of the present invention, the above-mentioned joint actuator of the robot includes a driving circuit board, and the driving circuit board is coupled to the torque sensor and the dual encoders for receiving the sensing signal of the torque sensor.

在本發明的一實施例中，上述的輸入感測器及輸出感測器共平面地設置，且電路板耦接驅動電路板，輸入感測器及輸出感測器用以分別提供感測訊號至電路板，電路板提供該些感測訊號至驅動電路板。In an embodiment of the present invention, the above-mentioned input sensor and output sensor are disposed coplanarly, and the circuit board is coupled to the driving circuit board, and the input sensor and the output sensor are used to respectively provide sensing signals to The circuit board provides the sensing signals to the driving circuit board.

在本發明的一實施例中，上述的機器人之關節致動器包括一鎖定組件，其中鎖定組件對應於驅動軸，當驅動裝置停止時，鎖定組件鎖定驅動軸。In an embodiment of the present invention, the above-mentioned joint actuator of the robot includes a locking component, wherein the locking component corresponds to the driving shaft, and when the driving device stops, the locking component locks the driving shaft.

在本發明的一實施例中，上述的扭力感測器藉由一連接件連接所述機器人的一機器手臂。In an embodiment of the present invention, the above-mentioned torque sensor is connected to a robotic arm of the robot through a connecting member.

在本發明的一實施例中，上述的驅動裝置為一無框馬達。In an embodiment of the present invention, the above-mentioned driving device is a frameless motor.

在本發明的一實施例中，上述的機器人之關節致動器包括一殼體，驅動裝置、驅動軸、減速機、扭力感測器以及雙編碼器容置於殼體內。In an embodiment of the present invention, the above-mentioned joint actuator of the robot includes a casing, and the driving device, the drive shaft, the reducer, the torque sensor and the dual encoder are accommodated in the casing.

基於上述，在本發明的機器人之關節致動器中，除了利用扭力感測器對關節致動器的輸出端進行力的感測，更利用雙編碼器對關節致動器的輸入端及輸出端的位移進行感測，且雙邊碼器與扭力感測器相互耦接而可整合位移感測訊號及扭力感測訊號，以準確判斷機器人的受力狀態，進而準確地進行相應的高精度的動作。此外，扭力感測器連接於最接近輸出端的動力輸出件，而非連接於內部的動力輸入件，故扭力感測器與減速機相連接之結構設計可較為簡化。Based on the above, in the joint actuator of the robot of the present invention, in addition to using the torque sensor to sense the force of the output end of the joint actuator, the input end and output end of the joint actuator are also detected by dual encoders. The displacement of the end of the robot is sensed, and the double-side encoder and the torque sensor are coupled to each other to integrate the displacement sensing signal and the torque sensing signal, so as to accurately determine the force state of the robot, and then accurately perform corresponding high-precision actions. . In addition, the torque sensor is connected to the power output member closest to the output end, rather than to the internal power input member, so the structural design of the connection between the torque sensor and the reducer can be simplified.

圖1是本發明一實施例的機器人之關節致動器的剖面圖。圖2A及圖2B是圖1的機器人之關節致動器的分解圖。請參考圖1、圖2A及圖2B，本實施例的關節致動器100包括一驅動裝置110、一驅動軸120、一減速機130及一殼體180。驅動裝置110、驅動軸120、減速機130至少部分地容置於殼體180內。驅動軸120連接於驅動裝置110，驅動裝置110例如是無框馬達且用以驅動驅動軸120轉動。驅動裝置110包括套設於驅動軸120的一線圈112及一轉子114，其中轉子114設置於線圈112的內側，即位於驅動軸120及線圈112之間。FIG. 1 is a cross-sectional view of a joint actuator of a robot according to an embodiment of the present invention. 2A and 2B are exploded views of joint actuators of the robot of FIG. 1 . Referring to FIGS. 1 , 2A and 2B , the joint actuator 100 of this embodiment includes a driving device 110 , a driving shaft 120 , a speed reducer 130 and a casing 180 . The drive device 110 , the drive shaft 120 , and the speed reducer 130 are at least partially accommodated in the housing 180 . The driving shaft 120 is connected to the driving device 110 , and the driving device 110 is, for example, a frameless motor, and is used for driving the driving shaft 120 to rotate. The drive device 110 includes a coil 112 and a rotor 114 sleeved on the drive shaft 120 , wherein the rotor 114 is disposed inside the coil 112 , that is, between the drive shaft 120 and the coil 112 .

減速機130包括一動力輸入件132及一動力輸出件134，動力輸入件132例如是帽型柔輪，動力輸出件134例如是剛輪。動力輸入件132及動力輸出件134皆套設於驅動軸120，且動力輸入件132配置於驅動軸120與動力輸出件134之間。藉由動力輸入件132與動力輸出件134之間的減速比可對驅動軸120進行減速。減速機130之有關達成所述減速比的具體結構設計為現有技術，於此不加以贅述。The reducer 130 includes a power input member 132 and a power output member 134 . The power input member 132 is, for example, a hat-shaped flexible wheel, and the power output member 134 is, for example, a rigid wheel. The power input member 132 and the power output member 134 are both sleeved on the drive shaft 120 , and the power input member 132 is disposed between the drive shaft 120 and the power output member 134 . The drive shaft 120 can be decelerated by a reduction ratio between the power input member 132 and the power output member 134 . The specific structural design of the speed reducer 130 to achieve the speed reduction ratio is in the prior art, and details are not described here.

本實施例的關節致動器100更包括一驅動電路板145、一扭力感測器140及一雙編碼器150。驅動電路板145、扭力感測器140及雙編碼器150至少部分地容置於殼體180內。扭力感測器140連接於動力輸出件134，扭力感測器140及雙編碼器150耦接於驅動電路板145。雙編碼器150連接驅動軸120，驅動裝置110位於雙編碼器150及減速機130之間，雙編碼器150位於驅動裝置110及驅動電路板145之間，並且扭力感測器140及雙編碼器150耦接於驅動電路板145。藉此，本實施例的關節致動器100除了可利用扭力感測器140對關節致動器100的輸出端進行力的感測，更可利用雙編碼器150對關節致動器100的輸入端及輸出端的位移進行感測，且雙邊碼器150與扭力感測器140的位移感測訊號及扭力感測訊號皆傳送至驅動電路板145，驅動電路板145可整合該些感測訊號，以準確判斷機器人的受力狀態，進而準確地進行相應的高精度的動作。The joint actuator 100 of this embodiment further includes a driving circuit board 145 , a torque sensor 140 and a pair of encoders 150 . The driving circuit board 145 , the torque sensor 140 and the dual encoder 150 are at least partially accommodated in the housing 180 . The torque sensor 140 is connected to the power output element 134 , and the torque sensor 140 and the dual encoders 150 are coupled to the driving circuit board 145 . The dual encoder 150 is connected to the driving shaft 120, the driving device 110 is located between the dual encoder 150 and the reducer 130, the dual encoder 150 is located between the driving device 110 and the driving circuit board 145, and the torque sensor 140 and the dual encoder 150 is coupled to the driving circuit board 145 . Therefore, the joint actuator 100 of this embodiment can use the torque sensor 140 to sense the force of the output end of the joint actuator 100 , and can also use the dual encoders 150 to input the joint actuator 100 . The displacement of the terminal and the output terminal is sensed, and the displacement sensing signal and the torque sensing signal of the double encoder 150 and the torque sensor 140 are transmitted to the driving circuit board 145, and the driving circuit board 145 can integrate these sensing signals, In order to accurately judge the force state of the robot, and then accurately perform corresponding high-precision actions.

此外，由於本實施例的扭力感測器140如上述般連接於輸出端的動力輸出件134，而非連接於內部的動力輸入件132，故扭力感測器140與減速機130相連接之結構設計可較為簡化。具體而言，關節致動器100更包括至少一鎖附件160(繪示為多個)，鎖附件160將扭力感測器140鎖附於減速機130的動力輸出件134。In addition, since the torque sensor 140 of the present embodiment is connected to the power output member 134 of the output end as described above, rather than to the internal power input member 132, the structure design of the connection between the torque sensor 140 and the reducer 130 can be simplified. Specifically, the joint actuator 100 further includes at least one lock attachment 160 (a plurality of which is shown), and the lock attachment 160 locks the torque sensor 140 to the power output member 134 of the reducer 130 .

本實施例的雙編碼器150包括同軸設置的輸入旋轉件152、輸出旋轉件154，驅動軸120連接於兩旋轉件152、154，用以共軸轉動。詳細而言，驅動軸120包括同軸設置的一輸入軸122及一輸出軸124，其中輸入軸122套設於輸出軸124外側。輸入軸122的一端連接於減速機130的動力輸入件132且另一端連接於輸入旋轉件152，其中驅動裝置110的轉子114連接於輸入軸122，用以驅動輸入軸122旋轉。輸出軸124的一端連接於扭力感測器140且另一端連接於輸出旋轉件154，而扭力感測器140連接減速機130的動力輸出件134(例如是剛輪)。The dual encoder 150 of this embodiment includes an input rotating member 152 and an output rotating member 154 that are coaxially arranged. The drive shaft 120 is connected to the two rotating members 152 and 154 for coaxial rotation. Specifically, the drive shaft 120 includes an input shaft 122 and an output shaft 124 coaxially disposed, wherein the input shaft 122 is sleeved outside the output shaft 124 . One end of the input shaft 122 is connected to the power input member 132 of the reducer 130 and the other end is connected to the input rotating member 152 , wherein the rotor 114 of the driving device 110 is connected to the input shaft 122 for driving the input shaft 122 to rotate. One end of the output shaft 124 is connected to the torque sensor 140 and the other end is connected to the output rotating member 154 , and the torque sensor 140 is connected to the power output member 134 (eg, a rigid wheel) of the reducer 130 .

圖3A是圖1的雙編碼器的輸入模組之側視圖。圖3B是圖1的雙編碼器的輸入模組之立體側視圖。圖3C是圖1的雙編碼器的輸出模組之側視圖。圖3D是圖1的雙編碼器的輸出模組之立體圖。圖4是圖1的雙編碼器的剖面圖。請參考圖3A、圖3B、圖3C、圖3D及圖4，雙編碼器150更包括一電路板156、輸入模組150a及輸出模組150b、輸入感測器159a及輸出感測器159b。其中，輸入模組150a包括輸入磁盤158a及輸入旋轉件152，且輸入磁盤158a膠合於輸入旋轉件152，再透過鎖附件160a將輸入旋轉件152鎖固於輸入軸122上。輸出模組150b包括輸出磁盤158b及輸出旋轉件154，且輸出磁盤158b膠合於輸出旋轉件154，再透過鎖附件160b將輸出旋轉件154鎖固於輸出軸124上。其中上述之鎖附件160a、160b可例如是螺絲。FIG. 3A is a side view of the input module of the dual encoder of FIG. 1 . FIG. 3B is a perspective side view of the input module of the dual encoder of FIG. 1 . FIG. 3C is a side view of the output module of the dual encoder of FIG. 1 . FIG. 3D is a perspective view of the output module of the dual encoder of FIG. 1 . FIG. 4 is a cross-sectional view of the dual encoder of FIG. 1 . 3A, 3B, 3C, 3D and 4, the dual encoder 150 further includes a circuit board 156, an input module 150a and an output module 150b, an input sensor 159a and an output sensor 159b. The input module 150a includes an input disk 158a and an input rotating member 152, and the input disk 158a is glued to the input rotating member 152, and the input rotating member 152 is locked on the input shaft 122 through the locking attachment 160a. The output module 150b includes an output disk 158b and an output rotating member 154, and the output disk 158b is glued to the output rotating member 154, and then the output rotating member 154 is locked on the output shaft 124 through the locking attachment 160b. The above-mentioned lock accessories 160a, 160b can be, for example, screws.

更詳細地說明，輸入磁盤158a例如是環狀的輸入端磁盤，輸出磁盤158b例如是環狀的輸出端磁盤，輸入磁盤158a、輸出磁盤158b分別配置於輸入旋轉件152、輸出旋轉件154上。輸入感測器159a例如是輸入端磁頭，輸出感測器159b例如是輸出端磁頭，輸入感測器159a、輸出感測器159b配置於電路板156上，輸入感測器159a以一間隔對應於輸入旋轉件152上的輸入磁盤158a，輸出感測器159b以一間隔對應於輸出旋轉件154上的輸出磁盤158b，輸入感測器159a、輸出感測器159b用以分別提供從輸入磁盤158a及輸出磁盤158b所感測到的感測訊號至電路板156。並且，電路板156耦接驅動電路板145，使雙編碼器150可透過電路板156提供感測訊號至驅動電路板145。More specifically, the input disk 158a is, for example, a ring-shaped input disk, and the output disk 158b is, for example, a ring-shaped output disk. The input disk 158a and the output disk 158b are respectively disposed on the input rotary member 152 and the output rotary member 154. The input sensor 159a is, for example, an input-end magnetic head, and the output sensor 159b is, for example, an output-end magnetic head. The input sensor 159a and the output sensor 159b are arranged on the circuit board 156, and the input sensor 159a corresponds to an interval of The input disk 158a on the input rotary member 152, the output sensor 159b corresponds to the output disk 158b on the output rotary member 154 at an interval, and the input sensor 159a and the output sensor 159b are used to provide the input disk 158a and the output sensor 159b respectively. The sensing signal sensed by the disk 158b is output to the circuit board 156 . Moreover, the circuit board 156 is coupled to the driving circuit board 145 , so that the dual encoders 150 can provide sensing signals to the driving circuit board 145 through the circuit board 156 .

藉此，驅動電路板145可接收來自輸入感測器159a的相關於輸入磁盤158a(對應於輸入旋轉件152、輸入軸122及動力輸入件132，即對應於輸入端)的轉動位移的訊號、來自輸出感測器159b的相關於輸出磁盤158b(對應於輸出旋轉件154、輸出軸124及動力輸出件134，即對應於輸出端)的轉動位移的感測訊號、來自扭力感測器140的相關於輸出端的扭力的感測訊號，據以整合這些訊號以判斷輸出端的受力狀態。Thereby, the driving circuit board 145 can receive the signal from the input sensor 159a related to the rotational displacement of the input disk 158a (corresponding to the input rotating member 152, the input shaft 122 and the power input member 132, that is, corresponding to the input end), The sensing signal from the output sensor 159b related to the rotational displacement of the output disk 158b (corresponding to the output rotary member 154, the output shaft 124 and the power output member 134, that is, corresponding to the output end), from the torque sensor 140 The sensing signals related to the torque of the output end are integrated to judge the stress state of the output end.

進一步而言，本實施例的輸入磁盤158a、輸出磁盤158b共平面地同軸設置，且輸入感測器159a、輸出感測器159b共平面地設置。藉此，可利用單一電路板156承載兩感測器159a、159b並使兩感測器159a、159b分別對應於兩磁盤158a、158b，從而可縮減關節致動器100在其軸向上的尺寸。Further, in this embodiment, the input disk 158a and the output disk 158b are coplanar and coaxially disposed, and the input sensor 159a and the output sensor 159b are disposed coplanarly. Therefore, a single circuit board 156 can be used to carry the two sensors 159a, 159b and make the two sensors 159a, 159b correspond to the two disks 158a, 158b respectively, thereby reducing the size of the joint actuator 100 in the axial direction.

請參考圖1，在本實施例中，關節致動器100更包括一鎖定組件170，鎖定組件170對應於驅動軸120，例如鎖定組件170包括一與驅動軸120連動的煞車片(未繪示)。當驅動裝置110停止時，鎖定組件170的煞車片會被卡抵而使可發揮安全剎車的功能而鎖定驅動軸120，避免驅動軸120因外力而非預期地作動。鎖定組件170之用以鎖定驅動軸120的具體結構設計為現有技術，於此不加以贅述。於本實施例中，沿著驅動軸120，扭力感測器140、減速機130、驅動裝置110、鎖定組件170、雙編碼器150及驅動電路板145依序設置。Referring to FIG. 1 , in this embodiment, the joint actuator 100 further includes a locking element 170 , and the locking element 170 corresponds to the drive shaft 120 . For example, the locking element 170 includes a brake pad (not shown) that is linked with the drive shaft 120 . ). When the driving device 110 is stopped, the brake pads of the locking assembly 170 will be jammed so that the driving shaft 120 can be locked by the safety braking function, so as to prevent the driving shaft 120 from being actuated unexpectedly due to external force. The specific structure of the locking assembly 170 for locking the driving shaft 120 is designed in the prior art, and details are not described herein. In this embodiment, along the drive shaft 120 , the torque sensor 140 , the reducer 130 , the driving device 110 , the locking assembly 170 , the dual encoders 150 and the driving circuit board 145 are arranged in sequence.

圖5繪示圖1的扭力感測器連接機器手臂。請參考圖5，本實施例的機器人的機器手臂50包括一連接件190，關節致動器100的扭力感測器140透過連接件190連接機器手臂50。來自機器手臂50的外力透過連接件190而傳遞至扭力感測器140，扭力感測器140感測對應於此外力的扭力。FIG. 5 shows the torque sensor of FIG. 1 connected to the robot arm. Referring to FIG. 5 , the robotic arm 50 of the robot of the present embodiment includes a connecting member 190 , and the torque sensor 140 of the joint actuator 100 is connected to the robotic arm 50 through the connecting member 190 . The external force from the robot arm 50 is transmitted to the torque sensor 140 through the connecting member 190 , and the torque sensor 140 senses the torque corresponding to the external force.

圖6是本發明另一實施例的機器人之關節致動器的剖面圖。圖6所示關節致動器100A與圖1所示關節致動器100的不同處在於，在關節致動器100A中，扭力感測器140A與減速機130A的動力輸出件134A為一體成形的構件，而可進一步簡化關節致動器100A的結構，並縮小整體體積。6 is a cross-sectional view of a joint actuator of a robot according to another embodiment of the present invention. The difference between the joint actuator 100A shown in FIG. 6 and the joint actuator 100 shown in FIG. 1 is that in the joint actuator 100A, the torque sensor 140A and the power output member 134A of the reducer 130A are integrally formed Therefore, the structure of the joint actuator 100A can be further simplified and the overall volume can be reduced.

綜上所述，在本發明的機器人之關節致動器中，除了利用扭力感測器對關節致動器的輸出端進行扭力的感測，更利用雙編碼器對關節致動器的輸入端及輸出端的位移進行感測，且雙邊碼器與扭力感測器耦接至驅動電路板而可整合位移感測訊號及扭力感測訊號，以準確判斷機器人的受力狀態，進而準確地進行相應的高精度的動作。此外，扭力感測器連接於最接近輸出端的減速機的動力輸出件，而非連接於內部的動力輸入件，故扭力感測器與減速機相連接之結構設計可較為簡化。To sum up, in the joint actuator of the robot of the present invention, in addition to using the torque sensor to sense the torque at the output end of the joint actuator, the input end of the joint actuator is also detected by dual encoders. And the displacement of the output terminal is sensed, and the double-side encoder and the torque sensor are coupled to the driving circuit board to integrate the displacement sensing signal and the torque sensing signal, so as to accurately determine the force state of the robot, and then accurately respond accordingly. high-precision movements. In addition, the torque sensor is connected to the power output member of the reducer closest to the output end, rather than to the internal power input member, so the structural design of the connection between the torque sensor and the reducer can be simplified.

惟以上所述者，僅為本發明之較佳實施例而已，當不能以此限定本發明實施之範圍，即大凡依本發明申請專利範圍及發明說明內容所作之簡單的等效變化與修飾，皆仍屬本發明專利涵蓋之範圍內。另外本發明的任一實施例或申請專利範圍不須達成本發明所揭露之全部目的或優點或特點。此外，摘要部分和標題僅是用來輔助專利檔搜尋之用，並非用來限制本發明之權利範圍。此外，本說明書或申請專利範圍中提及的“第一”、“第二”等用語僅用以命名元件(element)的名稱或區別不同實施例或範圍，而並非用來限制元件數量上的上限或下限。However, the above are only preferred embodiments of the present invention, and should not limit the scope of the present invention, that is, any simple equivalent changes and modifications made according to the scope of the patent application of the present invention and the contents of the description of the invention, All still fall within the scope of the patent of the present invention. In addition, it is not necessary for any embodiment of the present invention or the claimed scope of the present invention to achieve all of the objects or advantages or features disclosed in the present invention. In addition, the abstract part and the title are only used to assist the search of patent documents, and are not used to limit the right scope of the present invention. In addition, terms such as "first" and "second" mentioned in this specification or the scope of the patent application are only used to name the elements or to distinguish different embodiments or scopes, and are not used to limit the number of elements. upper or lower limit.

50:機器手臂 100、100A:關節致動器 110:驅動裝置 112:線圈 114:轉子 120:驅動軸 122:輸入軸 124:輸出軸 130、130A:減速機 132:動力輸入件 134、134A:動力輸出件 140、140A:扭力感測器 145:驅動電路板 150:雙編碼器 150a:輸入模組 150b:輸出模組 152:輸入旋轉件 154:輸出旋轉件 156:電路板 158a:輸入磁盤 158b:輸出磁盤 159a:輸入感測器 159b:輸出感測器 160、160a、160b:鎖附件 170:鎖定組件 180:殼體 190:連接件 50: Robot Arm 100, 100A: Joint Actuator 110: Drive 112: Coil 114: Rotor 120: Drive shaft 122: Input shaft 124: output shaft 130, 130A: reducer 132: Power input 134, 134A: PTO 140, 140A: Torque sensor 145: Drive circuit board 150: Dual encoder 150a: Input modules 150b: Output module 152: Input rotary 154: Output rotating parts 156: circuit board 158a: input disk 158b: output disk 159a: Input sensor 159b: Output sensor 160, 160a, 160b: Lock attachment 170: Lock Assembly 180: Shell 190: Connector

圖1是本發明一實施例的機器人之關節致動器的剖面圖。圖2A及2B是圖1的機器人之關節致動器的分解圖。圖3A是圖1的雙編碼器的輸入模組之側視圖。圖3B是圖1的雙編碼器的輸入模組之立體側視圖。圖3C是圖1的雙編碼器的輸出模組之側視圖。圖3D是圖1的雙編碼器的輸出模組之立體圖。圖4是圖1的雙編碼器的剖面圖。圖5繪示圖1的扭力感測器連接機器手臂。圖6是本發明另一實施例的機器人之關節致動器的剖面圖。 FIG. 1 is a cross-sectional view of a joint actuator of a robot according to an embodiment of the present invention. 2A and 2B are exploded views of joint actuators of the robot of FIG. 1 . FIG. 3A is a side view of the input module of the dual encoder of FIG. 1 . FIG. 3B is a perspective side view of the input module of the dual encoder of FIG. 1 . FIG. 3C is a side view of the output module of the dual encoder of FIG. 1 . FIG. 3D is a perspective view of the output module of the dual encoder of FIG. 1 . FIG. 4 is a cross-sectional view of the dual encoder of FIG. 1 . FIG. 5 shows the torque sensor of FIG. 1 connected to the robot arm. 6 is a cross-sectional view of a joint actuator of a robot according to another embodiment of the present invention.

100:關節致動器 100: Joint Actuator

110:驅動裝置 110: Drive

112:線圈 112: Coil

114:轉子 114: Rotor

120:驅動軸 120: Drive shaft

122:輸入軸 122: Input shaft

124:輸出軸 124: output shaft

130:減速機 130: Reducer

132:動力輸入件 132: Power input

134:動力輸出件 134: PTO

140:扭力感測器 140: Torque sensor

145:驅動電路板 145: Drive circuit board

150:雙編碼器 150: Dual encoder

152、154:旋轉件 152, 154: rotating parts

156:電路板 156: circuit board

158a、158b:磁盤 158a, 158b: Disk

159a、159b:感測器 159a, 159b: Sensors

160:鎖附件 160: Lock attachment

170:鎖定組件 170: Lock Assembly

180:殼體 180: Shell

Claims

一種機器人之關節致動器，包括：一驅動裝置；一驅動軸，連接於該驅動裝置，該驅動裝置用以驅動該驅動軸轉動；一減速機，包括一動力輸入件及一動力輸出件，其中該動力輸入件及該動力輸出件套設於該驅動軸，該動力輸入件連接於該驅動軸與該動力輸出件之間；一扭力感測器，連接於該減速機的該動力輸出件；以及一雙編碼器，連接該驅動裝置及該驅動軸，該驅動裝置位於該雙編碼器及該減速機之間，其中該雙編碼器包括一輸入模組及一輸出模組，該驅動軸包括一輸入軸及一輸出軸，其中該輸入模組連接於該輸入軸且同步轉動，該輸出模組連接該輸出軸且同步轉動，該輸入模組及該輸出模組共軸設置，其中該輸入模組包括一輸入磁盤及一輸入旋轉件，該輸出模組包括一輸出磁盤及一輸出旋轉件，其中該輸入磁盤固定於該輸入旋轉件，該輸入旋轉件鎖固於該輸入軸上，該輸出磁盤固定於該輸出旋轉件，該輸出旋轉件鎖固於該輸出軸上。 A joint actuator of a robot, comprising: a drive device; a drive shaft connected to the drive device, the drive device is used to drive the drive shaft to rotate; a reducer, including a power input piece and a power output piece, The power input piece and the power output piece are sleeved on the drive shaft, the power input piece is connected between the drive shaft and the power output piece; a torque sensor is connected to the power output piece of the reducer ; And a pair of encoders, connect this drive device and this drive shaft, this drive device is located between this double encoder and this reducer, wherein this double encoder comprises an input module and an output module, this drive shaft Including an input shaft and an output shaft, wherein the input module is connected to the input shaft and rotates synchronously, the output module is connected to the output shaft and rotates synchronously, the input module and the output module are coaxially arranged, wherein the The input module includes an input disk and an input rotary member, the output module includes an output disk and an output rotary member, wherein the input disk is fixed on the input rotary member, and the input rotary member is locked on the input shaft, The output disk is fixed on the output rotary member, and the output rotary member is locked on the output shaft.

如請求項1所述的機器人之關節致動器，其中該動力輸入件為一帽型柔輪，該動力輸出件為一剛輪。 The joint actuator of a robot according to claim 1, wherein the power input member is a hat-shaped flexible wheel, and the power output member is a rigid wheel.

如請求項1所述的機器人之關節致動器，包括至少一鎖附件，其中該至少一鎖附件將該扭力感測器鎖附於該動力輸出件。 The joint actuator of a robot as claimed in claim 1, comprising at least one lock accessory, wherein the at least one lock accessory locks the torque sensor to the power output member.

如請求項1所述的機器人之關節致動器，其中該扭力感測器一體成形地連接於該動力輸出件。 The joint actuator of a robot as claimed in claim 1, wherein the torque sensor is integrally connected to the power output member.

如請求項1所述的機器人之關節致動器，其中該雙編碼器包括一電路板、一輸入感測器及一輸出感測器，該輸入感測器及該輸出感測器配置於該電路板上，該輸入感測器對應於該輸入旋轉件的該輸入磁盤，該輸出感測器對應於該輸出旋轉件的該輸出磁盤。 The joint actuator of a robot as claimed in claim 1, wherein the dual encoder comprises a circuit board, an input sensor and an output sensor, and the input sensor and the output sensor are arranged on the On the circuit board, the input sensor corresponds to the input disk of the input rotor, and the output sensor corresponds to the output disk of the output rotor.

如請求項5所述的機器人之關節致動器，其中該輸入磁盤及該輸出磁盤共平面地設置。 The joint actuator of a robot as claimed in claim 5, wherein the input disk and the output disk are disposed coplanarly.

如請求項5所述的機器人之關節致動器，其中包括一驅動電路板，該驅動電路板耦接該扭力感測器及該雙編碼器，用以接收該扭力感測器之感測訊號。 The joint actuator of a robot as claimed in claim 5, comprising a driving circuit board coupled to the torque sensor and the dual encoder for receiving the sensing signal of the torque sensor .

如請求項7所述的機器人之關節致動器，其中該輸入感測器及該輸出感測器共平面地設置，且該電路板耦接該驅動電路板，該輸入感測器及該輸出感測器用以分別提供感測訊號至該電路板，該電路板提供該些感測訊號至該驅動電路板。 The joint actuator of a robot as claimed in claim 7, wherein the input sensor and the output sensor are disposed coplanarly, and the circuit board is coupled to the driving circuit board, the input sensor and the output The sensors are used for respectively providing sensing signals to the circuit board, and the circuit board provides the sensing signals to the driving circuit board.

如請求項1所述的機器人之關節致動器，包括一鎖定組件，其中該鎖定組件對應於該驅動軸，當該驅動裝置停止時，該鎖定組件鎖定該驅動軸。 The joint actuator of a robot as claimed in claim 1, comprising a locking component, wherein the locking component corresponds to the driving shaft, and when the driving device stops, the locking component locks the driving shaft.

如請求項1所述的機器人之關節致動器，其中該扭力感測器藉由一連接件連接所述機器人的一機器手臂。 The joint actuator of a robot as claimed in claim 1, wherein the torque sensor is connected to a robotic arm of the robot through a connecting piece.

如請求項1所述的機器人之關節致動器，其中該驅動裝置為一無框馬達。 The joint actuator of a robot according to claim 1, wherein the driving device is a frameless motor.

如請求項1所述的機器人之關節致動器，包括一殼體，該驅動裝置、該驅動軸、該減速機、該扭力感測器以及該雙編碼器容置於該殼體內。 The joint actuator of a robot as claimed in claim 1 includes a casing, and the driving device, the drive shaft, the reducer, the torque sensor and the double encoder are accommodated in the casing.