1374800 六、發明說明： 【發明所屬之技術領域】 本發明是有關於—種杻力發 順應性扭力輸出裝置。 5 、，且特別是有關於一種 【先前技術】 來更為人類帶 何__，為目_機如 人在作動時之安全規格，減低對使物：高機器 樣化的使用，因此習知提出-種雙致動二適用於更多 的每個關節上裝入兩個飼服馬達，其中一個馬達==手臂 角度，另一個馬達則是用以調^動 變關節剛性的作法則是以—大— 二種可調 ^^^,(serial elastic ^or) 〇 機構組成複雜，亦無法提供理想的扭力輸出值裝置不但 f發明内容】 有^^，本發_目㈣是錢供―_紐扭力輪出 、本I:明』:調J:=f，更具備扭力輸出限制功能。 圓般L f 触扭力輸㈣置，包括致動器 '第- 第-盤、多個滑動鎖、蓋盤以及多個彈性元件。 ，七套③在致動H的旋雜上，並具有多健向導槽。 :在’顧有多個容置槽。第二圓盤係套 i第-而位於第—81盤與基座之間，並適於相 π ΐ J轉/而且’第二圓盤具有多個弧形導槽，其中各 丄^ θ係自苐二圓盤之圓心朝第二圓盤之邊緣呈弧形延 4 1374800 « * 伸，且各弧形導槽對應至徑向導槽其中之一。 上述:^歸麟分财設於對應之弧形導槽* 内而適於沿對應之徑向導槽滑動1各滑動銷之-端^^ 軌槽，其中各轨槽之延伸方向係平行於徑 合於第二Μ上，且蓋盤包括龍以及凸緣， 在盤體邊緣，Μ緣具有多個徑向插槽以及朝向旋 面。上述這些彈性元件分別具有第—端及第二端，1374800 VI. Description of the Invention: [Technical Field of the Invention] The present invention relates to a responsive force output device. 5, and especially with regard to a kind of [prior art] to bring more __ to human beings, to reduce the safety specifications of the machine when the person is working, to reduce the use of the object: high machine type, so the conventional knowledge It is proposed that the double actuation 2 is suitable for loading more than two feeding motors on each joint. One motor == arm angle, and the other motor is used to adjust the rigidity of the joint. - Large - Two adjustable ^^^, (serial elastic ^or) 〇 The structure of the mechanism is complex, and it is not able to provide the ideal torque output value device. Not only the content of the invention] ^^, the hair _ eye (four) is the money for __ New torque rotation, this I: Ming": adjust J: = f, more torque output limit function. The circular L f touch torque transmission (four), including the actuator 'first-first disk, multiple sliding locks, cover disk and a plurality of elastic elements. Seven sets of 3 are on the rotation of the H, and have a multi-guide groove. : There are multiple accommodation slots in the 'Guo. The second disc sleeve i is - and located between the -81 disc and the base, and is adapted to phase π ΐ J turn / and 'the second disc has a plurality of curved guide grooves, wherein each 丄 ^ θ system Since the center of the second disc is curved toward the edge of the second disc, the arc extends 4 1374800 « * and each curved guide corresponds to one of the radial guides. The above: ^ 麟 分 分 分 设 设 设 对应 对应 对应 对应 对应 对应 对应 对应 对应 对应 对应 ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ The cover plate includes a dragon and a flange. At the edge of the disk body, the flange has a plurality of radial slots and a facing surface. Each of the elastic members has a first end and a second end, respectively.
係固定於對應之容置槽内’而第二端係穿過對應之軌槽 於徑向插㈣，並適於沿凸緣之表面移動至相鄰之徑向插二 内0 曰 ，上述之彈性元件為板型彈簧。 ，上述這些容置槽係相對上述基座 在本發明之一實施例中 在本發明之一實施例中 的中心而等圓周角排列。 在本發明之-實施例中，上述之表面為弧面或錐面。 本發明之順應性扭力輸出裝置的組成機構簡單，且係以純 機械的機構設計來在致動器過載輸出扭力時暫停輸出扭力，以 避免致動H因過度負載而損壞。此外，本發明之順應性 出裝置亦是透過純賊的機構設計來輕順絲度了以因應各 種使用狀況，進而提高使用上的安全性。 “為讓本發明之上述和其他㈣、特徵和優點能更明顯易 懂’下文特舉較佳實施例’並配合所附圖式，作詳細說明如下。 【實施方式】 、圖1A為本發明之一實施例中順應性扭力輪出裝置的組合 透視^圖圖則為圖1A之順應性扭力輸出裝置的分解示意 圖。凊同時參照圖1A及圖1B，順應性扭力輸出裝置1〇〇包括 致動器11〇、第一圓盤120、基座13〇、第二圓盤14〇、多個滑 1374800The second end is inserted into the corresponding receiving groove and the second end is inserted through the corresponding rail groove in the radial direction (four), and is adapted to move along the surface of the flange to the adjacent radial insert 2, which is The elastic element is a plate spring. These accommodating grooves are arranged at equal circumferential angles with respect to the susceptor in the center of one embodiment of the present invention in one embodiment of the present invention. In the embodiment of the invention, the surface is a curved surface or a tapered surface. The compliant torque output device of the present invention has a simple composition mechanism and is designed with a purely mechanical mechanism to suspend the output torque when the actuator is overloaded to output a torque to prevent the actuation H from being damaged due to excessive load. In addition, the compliant device of the present invention is designed to smooth the silkiness through the mechanism design of the pure thief to meet various usage conditions, thereby improving the safety of use. The above and other (four) features, advantages and advantages of the present invention will become more apparent and understood from the following detailed description of the preferred embodiments and the accompanying drawings. FIG. The combined perspective view of the compliant torque wheeling device in one embodiment is an exploded view of the compliant torque output device of Figure 1A. Referring also to Figures 1A and 1B, the compliant torque output device 1 includes Actuator 11〇, first disc 120, base 13〇, second disc 14〇, multiple slides 1374800
• « I 動銷150、蓋盤160以及多個彈性元件17〇。第一圓盤12〇是 套設在致動器110的旋轉軸112上，因此在致動器11〇後，旋 轉軸112可帶動第一圓盤120轉動。而且，第一圓盤12〇具有 多個徑向導槽122，其例如是以第一圓盤12〇的圓心為中心而 . 等分圓周角地呈放射狀排列。 基座130是固定在弟一圓盤120上，並具有多個容置槽 132。具體來說，基座130是藉由螺帽135鎖固於第一圓盤12〇 上，但本發明不限於此。第二圓盤14〇則是套設在致動器11〇 φ 之旋轉軸上而位於第一圓盤120與基座130之間。由此可 知，在啟動致動器110後’其旋轉軸112可同時帶動第一圓盤 120、基座130以及第二圓盤140轉動。 承上述’第二圓盤140具有多個弧形導槽142，分別自第 二圓盤140之圓心朝第二圓盤140之邊緣呈弧形延伸。而且， 各弧形導槽142分別與第一圓盤120的徑向導槽122 —對一地 相對應。另外’各滑動銷150是穿設於其所對應之弧形導槽 142與徑向導槽122内。而且，這些滑動銷150在凸出於第二 圓盤140的一端上分別具有軌槽152，其中各軌槽152之延伸 • 方向係平行於徑向導槽122。 » 特別的是’第二圓盤140還可以相對第一圓盤120轉動。 因此’當第二圓盤140相對第一圓盤120轉動時，可藉由弧形 導槽142施予滑動銷150推力，而使這些滑動銷150在其所對 應之徑向導槽122内滑動，進而改變滑動銷15〇與基座13〇之 間的距離。 蓋盤160則是包括盤體162以及凸緣164，並蓋合於第二 圓盤140上。其中，凸緣164是環繞在盤體162邊緣，並具有 多個徑向插槽165以及朝向旋轉軸112的表面167。在本實施 例中’凸緣164的表面167可以是圓弧面或錐面，但不限於此。 彈性元件170分別具有第一端172及第二端174,其中第 一端172係固定於基座13〇的容置槽丨32内，第二端174則是 穿過對應之執槽152而插設於蓋盤160的徑向插槽165内。在 本實施例中，彈性元件170例如是板型彈簧，且其數量可以依 據所欲輸出之扭力值範圍來決定。而且’第一圓盤120之徑向 導槽122、基座130之容置槽132、滑動銷150以及第二圓盤 mo之弧形導槽142的數量是與彈性元件的數量相同。 ^遐來說’本實施例之順應性扭力輸出裝置1〇〇可作為機 ;^關節結構，而蓋盤160即是連接至機械手臂（圖未示）。當 旋，軸112帶動第一圓盤12〇、基座130以及第二圓盤14〇轉 動時，彈性元件170會隨著基座130轉動，並藉由第二端174 &予推力至盍盤16〇的凸緣164，以使蓋盤160隨之轉動，進 而輪出杻力至機械手臂。此時，彈性元件 承受凸請所施予之反作用力而有部分; 滑動銷15Q是隨著基座13G轉動’因此彈性元件⑽ 了形交區為位於軌槽152與徑向插槽165之間的區段。而 例^雜/元件m的彎曲角度與其所承受之扭力成線性比 以/由=在^元件170附近設置形變感測器（圖未示）， 3由彈性讀17G的形變量來推算機 置道形魏_的作_-其實際配 彈性==亦1=二=顺_力值時， 的直線距離變短’因此彈性元件17〇v第 再抵*於凸緣164’而會沿著凸請之表二:= ^/4800 之谷向插夂165内，並恢復至未受扭力時的無形變狀態以 順應性扭力輪出裝置100暫停輸出扭力 。由此可知，順應性扭 力輸出裝置1〇〇所輸出的扭力值有限，可避免致動器⑽因過 度負載而燒壞。 承上所述’順應性扭力輸出裝置1〇〇所輸出的扭力極值係 取決於彈性兀件Π0的彈性係數，且當第二圓盤刚相對第二 圓盤120轉動時，滑動们50可在其所對應之徑肖導槽122内 /月動以改麦其與凸緣164之徑向插槽165之間的距離。由此 可知’相關人員可視實際需求來令第二圓盤14〇相對第-圓盤 120轉動’以藉由調變雜元件m的可形變長度來改變彈性 το件170的彈性係數，$而調整順應性扭力輸出裝置的順 應程度及其所輸出的扭力極值。 本發明之順應性扭力輸出裝置係將彈性元件的一端相對 致動器之旋轉軸而固定’另一端則是插設於蓋盤之凸緣上的徑 向插槽内。因此，在啟動致動器之後，可藉由彈性元件將致動 裔所輸出之扭力傳送至蓋盤，再透過蓋盤傳送至負載。而且， 當致動器過載輸出時，彈性元件的一端可從原插設之徑向插槽 内滑動至相鄰的徑向插槽内，並恢復至未受力矩時的狀態，因 而使致動器暫停輸出扭力，以避免致動器因過度負載而損壞。 _此外，當第二圓盤相對第一圓盤轉動時，可推動滑動銷在 捏向導槽内移動，以改變彈性元件的可形變長度，進而調整順 ^性扭力輸出裝置的剛性。換言之，本發明之順應性扭力輸出 、置可依據貫際需求調整其順應程度，因而可提高順應性扭力 輸出襄置在使用上的安全性。 综上所述，本發明之順應性扭力輸出裝置不但具有可調變 順應程度以及_扭力輸出之制，更具有體積小、零件少、 低成本、高精度、高可靠度及高安全性等優點。 雖然本發明已以較佳實施例揭露如上，然其旅#用以限定 本發明，任何熟習此技藝者，在不脫離本發明之精神和範圍 内，δ可作些許之更動與潤飾，因此本發明之保護範圍當 附之申請專利範圍所界定者為準。 【圖式簡單說明】 、圖1Α為本發明之一實施例中順應性扭力輸出装置的組合 透視圖。 圖為圖1Α之順應性扭力輪出裝置的分解示意圖。 【主要元件符號說明】 100 順應性扭力輸出裝置 110 致動器 112 旋轉軸 120 第一圓盤 122 徑向導槽 130 基座 132 容置槽 135 螺帽 140 第二圓盤 142 弧形導槽 150 滑動銷 152 軌槽 160 蓋盤 162 盤體 164 凸緣 165 ： 徑向插槽 167 表面 170 彈性元件 172 第一端 174 第二端 七、申請專利範圍： 1.一種順應性扭力輸出裝置，包括： 一致動器，具有一旋轉轴； 徑向=Γ圓盤’套設於該旋轉軸上，且該第一圓盤具有多個• «I move 150, cover plate 160 and a number of elastic elements 17〇. The first disc 12 is sleeved on the rotating shaft 112 of the actuator 110, so that after the actuator 11 is turned, the rotating shaft 112 can drive the first disc 120 to rotate. Further, the first disk 12A has a plurality of radial guide grooves 122 which are, for example, centered on the center of the first disk 12A. They are radially arranged at equal circumferential angles. The base 130 is fixed to the disc 120 and has a plurality of receiving grooves 132. Specifically, the base 130 is locked to the first disk 12A by a nut 135, but the invention is not limited thereto. The second disc 14 is sleeved on the rotating shaft of the actuator 11 φ φ and located between the first disc 120 and the susceptor 130. It can be seen that after the actuator 110 is activated, its rotating shaft 112 can simultaneously rotate the first disc 120, the base 130 and the second disc 140. The second disc 140 has a plurality of arcuate guide grooves 142 extending in an arc shape from the center of the second disc 140 toward the edge of the second disc 140, respectively. Moreover, each of the arcuate guide grooves 142 corresponds to the radial guide groove 122 of the first disk 120, respectively. Further, each of the sliding pins 150 is bored in the corresponding arcuate guide groove 142 and the radial guide groove 122. Moreover, the slide pins 150 respectively have rail grooves 152 at one end projecting from the second disc 140, wherein the direction of extension of each rail groove 152 is parallel to the radial guide slots 122. » In particular, the second disc 140 can also be rotated relative to the first disc 120. Therefore, when the second disc 140 is rotated relative to the first disc 120, the sliding pin 150 can be urged by the arcuate guide groove 142 to slide the sliding pin 150 in the corresponding radial guide groove 122. Further, the distance between the slide pin 15A and the base 13A is changed. The cover disk 160 includes a disk 162 and a flange 164 and is attached to the second disk 140. Therein, the flange 164 is wrapped around the edge of the disk 162 and has a plurality of radial slots 165 and a surface 167 facing the axis of rotation 112. In the present embodiment, the surface 167 of the flange 164 may be a circular arc surface or a tapered surface, but is not limited thereto. The elastic members 170 have a first end 172 and a second end 174 respectively. The first end 172 is fixed in the receiving slot 32 of the base 13 , and the second end 174 is inserted through the corresponding slot 152 . It is disposed in the radial slot 165 of the cover disk 160. In the present embodiment, the elastic member 170 is, for example, a plate spring, and the number thereof may be determined depending on the range of torque values to be outputted. Further, the number of the radial guide grooves 122 of the first disk 120, the accommodating grooves 132 of the susceptor 130, the slide pins 150, and the arcuate guide grooves 142 of the second disk mo is the same as the number of the elastic members. The compliant torque output device 1 of the present embodiment can be used as a machine joint structure, and the cover disk 160 is connected to a robot arm (not shown). When the shaft 112 rotates the first disc 12〇, the base 130 and the second disc 14〇, the elastic member 170 rotates with the base 130 and is pushed forward by the second end 174 & The flange 164 of the disk 16 is such that the cover disk 160 rotates with it, thereby rotating the force to the robot arm. At this time, the elastic member receives a reaction force applied by the projection and has a portion; the slide pin 15Q is rotated with the base 13G' so that the elastic member (10) has an intersection between the rail groove 152 and the radial slot 165. Section of. The bending angle of the example/component m is linearly proportional to the torsion force it receives. /===================================================================================== The trajectory Wei _ _ its actual elastic modulus == also 1 = two = _ _ force value, the linear distance becomes shorter 'so the elastic element 17 〇 v is again offset to the flange 164 ′ and will follow Table 2: = ^/4800 The valley is inserted into the raft 165 and restored to the undeformed state when the torque is not applied. The compliant torque wheeling device 100 suspends the output torque. From this, it can be seen that the torque value outputted by the compliant torque output device 1 is limited, and the actuator (10) can be prevented from being burnt due to an excessive load. The torque extreme value outputted by the compliant torque output device 1 depends on the elastic coefficient of the elastic member Π0, and when the second disk just rotates relative to the second disk 120, the sliding members 50 can The distance between the fluent channel 122 and the radial slot 165 of the flange 164 is changed in the corresponding path. Therefore, it can be seen that 'the relevant person can rotate the second disk 14 〇 relative to the first disk 120 according to actual needs to adjust the elastic modulus of the elastic member 170 by modulating the deformable length of the impurity element m, and adjust The compliance of the compliant torque output device and the torque value of the torque output. The compliant torque output device of the present invention secures one end of the resilient member relative to the axis of rotation of the actuator. The other end is inserted into a radial slot in the flange of the cover disk. Therefore, after the actuator is activated, the torque outputted by the actuator can be transmitted to the cover disk by the elastic member and then transmitted to the load through the cover disk. Moreover, when the actuator is overloaded, one end of the elastic member can slide from the original inserted radial slot into the adjacent radial slot and return to the state when the torque is not applied, thereby actuating The device pauses the output torque to avoid damage to the actuator due to excessive load. Further, when the second disk is rotated relative to the first disk, the sliding pin can be pushed to move in the pinch guide groove to change the deformable length of the elastic member, thereby adjusting the rigidity of the compliant torque output device. In other words, the compliance torque output of the present invention can be adjusted according to the continuous demand, thereby improving the safety of the compliance torque output device. In summary, the compliant torque output device of the present invention not only has the adjustable degree of compliance and the system of torque output, but also has the advantages of small size, few parts, low cost, high precision, high reliability and high safety. . While the present invention has been described in its preferred embodiments, the present invention is intended to be illustrative of the present invention, and it is obvious to those skilled in the art that δ may be modified and retouched without departing from the spirit and scope of the invention. The scope of protection of the invention is defined by the scope of the patent application. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1A is a perspective view showing a combination of a compliant torque output device according to an embodiment of the present invention. The figure is an exploded view of the compliant torque wheeling device of Figure 1. [Main component symbol description] 100 compliant torque output device 110 actuator 112 rotating shaft 120 first disk 122 radial guide groove 130 base 132 receiving groove 135 nut 140 second disk 142 curved guide groove 150 sliding Pin 152 Rail groove 160 Cover plate 162 Disk body 164 Flange 165: Radial slot 167 Surface 170 Elastic element 172 First end 174 Second end 7. Patent scope: 1. A compliant torque output device, including: The actuator has a rotating shaft; a radial=Γ disc is sleeved on the rotating shaft, and the first disc has a plurality of
1座’ϋ定於該第i盤上’且該基底具有多 ^二圓盤，套設於該旋轉軸上而位於該第—圓盤與H 《也緣呈弧形延伸’而各祕形導槽對應至該些㈣導 一盍盤，蓋合於該第二圓盤上，且守# 導槽， :凸緣，其中該凸緣環繞於該盤體邊缘括-盤體以及 向插槽叹-表面，該表_該具有多健 多個彈性元件，分別具有-第—端以及 弟〜端係固定於對應之該容置槽内，而今 f—鈿其中°亥 該執槽而插設於該徑向_内，並適於S3係穿過對應之 至相鄰之該徑向插;。 .、〜、’之絲面移動a seat is fixed on the i-th disc and the base has a plurality of discs, which are sleeved on the rotating shaft and located at the first disc and H "also arc-extending" and each secret a guiding groove corresponding to the (four) guiding discs, covering the second disc, and a # guide groove, a flange, wherein the flange surrounds the disc body edge-disc body and the slot Sigh-surface, the table _ the multi-sense plurality of elastic elements, respectively having - the first end and the younger end are fixed in the corresponding receiving groove, and now f-钿Within the radial direction, and suitable for the S3 system to pass through the corresponding radial insertion to the adjacent; , ~, 'the movement of the silk