1357471 九、發明說明： 【發明所屬之技術領域】 本發明係有關一種致動裝置’一種可根據負载與輸入之關係 自動調整機械剛性與量測外力’並具備定位及傳遞能量功能之可 力量控制致動機構。 【先前技術】 々日平乂於1寻虮贼迷機等具高剛性與高力量輪出之機械致動裝置 在放大輸入力量之時，僅能執行定位控制，無法在缺乏外部力量 感測器之下達到敎力量控制之需求’具紐之機械致動裝置具 有可力$控制、降低能量輸人驅動狀損壞可紐及賴操作環 境等優點。因此現今已有少部分具撓性之機械致動裝置已被應用 於機器人系統、機械傳動裝置等上。 無論是用於研究或缝用途，具力量控歡機械祕之阻抗 ^響應可程式_或機構輯的方式達成，執行與環境互動、 境中物體任務。然而’當控制系統在無法即時預測環 持系統之安全行為Γ系統失效時’唯有機械式之撓性設計可以维 帆讓職固定， 無法同時滿足操作效能互動化之設計等因素’導致 特定任務之機器系統之上之需求，也無法廣泛利用於非 有高安全紅蛛錢作，尤其是需要具 于元導致實際應用上的困難。 【發明内容】 口。，树明之目的為提供—種體積小且模組化之可力量控制致動 :二=需外加額外驅動器與力量感測元件即可根據負载與輸 & 動^周整機械剛性與量測力量，並具備定位及傳遞能量 功能之可力量控制致動機構。 本电明係為—種不f外加額外驅動即可根據負載與輸入 係自動調整機械剛性與量測外力，並具備定位及傳遞力量功能之 可力里控娜_合致動機構。其主要係由—舰馬達，一輸入 傳動機構—適應性機械剛性調整機構，-鋼索輸出傳動機構盘 其他機械树所組成。輸人傳動機構主要係由—渦桿、渦輪對與 :可允許線性移動與旋轉運動之滾珠花鍵對組合而成。中空之渦 杯内相鍵與;袞珠化她承結合，涡桿兩端以鍵與移動齒輪結合， 使渦桿及移動錄對可同時隨輸人力錢轉獅，隨外力作用於 尚輪之反作用力做線性運動，配合適應性機械剛性調整機構可提 供扭力放大、運動傳輸及自鎖煞車之功能。 適應性機械_聰機構主要係由數個不_性之魏 可移動式彈簧座、齒輪對 '滑台、線性導桿與螺桿所組成。四個 具預力並聯之低概壓畴簧，根據麟台_之鑛彈箸座與 固定基座間壓縮量’兩個—組沿對應之導桿運動，提供滑台抵抗 渴桿線性雜所需之抗力；雙邊兩段麵觸桿兩末端分別安裝 固定位置之齡’可P4齒輪轉動關步旋轉；當雙邊兩段型梯型 螺桿末端其-齒輪旋轉 孔之Γ個输_物#^^== 彻獅 線性運動，同步峨籍也娜沿螺桿前後 移動彈菁座接觸時，則或遠離。當高剛錄縮彈勞與 之總塵縮位能，即為系M w生將增加，而所有壓縮彈簧 力。此時系統之高剛性特:：量’同時提供象輸出扭 需之效能航應頻寬；反之錄或高鮮作動所 時’則系統蝴讀嫌w。在提供= f或與環境互動作動所紐能鼓應雜同時，可以保默機 接觸時之女全性。而齒輪對作用之時間點，將根據外力之大小及 輸入端是否提供旋轉之能量而定，即當系統之輸出外力增加至使 滑台移動，進而帶動移動齒輪對沿輸入花鍵軸移動，超過移動齒 輪與固定齒輪對之啟動位置，即移動齒輪對最初接觸相對應固定 齒輪對之位置’此時如同時伴隨輸入端旋轉，移動齒輪對將同步 疋轉進V帶動固疋齒輪對旋轉，並以前述之機制使高剛性彈 簧線陡移動旋轉方向與輪出外力方向配合使高剛性彈簧向移 動彈簧座逼近時，齡統之剛性與彈性錄上升，將使移動彈菁 座向平衡位置移動m賊存於移域輪與固定齒輪對啟動 位置之彈性位能大於等於輸出外力時，則迫使移動錄對與固定 齒輪對分離，高剛性壓縮彈簧座則不再移動，新的系統剛性、壓 縮位置與外力之雜即鑛絲；反之，錢轉方向與輸出外力 方向配合使高曝彈簧向飾_座_時，K狀囉轉 性位能π ’此時如降低輸料力使祕贿對翻定齒輪對分 離，或停止提供輸入旋轉運動，高剛性壓縮彈簧座則不再移動， 新的系統剛性、壓齡置與外力之特性即觸定m述之驅 動機制’根據系統所受負載與輸人之間的力量大小與輸入驅動方 向之間的關係，本發明將在不需要額外致動器的情況下，即可調 整系統在不同受力範圍之系統剛性，以因應不同的系統操作需求， 達到隨負載外力與控制輸入自行調整改變機械剛性之功能。此外， 根據線性電位ϋ所量測之鷄彈簧座移動量錢端所量測之輸 角度關係’利用虎奴律將可從彈簧之總壓縮量反推 :系、献輸出外力’達到力量量測效果。外力量測之方式可改用 八他類型之顧式或電子核·，域 者，因輸出運動方向與受力方向锦你、料再 輸出外力之反作動將透過彈簧傳遞鍵解耗，使得 輸入致動哭甘士 ⑹寻遞於固疋基座上，可完全保護 /、中’適應性機械剛性調整機構可不包含於整體機 編输雜_整改變機 輸出傳動機構主要係由一滑輪 構所组成，輸人滑輪利_讀=動=索與·調整失持機 分別位於輪續人滑輪對上_^動輸4滑輪，而鋼索將透過 月輪對上的鋼索夹持純定，而位於輸入滑輪 1357471 上之張力調整器，將可以提供鋼索所需要張力，同時因非使用摩 擦力傳輸，將可提供零機械背隙傳輸之功能。 本發明可應用於不同種類的旋轉驅動源上，如步進馬達+ 轉氣動馬達、超音波馬達等，邱具備—種以上之機械剛性，= 分別滿足安全與魏，取代傳賊城設計，絲於各類 統，應聽不同環境中，制具有絲作魏仍可與人類環^進 行安全的互動行為。 【實施方式】 茲配合圖式將本發明作較佳實施例詳細說明如下。 參閱第-圖，本發明之適應轉_合致動器之立體圖，及 圖二、圖三，本發明之適應性彈_合致動器實施例之前視圖與 下視圖，與圖四之系統特性示意圖。其中包含： -可承接輸人旋轉健馬達M1之固絲細2A，配合固定基 座102B，以螺絲之方式夾持導桿職、細與渦輪支持細， 作為固絲座；-皮帶輪崎接旋轉値馬細之輸出端，經 由皮帶帶動皮帶輪觀，該伺服馬達可以是其他類型之驅動源，如 步進馬達、旋轉氣動馬達、超音波馬達等；-連接於皮帶輪權且 經固定基座102A與聰以軸承夾緊之可旋轉輸入花鍵轴1〇 ;透過 皮帶輪108，則操縱旋轉飼服馬達奶可使輸入花鍵轴軸基座 102A、102B之間產生旋轉之相對運動，同時透過容許輸入花鍵轴 應疋轉與線f生移動之;^鍵轴承套1〇卜可帶動以鍵結合於花鍵轴承 1357471 套101上之渴桿103同步旋轉’並進而帶動以鍵分別固定於花鍵轴 承套101兩端之移動齒輪301A、3〇1B同步旋轉；以上之輸入傳驅 動裝置之設計，可為非皮帶輪組之設計，如鍊輪、齒輪組或煞車 線等間接或直接驅動之震置者；一移動滑台測板2〇1A、2〇1B與滑 台基座202A、202B以螺絲組成之移動滑台，而利用兩個分別内嵌 於滑台基座202A、202B内側之對應軸承内圈來夾持渦桿1〇3之末 兩端，則透過内嵌於滑台基座202A、2〇2Br側之對應軸承内圈， 可驅動移動滑台沿輸入花鍵軸1〇線性移動’同時允許被移動滑台 内嵌的渦桿103與移動齒輪對301A、3〇1B隨花鍵軸承套1〇1相對於 移動滑台旋轉，一移動彈簧座2〇與滑台側板2〇ib以螺絲結合，隨 移動滑台受作用於渦桿103上之軸向反作用力與渦桿1〇3、移動齒 輪301A、301B分別沿導桿203A、203B與輸入花鍵軸1〇線性移動； 四個位於固定基座102A或固定基座102B與移動彈簧座2〇之間具 預力並聯之低剛性壓縮彈簧204A、204B、204C、204D，根據與移 動滑台同動之移動彈簧座20與固定基座l〇2A、102B間之相對運動1357471 IX. Description of the Invention: [Technical Field] The present invention relates to an actuating device 'a force that can automatically adjust mechanical rigidity and measure external force according to load and input' and has a function of positioning and transmitting energy Actuation agency. [Prior Art] The mechanical actuators with high rigidity and high power rotation, such as the thief fan, can only perform positioning control when the input force is amplified, and cannot be used in the absence of external force sensors. Under the sturdy force control requirements, the mechanical actuators have the advantages of powerful control, reduced energy input and drive damage, and operating environment. Therefore, a small number of flexible mechanical actuators have been applied to robot systems, mechanical transmissions and the like. Whether it is used for research or sewing purposes, it has the power to control the impedance of the mechanics. The response can be achieved by means of a programmatic or institutional compilation, performing interactions with the environment and objects in the environment. However, 'when the control system can't predict the safety behavior of the loop system in real time, the system fails. Only the mechanical flexible design can make the sails fixed and can't meet the design of the interaction efficiency of the operation at the same time'. The demand on the machine system can not be widely used in non-high-security red spider money, especially the difficulty of practical application. SUMMARY OF THE INVENTION The purpose of Shuming is to provide a small and modular force controllable actuation: 2 = additional drive and force sensing components are required to adjust the mechanical rigidity and measurement force according to load and transmission. And with the ability to position and transfer energy to control the actuation mechanism. This type of motor is a kind of non-f plus extra drive to automatically adjust the mechanical rigidity and measurement external force according to the load and input system, and has the function of positioning and transmitting power. It is mainly composed of a ship motor, an input transmission mechanism, an adaptive mechanical rigidity adjustment mechanism, a cable output transmission mechanism disk and other mechanical trees. The input transmission mechanism is mainly composed of a vortex rod, a turbine pair and a ball spline pair that can allow linear movement and rotational movement. The inner phase of the hollow vortex cup is combined with the beading of the bead, and the two ends of the vortex are combined with the moving gear, so that the vortex rod and the moving recording can simultaneously turn the lion with the human capital, and the external force acts on the wheel. The reaction force makes linear motion, and the adaptive mechanical rigidity adjustment mechanism can provide functions of torque amplification, motion transmission and self-locking braking. The adaptive machinery _ Cong mechanism is mainly composed of several non-sexual Wei movable spring seats, gear pairs 'slide table, linear guide rod and screw. Four low-pressure domain springs with pre-parallel parallel connection, according to the compression between the mine cymbal cymbal and the fixed base, the two groups are moved along the corresponding guide rods to provide the linear resistance of the sliding table against the thirsty rod. The resistance of the two sides of the two-sided surface contact rods are respectively fixed at the fixed position of the 'P4 gears can be rotated and closed; when the two-stage two-stage ladder type screw ends its gear-rotating holes, one is lost_object#^^= = The lion's linear movement, when the 峨 也 也 沿 沿 沿 沿 沿 沿 沿 沿 沿 沿 沿 沿 沿 沿 沿 沿. When Gao Gang recorded the shrinkage and the total dust shrinkage energy, the system M w will increase, and all compression spring forces. At this time, the system's high rigidity special:: quantity 'at the same time provides the efficiency of the output as needed for the output yaw; otherwise, when the recording or high fresh action is performed, the system reads suspicion w. At the same time as providing = f or interacting with the environment, you can keep the female fullness at the same time as the machine. The time point at which the gear pair acts will depend on the magnitude of the external force and whether the input end provides the energy of the rotation, that is, when the external force of the output of the system is increased to move the sliding table, thereby moving the moving gear pair to move along the input spline axis, exceeding The starting position of the moving gear and the fixed gear pair, that is, the position of the fixed gear pair corresponding to the initial contact of the moving gear pair. At this time, if the input end is rotated at the same time, the moving gear pair will be synchronously turned into the V-driven fixed gear pair, and When the high-rigidity spring line is moved in a direction of rotation and the direction of the wheel-out external force is matched by the aforementioned mechanism, when the high-rigidity spring approaches the moving spring seat, the rigidity and the elastic record of the age increase, which will move the moving elastic seat to the equilibrium position. When the elastic position energy of the thief in the starting position of the shifting wheel and the fixed gear is greater than or equal to the output external force, the mobile recording pair is forced to be separated from the fixed gear pair, and the high rigidity compression spring seat is no longer moved, and the new system rigidity and compression position are The mixed with the external force is the mineral wire; on the contrary, the direction of the money is matched with the direction of the output external force to make the high-expansion spring turn to the _ seat _, K-shaped The position energy π 'At this time, if the feeding force is reduced, the secret bribe is separated from the turning gear pair, or the input rotary motion is stopped, and the high-rigidity compression spring seat is no longer moved. The new system rigidity, the age setting and the external force characteristics That is to say, according to the relationship between the magnitude of the force between the load and the input and the input driving direction, the present invention can adjust the system without additional actuators. The system rigidity of different force ranges, in response to different system operation requirements, achieves the function of changing the mechanical rigidity with the external force of the load and the control input. In addition, according to the linear potential ϋ measured by the weight of the chicken spring seat measured by the money end of the measured angle relationship 'utilize the tiger slave law will be able to reverse the total compression of the spring: the system, the output of the external force' to reach the force measurement effect. The method of external force measurement can be changed to the type of the eight-type or electronic core. The domain is replaced by the direction of the output motion and the direction of the force. The reaction of the external force is output through the spring transfer key, making the input Actuate the crying Ganshi (6) to find on the solid foundation, can fully protect /, the 'adaptive mechanical rigidity adjustment mechanism can not be included in the overall machine knitting and transmission _ whole change machine output transmission mechanism is mainly by a pulley structure Composition, input pulley pulley _read = movement = cable and · adjustment of the lost machine are located on the wheel of the wheel _ ^ moving 4 pulleys, and the cable will be fixed by the cable on the moon wheel, and located The tension adjuster on the input pulley 1357071 will provide the required tension for the cable and will provide zero mechanical backlash transmission due to the non-frictional transmission. The invention can be applied to different kinds of rotary driving sources, such as stepping motor + rotary air motor, ultrasonic motor, etc., Qiu has more than one kind of mechanical rigidity, = respectively satisfying safety and Wei, replacing the thief design, silk In all kinds of systems, we should listen to different environments, and the system can be safely interacted with human beings. [Embodiment] The present invention will be described in detail as a preferred embodiment with reference to the drawings. Referring to the drawings, a perspective view of an adaptable rotary actuator of the present invention, and Figs. 2 and 3, a front view and a bottom view of an adaptive elastic-engagement actuator embodiment of the present invention, and a system characteristic diagram of Fig. 4 are provided. The utility model comprises: - a fixing wire 2A capable of receiving the rotating motor M1, and a fixing base 102B, holding the guiding rod by screws, finely supporting the fine and the turbine, as a fixing seat; - the pulley rotating The output end of the hummer is driven by a belt to drive the pulley. The servo motor can be other types of driving sources, such as stepping motor, rotary air motor, ultrasonic motor, etc. - connected to the pulley and fixed to the base 102A and Cong The rotatable input spline shaft 1〇 is clamped by the bearing; through the pulley 108, the rotary feed motor milk is manipulated to generate a relative motion of the rotation between the input spline shaft bases 102A, 102B, while allowing the input flower The key shaft should be twisted and moved with the line f; the ^ key bearing sleeve 1 can be driven to bond with the splined rod 103 on the spline bearing 1357471 set 101 synchronously rotating 'and then drive the key to be fixed to the spline bearing respectively The moving gears 301A, 3〇1B at both ends of the sleeve 101 rotate synchronously; the above input transmission drive device design can be designed for non-pulley sets, such as sprocket, gear set or brake line, etc. A moving slide table 2〇1A, 2〇1B and a slide base 202A, 202B are moved by a screw, and two correspondingly embedded inside the slide bases 202A, 202B are respectively used. The inner ring of the bearing is used to clamp the ends of the vortex rods 1〇3, and the movable bearing slides are linearly inserted along the input spline shaft through the corresponding bearing inner ring embedded on the sliding bases 202A, 2〇2Br side. The movement 'at the same time allows the vortex rod 103 and the moving gear pair 301A, 3〇1B embedded in the moving slide table to rotate with the spline bearing sleeve 1〇1 with respect to the moving slide table, one moving spring seat 2〇 and the slide side plate 2〇 The ib is screwed, and the axial reaction force acting on the scroll 103 with the moving sliding table and the scroll 1〇3, the moving gears 301A, 301B move linearly along the guide rods 203A, 203B and the input spline shaft 1 respectively; Four low-rigid compression springs 204A, 204B, 204C, 204D between the fixed base 102A or the fixed base 102B and the moving spring seat 2A are pre-forced in parallel, according to the moving spring seat 20 and the movable sliding table Relative motion between fixed bases l〇2A, 102B
方向’低剛性彈簧204A、204B沿導桿203A ’低剛性彈簣2〇4C、204D /α導;f干203B，提供滑台抵抗渴桿1〇3線性移動所需之初步彈性位能， 即系統初步提供之輸出能量。則伺服馬達Ml所施予輸入花鍵軸1〇 之輸出力量將透過花鍵軸承套101，帶動渦桿1〇3與移動齒輪3〇1A、 301B同步旋轉與線性運動；而渦桿1〇3之旋轉與線性移動所造成之 總進給量將帶動以軸40卜軸承409固定於渦輪支持座1〇5上之渦輪 1357471 i〇4轉動；同時崎個獅固定於渦獅4上之滑輪搬，將隨渦輪 104經轴承409相對軸4轉動。其中’可容許線性移動與旋轉運動 之花鍵軸與花鍵軸承套可改為其他等狀频元件，且線性移動 與旋轉運動可獨立設計來完朗等之效果，如使用兩組不同運動 方向之軸承對、凸輪對、滑麟、四連桿等。而作為傳動的渦輪 與渦桿可赠祕他她之賴元件達朗等效果，如滾珠螺桿 等。一雙邊兩段型梯型螺桿30以嵌於固定基座1〇2八與1〇26内側之 軸承内圈錄，僅允許此—雙邊碰娜侧桿3_賴定基座 102A與102B轉動’且其兩末端分別安裝固定齒輪3〇2a、3〇2b ;以 上軸承之配置方式可設為單邊或改用墊片；雙邊兩段型梯型螺桿 30將隨齒卿2A或齒輪3G2B轉動關步旋轉，同時雙邊兩段型梯 型螺桿30將致動分別具左、右職對稱_孔之兩個高剛性彈菁 座3〇3 A、3〇犯同步沿以螺絲固定於固定基座i 〇2續】㈣間之導桿 305與雙邊碰型梯魏#3G線性運動；而分別固定糾個高剛性 彈簧座303A、303B上之高剛性壓縮彈簧3〇4A、3〇4B將隨其沿導桿 305與雙邊兩段型梯型螺桿30同步線性運動，向移動彈簧座2〇同時 逼近或同時遠離·’當高剛性壓縮彈簧3G4A或(與)3刚與移動彈菁 座20接觸時，則系統之輸出暖將增加，此咖高剛性壓縮彈著 304A或(與)304B與低剛性壓縮彈簧2〇4A、2〇4B、2〇4C·、2〇4〇之總 壓縮位能’提供膽1G4之總輸出扭力。此_、統之高剛性特性， 可提供系統高負載或高鮮作動所需之效能與反應頻寬；反之， 12 1357471 當高剛性彈簧3G4A、3G4B遠離雜彈簧座2〇時，_統在輸出等 效力量時之輸出職將減少’在提供纽低貞載或與環境互動作 賴需效能與反細寬fgj時，可贿證與觀時之安全性。 而移動齒輪301A或301B與固定齒輪302A或302B作用之時間 點，將根據外力作用於渦輪104之反作用力及旋轉飼服馬達⑷是 否提供旋轉之能量而定，即當系統輸出作用於渦輪1〇4之軸向反作 用力增加至使移崎台鷄，視外力方向蚊帶動機齒輪3〇ia 與301B移動超過啟動位置A或啟動位置B，即移動齒輪對或 301B最初接觸分別相對應之固定齒輪3〇2八或3〇23之致動位置時， 同時如伴隨旋轉伺服馬達M1輸入端旋轉，將同時帶動移動齒輪 301A與301B旋轉’進一步帶動固定齒輪302A或302B旋轉，並以前 述之機制使高剛性壓縮彈簧3〇4A、3〇4B線性移動；當伺服馬達M1 旋轉方向與輸出外力方向配合使高剛性彈簧3〇4A、3〇4B向移動彈 簀座20逼近’至高剛性彈簧3〇4八或3〇43接觸移動彈簧座2〇時，則 系統之剛性與彈性位能上升，將使移動彈簧座2〇向其未受外力所 在之平衡位置移動’則當系統儲存於移動齒輪3〇1A與固定齒輪 302A或移動齒輪301B與固定齒輪3〇2B對應之啟動位置a或啟動位 置B之彈性位能大於等於渦輪1〇4輸出外力時，則移動齒輪3〇1八與 固定齒輪302A或移動齒輪3〇1B與固定齒輪3〇2B將分離，高剛性壓 縮彈簧座303A、303B則不再移動，新的系統剛性、壓縮位置與外 力之特性即重新定義；反之，當伺服馬達Mi輸入方向與渦輪1〇4 13 1357471 輸出外力方向配合使高剛性彈簧304A ' 304B向移動彈簧座2〇遠離 時’則系統之剛性與彈性位能下降，此時降低渦輪刚輸出外力使 移動齒輪301A與固定齒輪3〇2A或移動齒輪3〇1B與固定齒輪3〇2b 分離，或伺服馬達Ml停止提供輸入旋轉運動時，高剛性壓縮彈簧 座303A、3G3B則不再移動’新的系統!^性、壓縮位置與外力之特 性即重新定義。系統之輸出特性將如圖四所示。 一線性移動電位器S1固定於電位計固定座2〇5上，線性移動電 位器si輸入端則以螺帽固定於固定基座1〇2A上，電位計固定座2〇5 則固定於機彈簧座20上；線性雜電位㈣所制之移動彈菁 座20之移動量’利用虎克定律將可從彈簧之總壓縮量可反推出系 統於渦輪1G4之輸出外力，_力量制之效果。雜移動電位計 可設為光學形式、非光學形式之位置感·者，如光學尺、紅外 線、可變電阻等，或簡化不使用。因伺服馬達⑷輸出運動方向與 渦輪H)4受力方向賴_4、轉⑽錄人花賴、花鍵轴承套 1〇1_，使得渦輪104輸出外力之反作用力將透過低剛性壓縮彈 貫204A、204B、204C、204D及高剛性壓縮彈簧304A、3_分別 傳遞於固疋基座l〇2A、102B與高剛性廢縮彈箐座3〇3a、3()3b上， 可達成完全保護輸人鑛馬達M1之效果。其t壓縮彈簧可改用等 效彈簧，如轉、鑛等，且各個㈣鐘之雜係數可為線性 或非線贱化’並且可任意搭配，任意改變使用數量，以達到不 同剛性特性之效果。 1357471 /月輪4〇4以鍵固疋於輸出軸4〇3末端，一鋼索夾持器4_以 螺絲定固定於滑輪綱上；末端加裝光學編碼器82之輸出轴彻則 以嵌入固定基座102B之轴承與C型扣環固定，僅允許軸向旋轉之運 動；-中空螺絲4〇5旋入固定於滑輪4〇2上之螺絲座4〇6與鋼索夾持 器（ΠΑ 407丑組5而成鋼索張力調節器，鋼索一端將按順序分別 穿過鋼索夾持器407A、-中空螺絲405、鋼索夾持器407B ;鋼索 中段以鋼索夾持器侧固定於滑輪撕上，繞滑輪撕數圈，一端 繞滑輪搬數圈後，分別穿過鋼索夾持H4G7A —中空螺⑽5、 鋼索夾持器_所組成之張力調整器，以鋼索夾持器舰、麵 ^螺絲夾緊固定；鋼索另—端反向繞滑輪搬數圈後，以鋼索夾持 裔4〇8A固疋於滑輪術上·當鋼索夾持器舰放鬆，鋼索夹持器 侧夾緊鋼索時’旋出位於螺絲座鄕中空螺絲4〇5，鋼索爽持器 侧將帶射向外移動，齡_增加至—定值後，將鋼索夹持 讀A重新以螺絲拾緊’即可將中空螺細重新旋入螺絲座槪 變鋼索之現有張力。重複上述之行為，義索張力可任意 调正相對增加，達到鋼索張力調整之魏；當張賴高時，則滑 輪4〇2可透過鋼索之張力帶崎輪彻同方向無㈣旋轉運動。透 與光學編碼器S2之輸_角度，也可估計系 縮量，透過虎克定律可反推出系統於渦細之輸 可整器可改為其他形式，如雙層滑輪設計， 疋刀另j固疋於單一滑輪兩端之鋼索達到張力調整之功 效。 根據選擇控制光學編碼器S2或線性移動電位器S i之迴授訊號， 可決定系統之控制模式，即位置控制或力量控制模式。其中，輸 出傳驅動裝置之設計，可為鋼索驅動之設計，如皮帶輪、鍊輪、 齒輪組或煞車線等間接或直接驅動之裝置者，或簡化不使用，直 接以渦輪輸出。 應用本創作於不同種類的旋轉驅動源上，因具備一種以上之 機械剛性，及可調整之適應性特性之模組化設計，根據系統所控 制之模式，可分別滿足安全與效能，取代傳統致動器設計，已具 備高度產業利用價值。 惟以上述之具體實例說明，係以例闡釋本創作之特點及功效， 而非用以限定本創作之可實施範疇，因此在為脫離本創作之精神 與技術範疇下，皆應仍屬下述之申請專利範圍所涵蓋。 【圖式簡單說明】 第一圖係本發明適應性彈性耦合致動器之立體圖。 第二圖係本發明適應性彈性耦合致動器之前視圖。 第三圖係本發明適應性彈性耦合致動器之下視圖。 第四圖係本發明適應性彈性耦合致動器之系統特性示意圖。 【圖式中之參照號數】 1357471 10-輸入花鍵軸 101--花鍵軸承套 102A--固定基座 103-渦桿 105-渦輪支持座 107--皮帶輪 20-移動彈簧座 201A--滑台側板 202A—滑台基座 203A--導桿 204A--低剛性彈簧 204C--低剛性彈簧 205-電位計固定座 30-雙邊兩段型梯型螺桿 301A--移動齒輪 302A--固定齒輪 303A--高剛性彈簧座 304A-高剛性彈簧 305-導桿 S2--光學編碼器 401-軸 M1--伺服馬達 102B--固定基座 104一满輪 108-皮帶輪 S1 --線性移動電位計 201B--滑台側板 202B--滑台基座 203B--導桿 204B--低剛性彈簧 204D—低剛性彈簧 301B--移動齒輪 302B--固定齒輪 303B-高剛性彈簧座 304B--高剛性彈簧 402—滑輪 17 1357471 403-輸出軸 405—中空螺絲 407A--鋼索夾持器 408A—鋼索爽持裔 409-軸承 404-滑輪 406-螺絲座 407B--鋼索夾持器 408B_鋼索爽持裔 18The direction 'low-rigidity springs 204A, 204B are guided along the guide rod 203A' low-rigidity magazines 2〇4C, 204D /α; the stems 203B provide the initial elastic potential energy required for the slide table to resist the linear movement of the thirsty rods 1〇3, ie The initial output energy provided by the system. Then, the output force of the input spline shaft 1〇 given by the servo motor M1 will pass through the spline bearing sleeve 101, and the vortex rod 1〇3 and the moving gears 3〇1A, 301B rotate synchronously and linearly; and the scroll 1〇3 The total feed caused by the rotation and linear movement will drive the turbine 1357471 i〇4 fixed on the turbine support 1〇5 with the shaft 40 bearing 409; and the pulley of the lion is fixed on the vortex 4 It will rotate with the turbine 104 via the bearing 409 relative to the shaft 4. Among them, the spline shaft and spline bearing sleeve which can tolerate linear movement and rotation movement can be changed to other equal-frequency components, and the linear movement and the rotary motion can be independently designed to achieve the effects such as the use of two different movement directions. Bearing pairs, cam pairs, slides, four links, etc. As the turbine and vortex of the transmission, it is possible to give him the effects of the components such as Dalang, such as ball screws. A double-sided two-stage ladder type screw 30 is recorded in a bearing inner ring embedded in the inner side of the fixed bases 1〇8 and 1〇26, and only allows the bilateral contact side rods 3_reliance bases 102A and 102B to rotate 'and The fixed gears 3〇2a and 3〇2b are respectively installed at the two ends; the above bearing arrangement can be set as a single side or a gasket; the double-sided two-stage ladder screw 30 will rotate with the tooth 2A or the gear 3G2B. At the same time, the two-stage two-stage ladder type screw 30 will actuate the two high-rigidity elastic stalks of the left and right positions symmetry _ hole 3〇3 A, 3 〇 同步 synchronization along the screw to the fixed base i 〇 2 Continued 】 (4) between the guide rod 305 and the double-sided type ladder Wei #3G linear motion; and the high-rigidity compression springs 3〇4A, 3〇4B on the fixed high-rigidity spring seats 303A, 303B respectively will follow the guide rod 305 and the bilateral two-stage ladder type screw 30 synchronous linear motion, moving toward the moving spring seat 2〇 simultaneously approaching or simultaneously away from the 'when the high rigidity compression spring 3G4A or (and) 3 just comes into contact with the moving elastic cyanine seat 20, then the system The output warming will increase, this coffee is highly rigid and compresses the 304A or (and) 304B with the low rigidity compression spring 2〇4A, 2 4B, 2〇4C ·, 2〇4〇 the total potential energy of compression 'to provide a total torque output of bile 1G4. The high rigidity of the system can provide the performance and response bandwidth required for high load or high fresh operation of the system; on the contrary, 12 1357471 when the high rigidity springs 3G4A and 3G4B are away from the hybrid spring seat 2〇, the output is output. The output of equivalent power will reduce the safety of bribes and time when providing low-cost or environmental interactions. The time point at which the moving gear 301A or 301B interacts with the fixed gear 302A or 302B depends on whether the reaction force of the external force acting on the turbine 104 and the rotational feeding motor (4) provide the energy of rotation, that is, when the system output acts on the turbine 1〇. The axial reaction force of 4 is increased to make the Miyazaki chicken, the external force direction mosquito belt motive gear 3〇ia and 301B move beyond the starting position A or the starting position B, that is, the moving gear pair or the 301B initial contact corresponding to the fixed gear respectively At the actuating position of 3〇2-8 or 3〇23, if the input end rotates with the rotation of the servomotor M1, the moving gears 301A and 301B will be simultaneously rotated to further drive the fixed gear 302A or 302B to rotate, and the mechanism described above is used. The high-rigidity compression springs 3〇4A, 3〇4B move linearly; when the servo motor M1 rotates in the direction of the output external force, the high-rigidity springs 3〇4A, 3〇4B approach the moving magazine 20 to the high-rigidity spring 3〇4 When the 8 or 3〇43 contacts the moving spring seat 2〇, the rigidity and elastic position of the system will rise, which will move the moving spring seat 2 to its equilibrium position where no external force is applied. When the system is stored in the moving gear 3〇1A and the fixed gear 302A or the moving gear 301B and the fixed gear 3〇2B corresponding to the starting position a or the starting position B, the elastic position energy is greater than or equal to the turbine 1〇4 output external force, then the moving gear 3〇 18 and the fixed gear 302A or the moving gear 3〇1B and the fixed gear 3〇2B will be separated, the high-rigidity compression spring seats 303A, 303B will no longer move, and the new system rigidity, compression position and external force characteristics are redefined; When the servo motor Mi input direction is matched with the output direction of the turbine 1〇4 13 1357471, the high-rigidity spring 304A '304B moves away from the moving spring seat 2', then the rigidity and elastic position of the system are reduced, and the turbine output is reduced. When the external force separates the moving gear 301A from the fixed gear 3〇2A or the moving gear 3〇1B from the fixed gear 3〇2b, or the servo motor M1 stops providing the input rotary motion, the high-rigidity compression spring seats 303A, 3G3B no longer move 'new The system! The characteristics of the sex, compression position and external force are redefined. The output characteristics of the system will be as shown in Figure 4. A linear moving potentiometer S1 is fixed on the potentiometer fixing base 2〇5, and the linear moving potentiometer si input end is fixed on the fixed base 1〇2A by a nut, and the potentiometer fixing seat 2〇5 is fixed to the machine spring. On the seat 20; the linear hetero-potential (four) made by the mobile ampoule 20 movement amount 'Using Hooke's law can be derived from the total compression of the spring can be reversed to the system output of the turbine 1G4 external force, _ force system effect. The hybrid mobile potentiometer can be set to an optical or non-optical position, such as an optical scale, an infrared ray, a variable resistor, etc., or simplified. Because the servo motor (4) output direction of motion and the turbine H) 4 force direction _4, turn (10) record the flower, the spline bearing sleeve 1〇1_, so that the reaction force of the turbine 104 output external force will pass through the low rigidity compression ball 204A , 204B, 204C, 204D and high-rigidity compression springs 304A, 3_ are respectively transmitted to the solid bases l〇2A, 102B and the high-rigidity shrink-reduction magazines 3〇3a, 3()3b, which can achieve complete protection and loss. The effect of the human mine motor M1. The t-compression spring can be changed to an equivalent spring, such as a transfer, ore, etc., and the (four) clocks can be linear or non-linear, and can be arbitrarily matched, and the number of uses can be arbitrarily changed to achieve different rigidity characteristics. . 1357471 / Moon wheel 4〇4 is fixed to the end of the output shaft 4〇3 by a key, a cable gripper 4_ is fixed on the pulley frame by screws; the output shaft of the optical encoder 82 is fixed at the end to be embedded and fixed. The bearing of the base 102B is fixed with the C-shaped buckle, and only allows the movement of the axial rotation; the hollow screw 4〇5 is screwed into the screw seat 4〇6 fixed on the pulley 4〇2 and the cable clamper (ΠΑ 407 ugly Group 5 is a cable tension adjuster. One end of the cable will pass through the cable gripper 407A, the hollow screw 405, and the cable gripper 407B, respectively. The middle part of the cable is fixed on the pulley to the pulley, and the pulley is wound. After several rounds of tearing, one end is moved around the pulley for several times, and the tension adjuster consisting of H4G7A-hollow screw (10)5 and wire rope clamper is respectively clamped through the steel cable, and clamped and fixed by the steel cable holder ship and the surface screw; After the cable is moved to the pulley in the opposite direction, the cable is clamped by the cable 4 〇 8A and fixed on the pulley. When the cable gripper is loosened, the cable gripper side clamps the cable when it is screwed out. The seat 鄕 hollow screw 4〇5, the cable side of the cable will move outward, and the age _ is increased to After the value is fixed, the steel cable is clamped and read A and re-screwed by screws. The hollow screw can be re-screwed into the existing tension of the screw seat and the steel cable. Repeat the above behavior, and the tension of the cable can be adjusted to increase relatively. When the tension is adjusted, the pulley 4〇2 can pass through the tension of the cable and the rotation of the cable can be rotated in the same direction without (four) rotation. Through the transmission _ angle of the optical encoder S2, the contraction can also be estimated. Through Hooke's law, the system can be reversed to the vortex. The converter can be changed to other forms, such as double-layer pulley design, and the shovel can be used to adjust the tension of the cable at both ends of a single pulley. Controlling the feedback signal of the optical encoder S2 or the linear movement potentiometer S i can determine the control mode of the system, that is, the position control or the force control mode. Among them, the design of the output transmission device can be designed for the cable drive, such as a pulley. Indirect or direct drive devices such as sprocket, gear set or brake line, or simplified to not use, directly output as a turbine. Application of this creation to different types of rotary drive sources, due to Modular design with more than one mechanical rigidity and adaptable adaptability, according to the mode controlled by the system, can meet the safety and efficiency separately, replace the traditional actuator design, and has high industrial utilization value. The above specific examples illustrate the characteristics and functions of the creations, and are not intended to limit the scope of implementation of the creations. Therefore, in the spirit and technology of this creation, the following applications should still be applied. BRIEF DESCRIPTION OF THE DRAWINGS [Brief Description] The first drawing is a perspective view of an adaptive elastic coupling actuator of the present invention. The second drawing is a front view of the adaptive elastic coupling actuator of the present invention. Below is a view of the system characteristics of the adaptive elastic coupling actuator of the present invention. [Reference number in the drawing] 1357471 10-Input spline shaft 101--spline bearing Sleeve 102A - Fixed base 103 - Vortex 105 - Turbine support 107 - Pulley 20 - Moving spring seat 201A - Slide side plate 202A - Slide base 203A - Guide rod 204A - Low rigidity bomb 204C--Low-rigidity spring 205-potentiometer fixing seat 30-double-sided two-stage ladder screw 301A--moving gear 302A--fixing gear 303A--high rigidity spring seat 304A-high rigidity spring 305-guide rod S2-- Optical encoder 401-axis M1--servo motor 102B--fixed base 104-full wheel 108-pulley S1-linear moving potentiometer 201B--slide side plate 202B--sliding table base 203B--guide bar 204B - Low rigidity spring 204D - Low rigidity spring 301B - Moving gear 302B - Fixed gear 303B - High rigidity spring seat 304B - High rigidity spring 402 - Pulley 17 1357471 403 - Output shaft 405 - Hollow screw 407A - Cable clamp Holder 408A—Steel rope cool 409-bearing 404-pulley 406-screw base 407B--wire rope clamp 408B_Steel rope cool holding 18