TWM499040U - Multi-axis rotating shaft apparatus with torque variation - Google Patents

Description

Multi-axis rotary shaft device with torque variation

The present invention relates to a multi-axis rotary shaft device having a torque variation; in particular, a rotary shaft structure which can be combined with an electronic device to form a plurality of rotating shaft centers, which utilizes changes in the amount of interference of the joint module and changes the distance of the rotating shaft to generate a torque difference. The new type.

It can be mounted on electronic objects such as mobile phones, notebook computers, PDAs, digital video cameras, e-books, etc. by means of external pivots or shafts that can be reciprocally rotated to cover or display screens or viewing windows. It is rotatable and has an opening and closing function, which is a well-known technique. For example, Taiwan Patent No. 97222022 "Rotary Shaft Structure", No. 96217011 "Pivot Positioning Member", and No. 98207366 "Pivot Structure", etc., provide a typical embodiment.

Assume that an electronic device such as a notebook computer is used as an illustrative example, and generally includes a system module and a display module for display; a pivot connector is used between the body module and the display module, and the display module is used. The pivoting shaft can be opened upwardly to the use state, or the display module can be closed to the body module in the reverse direction to be in a closed state. The importance of this type of pivot is that it is used as the axis of action of the electronic device. The structural design must also take into account that the display module is opened to reach the operating angle (for example, the display screen of the notebook computer usually opens to about 135°). In the position of the pivot, the structure of the pivot itself can have sufficient supporting force to provide a display screen or display module to form a position at the operating angular position.

In order to provide more operating modes and application ranges for display modules (eg, screens) and/or body modules of electronic objects, the prior art has also disclosed a method between a display module and a body module. The double shaft is arranged to enable the display module and/or the body module to generate different operating modes or rotation angles. For example, Taiwan No. 99211350 "Double Pivot Hub", US 7512426 B2 "MOBILE COMMUNICATIONS DEVICE WITH SYNCHRONISING HINGE" patent case, etc., provide a possible embodiment.

One of the problems with the operation, movement and structural design of such shafts or pivots is that the above-mentioned conventional pivots take into account the strength and smoothness of the support structure, usually in two sets of distributions, placed in electronic equipment ( For example, the display module of the notebook computer and the two sides of the pivot joint of the end of the body module. Therefore, when the operation display screen or the display module is turned apart, the coordination of the rotating shaft is less than ideal; at the same time, the pivotal degrees of freedom of the two pivots disposed close to the same center line are also restricted, so that the entire electronic device is opened. Or the closed rotation process, the movement is smooth.

In order to improve the above situation, the prior art also discloses a technique for applying a plurality of rotation centers to a pivot; for example, Taiwan No. 101224879 "Multi-section shaft structure", No. 101224880 "In-group multi-section shaft structure" Specific examples are provided in the patents and the like. The reference material is applied by a combination of an active joint group and a follower joint group; an intermediate joint piece group is disposed between two opposite joint sheets of the active joint group, and two opposite joint pieces are provided with a synchronous actuating portion to engage the intermediate link piece group. The follower joint group has two follower pieces disposed between the two opposing joint pieces of the active joint group. The opposite joint piece is disposed at an inner end position corresponding to the position of the follower piece toward the outer end, and a shaft pin is combined; the position of the middle interlocking piece group facing the outer end corresponds to the position of the follower end toward the inner end, and a shaft pin is combined; The group and the follower joint group are arranged in parallel, and are freely rotated by a plurality of rotation centers to form a multi-section shaft structure.

Typically, these references show the use and structural design of the shaft or its associated bonding components. If the redesign considers the structure of the shaft and related components, and the above application, it is different from the conventional one, it will change its use type, which is different from the old method; in essence, it will also increase its application range. And ease of operation. Therefore, the following topics have been considered: 1. Considering that the rotating shaft or its related combination components provide a torsion joint mechanism under the condition of structural design and easy operation in accordance with synchronous motion, and increase the stability of the synchronous movement shaft in terms of operation coordination. Sex and positioning or fixed effects. 2. At the same time, according to the transmission specifications, the number or torque of the torsion joint mechanism can be easily changed or adjusted, and the design requirements of the electronic device are light and thin. 3. Further consider the application of the joint group in the process of synchronous motion, so that they produce interference (quantity) changes, and relatively change the shaft distance, resulting in the difference in torque. None of these topics have been specifically taught or disclosed in the above references.

The main purpose of this creation is to provide a multi-axis rotary shaft device with torque variation, which applies the change of the interference amount of the joint group and changes the distance of the rotating shaft to produce a torque difference. The combination includes an active joint set, a follower module, and/or a secondary follower module and a torsion joint set. The active joint group is provided with two opposite joint members and at least one joint body coupled therebetween, which are combined with a shaft pin; the torsion joint group is provided with two opposite torsion joint members and at least one torsion device therebetween; and a torsion joint The torsion joint of the group is provided with a one-way shaft portion at a position toward the inner end, and the torque device of the torque joint group is provided with a double shaft portion for combining the shaft pins. The follower module and/or the slave follower module are disposed between the two opposing torsion joints of the pair of opposing joint members or the torsion joints of the active joint group, and include at least two followers and/or auxiliary followers. The opposite ends of the two followers and/or the secondary followers form a synchronous structure of the cam structure, which form a linkage and a change in the amount of interference; and the opposite joint or torsion joint of the active joint group and the torsion joint group Under the action of the torque change, the rotation center is freely rotated to form an opening and closing mechanism.

Therefore, the position of the joint member of the active joint group toward the inner end, the unidirectional shaft portion of the torsion joint group toward the inner end are aligned with the position of the follower toward the outer end or the auxiliary follower toward the outer end, respectively, the first axle pin is combined, The second axle pin; the double shaft shaft portion of the active joint group torquer and the torsion joint group torsion device is aligned with the inward end of the follower or the inward end of the secondary follower, and the third shaft pin and the fourth shaft are combined. The pin joints and the torsion joints of the active joint group and the torsion joint group are freely rotated by a plurality of rotation centers under the effect of the torque change effect, thereby forming a smooth opening and closing mechanism.

According to the present invention, the multi-axis rotary shaft device has a torque variation, and the two opposite torsion joints of the torsion joint group form an elastic package structure toward the unidirectional shaft portion of the inner end position, and the first shaft pin is covered. Second axle pin. The double shaft portion of the torsion includes a first shaft portion, a second shaft portion and a notch respectively connecting the first shaft portion and the second shaft portion, so that the torsion has the force of elastically clamping the shaft pin (or Torque). The notch of the first shaft portion and the notch of the second shaft portion are on the same horizontal reference plane or reference line. And the two joint joints of the active joint group are respectively provided with synchronous driving portions; the two ends of the movable joint group are respectively provided with a linking portion corresponding to the synchronous driving portion of the active joint group.

According to the multi-axis rotary shaft device with the torque change, the two followers of the follower module and/or the two follower modules of the slave follower module are respectively provided with shaft holes to combine the shaft pins. The synchronous actuators of the two followers and/or the two pairs of followers are respectively formed at the outer positions of the shaft holes; respectively, the a area, the b area connecting the a area, the c area connecting the b area, and the b area to the axis The distance of the hole (or pin) is less than the distance from the a zone or the c zone to the axle hole (or axle pin). Therefore, when the a-zone or the c-zone of the two followers and/or the two follower synchronous pilots are in contact with each other or in the closest position, the interference of the two followers and/or the two slaves The largest amount, forcing the pin to change position or distance, pushing the torsion joint group, resulting in a change in torque or a difference in torque.

Please refer to Figures 1, 2 and 3 for a multi-axis shaft assembly with a torsional change including a combination of an active joint set, a follower joint set and a torsion joint set, designated by reference numerals 10, 70 and 100, respectively. The figure shows that the active joint group 10 forms a slab structure, the follower joint group 70 forms a plurality of slab body types, and the torsion joint group 100 forms a sheet body structure, and a plurality of shaft pins are combined to form a multi-axis shaft device. .

In order to facilitate the description of the connection relationship between the components, in the following description, the center line or the base (quasi) line C indicated by the first, second or third figure is referred to as a reference position; the direction toward the baseline C is indicated as " In the "inward" direction, the direction away from the baseline C is indicated as "outward" direction.

Figures 1, 2 and 3 depict the active joint set 10 including at least two opposing first joint members 20, a second joint member 30, and at least one coupler 40 positioned in the intermediate region; the two opposing first joint members 20 And the second joint member 30 is provided with "outward facing" combined ends 21, 31 and "inward" shaft holes 22, 32 near the respective end positions thereof, and at the opposite joint members 20, At least one of the "inward" ends of the 30 is provided with synchronization pilots 23, 33. The figure shows that the synchronous actuating portions 23, 33 are teeth formed at positions outside the shaft holes 22, 32. The combined ends 21, 31 of the first joint member 20 and the second joint member 30 are combined in a display module A1 and a body module A2 of the electronic device A, respectively.

In a possible embodiment, the first joint member 20 of the active joint set 10 and the combined end 21, 31 of the second joint member 30 are provided with fixing grooves 24, 34 for pivoting the torsion joint set 100.

Figures 1, 2 and 3 also show that the linkage 40 is disposed between the opposing first joint member 20 and the second joint member 30; the actuator 40 is in the form of a plate block structure or a plurality of plate body combinations, Shaft holes 41, 42 and interlocking portions 43, 44 are provided at positions close to both ends. Further, the interlocking portions 43, 44 are teeth formed at positions outside the shaft holes 41, 42. The interlocking portions 43, 44 are in contact with the "inward" synchronous urging portions 23, 33 of the first joint member 20 or/and the second joint member 30, so that the first joint member 20 or/and the first joint member 10 of the active joint group 10 The two joint members 30 can be synchronized with each other with the linker 40.

In the embodiment taken, the follower module 70 is disposed at a position between the first joint member 20 and the second joint member 30 of the active joint set 10. The follower module 70 includes at least a first follower 50 and a second follower 60; the first follower 50 and the second follower 60 are respectively provided with two separate "outward" shaft holes 51, 61 and "Inward" shaft holes 52, 62.

The first follower 50 and the second follower 60 are shown at least at opposite inward ends to be provided with synchronous actuating portions 53, 63 that are coupled to each other; and, the first follower 50, the second follower The synchronization actuating portions 53, 63 of 60 are teeth formed at positions outside the shaft holes 52, 62.

In a possible embodiment, the configuration of the first follower 50 and the second follower 60 is different from the coupler 40 of the active joint set 10; but the first follower 50, the second follower 60 The structural form can also be identical to the structure of the actuator 40.

Referring to Figures 1, 2 and 3, the torsion joint set 100 includes at least two opposing first torsion joints 80, a second torsion joint 90, and at least one torsion 400 positioned in the intermediate region; the first torsion joint 80 And the second torsion joint member 90 is in the form of a plate body. The two opposite first torsion joint members 80 and the second torsion joint member 90 are respectively provided with "outward facing" combined ends 81, 91 and "inward" one-way shafts near their respective end positions. The portions 82, 92 and the notches 84, 94 connecting the unidirectional shaft portions 82, 92 form the elastic yoke structure of the unidirectional shaft portions 82, 92, so that the first torsion joint member 80 of the torsion joint group 100, The second torsion joint member 90 has a force (or torque) that elastically clamps the shaft pin.

In the embodiment taken, the combined ends 81, 91 of the first torsion joint 80 and the second torsion joint 90 of the torsion joint 100 are respectively combined in the fixing groove 24 and the second of the first joint member 20 of the active joint group. The inside of the fixing groove 34 of the joint member 30 moves synchronously with the active joint group 10.

Figures 1, 2 and 3 also show the torsion 400 of the torsion joint set 100 in a sheet-like structure disposed between the opposing first torsion joints 80 and the second torsion joints 90. The torque device 400 is bent in the same direction to form a spectacle frame structure, and has a double-enclosed shaft portion, which is defined as a first wrap portion 401 and a second wrap portion 402, respectively. The torsion 400 also has a first wrap portion 401 connected thereto. The notches 405, 406 of the second shaft portion 402 are located on the same horizontal reference surface or horizontal reference line X, so that the torque device 400 has the force (or torque) of elastically clamping the shaft pin.

In a possible embodiment, the one-way shaft portion 82 of the torsion joint group first torsion joint member 80 and the one-way shaft portion 92 of the second torsion joint member 90 are respectively coupled to the first shaft portion 401 of the torsion 400. The second shaft portion 402 forms a frictional interlocking type.

Referring again to Figures 1, 2 and 3, in a preferred embodiment, the multi-axis spindle assembly further includes a slave follower module 700. The secondary follower module set 700 includes at least one or more secondary followers 710 and a second secondary follower 720 of the combination of the plate structures, the first torsion joints 80 and the second disposed on the torsion joint set 100. Between the torsion joints 90. The first auxiliary follower 710 and the second secondary follower 720 are respectively provided with two separate "outward facing" shaft holes 711, 721 and "inward" shaft holes 712, 722 for pivoting the first shaft pin respectively. 71. The second axle pin 72, the third axle pin 73, and the fourth axle pin 74.

In the embodiment taken, the first secondary follower 710 and the second secondary follower 720 are provided with a synchronization actuating portion 713 that is coupled to each other at least at a position opposite to the inner end (and/or the outward end), When the active joint group 10 or the torsion joint group 100 is rotated by the person operating the electronic object A, the first auxiliary follower 710 and the second secondary follower 720 cooperate with the synchronous driving portions 713, 723 and the follower module 70. Synchronous motion is formed.

The second and third figures show that the first slave follower 710 of the secondary follower module 700 and the synchronous pilots 713 and 723 of the second secondary follower 720 respectively define an area a, a b area connected to the area a, and a connection. The area b of the b zone; the distance from the b zone to the axle hole 712 or 722 is smaller than the distance of the a zone (or zone c) to the axle hole 712 or 722, so that the zone a or zone c is similar to the zone b. Cam structure. That is, the distance from the b zone to the third axle pin 73 or the fourth axle pin 74 is smaller than the distance from the a zone (or zone c) to the third axle pin 73 or the fourth axle pin 74).

Therefore, when the a-zone or the c-zone of the synchronous follower 713, 723 of the first secondary follower 710 and the second secondary follower 720 are in contact with each other or in the closest position, the first secondary follower 710 The second auxiliary follower 720 has the largest amount of interference, at least forcing the third axle pin 73, the fourth axle pin 74, and/or the first axle pin 71 and the second axle pin 72 to change position or distance, and pushing the torque joint group 100, resulting in a change in torque or a difference in torque; this section will be described below.

The above-described active joint set 10, the torsion joint set 100, the follower module 70, and the sub-slave module 700 are arranged in parallel, so that the two opposing first joint members 20 and the second joint members 30 can be " The inwardly facing shaft holes 22, 32 correspond to the one-way shaft portion 82 of the torsion joint group first torsion joint member 80 and the one-way shaft portion 92 of the second torsion joint member 90, respectively aligned with the first follower 50, The "outward" shaft holes 51, 61 of the second follower 60 and the "outward" shaft holes 711, 721 of the first sub-spinner 720 and the second sub-spinner 720 are pivotally connected or firstly engaged. A shaft pin 71 and a second shaft pin 72. The first 40-axis portion 401 and the second shaft portion 402 of the torsion joint group torsion 400 are respectively aligned with the first follower 50 and the second follower 60. "inward" shaft holes 52, 62 and first "secondary follower" 710, "inward" shaft holes 712, 722 of second secondary follower 720, pivoting or engaging third shaft pin 73, fourth shaft pin 74.

Therefore, the active joint group 10, the torsion joint group 100, the follower module 70, and the auxiliary follower module 700 are arranged in parallel, and the first shaft pin 71, the second shaft pin 72, the third shaft pin 73, and the fourth shaft are combined. The pin 74, together, forms a multi-axis shaft assembly having an elastic clamping positioning force and a torsional force change.

Referring to FIGS. 3 and 4, the first joint member 20, the first torsion joint member 80 or the second joint member 30, and the second torsion joint member 90 of the active joint group 10 and the torsion joint group 100 are simultaneously shown according to the above embodiment. When the swing is swung, the "inward" synchronous pilot portion 23 or 33 of the active joint group 10 will be coupled to each other by the "outward facing" interlocking portion 43 or 44 of the intermediate linker 40, thereby driving the relative rotation of the linker 40. Simultaneously interlocking the follower module 70, the first follower 50, 710 or the second follower 60, 720 of the slave follower module 700; gradually making the entire multi-axis shaft device provided with the torsion joint set 100 In the case of action, a synchronous rotation state is formed.

The figure shows that when one of the active joint group 10 or the torsion joint group 100 (the first joint member 20, the first torsion joint member 80 or the second joint member 30, the second torsion joint member 90) is simultaneously forced to swing At the same time, the other opposing joint member will be synchronized and swung. In other words, it is assumed that the first joint member 20 and the first torsion joint member 80 are biased in the clockwise direction (ie, the state of FIG. 3 is rotated to the state shown in FIG. 4). The first joint member 20 and the "inwardly facing" end of the first torsion joint member 80 will produce a clockwise rotational displacement relative to the outer circumference of the "outward" end of the coupling 40, and also drive the first shaft portion 401 of the torsion 400. a rotational displacement is generated, and the first follower 50 and the "outward facing" end of the first secondary follower 710 are intermittently displaced in the same direction; and the first follower 50 and the first secondary follower are caused The "inward" end of the 710 also rotates clockwise.

And the first follower 50 and the second follower 60 are coupled together by the synchronous driving portions 53, 63, and drive the first secondary follower 710 so that the second follower 60 and the engaged The "inward" end of the second secondary follower 720 rotates counterclockwise synchronously; therefore, the "outward facing" ends of the second follower 60 and the second secondary follower 720 thus counterclockwise .

3 and 4 also show that the active joint group 10, the two oppositely disposed first joint members 20 of the torsion joint group 100, the first torsion joint member 80 and the second joint member 30, and the second torsion joint member 90 will thus Baseline C is the reference, producing synchronized reverse swings that together form an action of relative development or closure, or at least one of the opposing articular sheets toward (near) or away (open) from the other opposing articular sheet.

It can be understood that the relative swing angle between the two opposing joint members (the first joint member 20, the second joint member 30 or the first torsion joint member 80, the second torsion joint member 90) can be from 0° to 360°. The range is established while an ideal rotational degree of freedom is established. Moreover, the torsion joint group 100 also provides an action of the electronic device A during the opening and closing operation, and the positioning force is lost immediately after the operation force disappears.

It should be noted that the solid line portion of FIGS. 3 and 4 particularly shows the area a (or area c) and the second pair of the first slave follower synchronization portion 713 of the slave follower module 700. The a region (or the c region) of the actuator synchronous driving portion 723 reaches a position that is in contact with each other or closest to each other; at this time, the interference amount of the first secondary follower 710 and the second secondary follower 720 is the largest. At least forcing the third axle pin 73, the fourth axle pin 74, and/or the first axle pin 71 and the second axle pin 72 to change position or distance (for example, the situation depicted by the imaginary line portion of Figures 3 and 4), The torsion joint set 100 expands the notches 405, 406 and/or the notches 84, 94; the reaction force or instinctive force generated by the torsion joint set 100 more clamps the third axle pin 73, the fourth axle pin 74 and/or the first axle The pin 71 and the second shaft pin 72 function to generate a torque change or a torque difference. The function of the torque change or the torque difference can make the display module A1 and the body module A2 open and close the operation operation to achieve a more accurate positioning effect.

In particular, when the first secondary follower 710 and the second secondary follower 720 enter a region a or c where the interference amount is large from the b region having a small interference amount, an automatic positioning function is generated. Therefore, the cam shape of the a region, the b region, the c region, or the a and c regions of the pilot portions 713, 723 are synchronized via the slave follower module 700 (or the first secondary follower 710 and the second secondary follower 720). The structural design of the contour will be able to control or adjust to change the position or angle at which the automatic positioning action is generated.

Due to the multi-axis structure with multiple rotating motion centers, the rotational freedom of the entire rotating shaft can be greatly improved. At the same time, due to the simultaneous swinging or closing of the two ends, the rotating shaft is installed in various electronic bodies with two relative development and closed separation. The rotation function of the object A (for example, a foldable display, a palm-type game console, a portable electronic secretary, a mobile phone, an e-book, an electronic device jacket, etc.) is smoother. Moreover, the synchronous follower portion 713, 723 or 53, 63 of the auxiliary slave module 700 or the follower module 70 forms a cam or the like to adjust the interference amount thereof to form different torque positioning or torque difference effects. And controlling or adjusting to change the position or angle at which the automatic positioning action is generated; the overall spatial pattern is innovative and has a gain in efficiency.

The above embodiments are only used for convenience in exemplifying the present invention, and are not limited thereto. For example, the synchronous triggering portions and the linking portions for synchronously engaging at least may have at least meshing teeth, relative friction members, and cross synchronization. Traction elements or other equivalent urging elements are available for use, and all of the various modifications and modifications that can be made by those skilled in the art in light of this embodiment are still included in the scope of the following claims.

10‧‧‧Active joint group

20‧‧‧First joint

21, 31‧‧‧ combination end

22, 32‧‧‧ shaft hole

23, 33‧‧‧Synchronous Mobilization Department

24, 34‧‧‧ fixing slot

30‧‧‧Second joint

40‧‧‧Connector

41, 42‧‧‧ shaft hole

43, 44‧‧‧ linkage department

50‧‧‧First follower

51, 52, 61, 62‧‧‧ shaft holes

53, 63‧‧‧Synchronous Pilot

60‧‧‧Second follower

70‧‧‧Following module

71‧‧‧First shaft pin

72‧‧‧Second shaft pin

73‧‧‧third shaft pin

74‧‧‧fourth pin

80‧‧‧First torsion joint

81, 91‧‧‧ combination end

82, 92‧‧‧One-way shaft part

84, 94‧‧ ‧ gap

90‧‧‧Second torsion joints

100‧‧‧Torque joint group

400‧‧‧Torque

401‧‧‧ first package shaft

402‧‧‧Second package shaft

405, 406‧‧ ‧ gap

700‧‧‧Secondary follower module

710‧‧‧First secondary follower

711, 712, 721, 722‧‧‧ shaft holes

713, 723‧‧‧ Synchronous Pilot

720‧‧‧Second secondary follower

a, b, c‧‧‧

A‧‧‧Electronic objects

A1‧‧‧ display module

A2‧‧‧body module

C‧‧‧Baseline

X‧‧‧ horizontal reference line

The first figure is a schematic diagram of a combined embodiment of the present creation; the imaginary line part of the figure also depicts the case where the display module and the body module are combined with the multi-axis shaft.

The second figure is a schematic diagram of the structure of the creation; the structure of the active joint group, the follower module, the torsion joint group and the auxiliary follower module are shown.

Figure 3 is a plan view showing the operation embodiment of the present invention; depicting the structural cooperation of the operation display module, the body module opening, and the a-zone of the secondary follower forming interference.

Figure 4 is a plan view showing the operation embodiment of the present invention; depicting the combination of the active joint group, the sub-slave module, the torsion joint group and the axle pin when the display module and the body module are positioned at 180°.

10‧‧‧Active joint group

20‧‧‧First joint

21, 31‧‧‧ combination end

22, 32‧‧‧ shaft hole

23, 33‧‧‧Synchronous Mobilization Department

24, 34‧‧‧ fixing slot

30‧‧‧Second joint

40‧‧‧Connector

41, 42‧‧‧ shaft hole

43, 44‧‧‧ linkage department

50‧‧‧First follower

51, 52, 61, 62‧‧‧ shaft holes

53, 63‧‧‧Synchronous Pilot

60‧‧‧Second follower

70‧‧‧Following module

71‧‧‧First shaft pin

72‧‧‧Second shaft pin

73‧‧‧third shaft pin

74‧‧‧fourth pin

80‧‧‧First torsion joint

81, 91‧‧‧ combination end

82, 92‧‧‧One-way shaft part

84, 94‧‧ ‧ gap

90‧‧‧Second torsion joints

100‧‧‧Torque joint group

400‧‧‧Torque

401‧‧‧ first package shaft

402‧‧‧Second package shaft

405, 406‧‧ ‧ gap

700‧‧‧Secondary follower module

710‧‧‧First secondary follower

711, 712, 721, 722‧‧‧ shaft holes

713, 723‧‧‧ Synchronous Pilot

720‧‧‧Second secondary follower

a, b, c‧‧‧

C‧‧‧Baseline

X‧‧‧ horizontal reference line

Claims (20)

A multi-axis rotating shaft device with torque variation, comprising a combination of an active joint group, a follower module, a torsion joint group and a sub-slave module; an active joint group, a follower module, a torsion joint group and a secondary follower mold The group defines a baseline, the inward direction toward the baseline, and the outward direction away from the baseline; the active joint group is provided with the opposite first joint member, the second joint member and at least one of the joints connected therebetween; At least one of the first joint member and the second joint member is provided with a synchronous guiding portion facing the inner end; at least one of the two ends of the connecting body is provided with a linking portion corresponding to the synchronous driving portion of the active joint group; the torsion joint The group is provided with a first first torsion joint member, a second torsion joint member and at least one torsion device therebetween; the torsion joint member of the torsion joint group forms a one-way shaft portion toward the inner end position, and the one-way shaft shaft The structure is an elastic tube; the torsion has a double shaft portion, and includes a first shaft portion and a second shaft portion; the first shaft portion and the second shaft portion are respectively an elastic tube structure ; follow-up mode The group is disposed at least one of the first joint member of the active joint group, the second joint member, and the first torsion joint member and the second torsion joint member of the torsion joint group; the follower module includes at least the first follower And the second follower; the opposite end of the first follower and the second follower are provided with a synchronous guiding portion to form a linkage; the secondary follower module is disposed on the first joint member of the active joint group, and the second At least one of the first torsion joint and the second torsion joint between the joint members and the torsion joint; the slave follower module includes at least a first secondary follower and a second secondary follower; The opposite ends of the secondary follower and the second secondary follower are respectively provided with an area a, a b area connecting the a area, and a c area connecting the b area; the inward end and the second joint of the first joint member of the active joint group The inward end of the piece and the one-way shaft portion of the first torsion joint of the torsion joint group and the one-way shaft portion of the second torsion joint member are respectively pivotally connected with the first shaft pin and the second shaft pin respectively. The outwardly facing end of the actuator, the outward facing end of the second follower, and the outward facing end of the first secondary follower, the second secondary follower The outward end of the active joint group, the first shaft portion of the torsion, and the second shaft portion are respectively pivotally connected to the first follower by the third shaft pin and the fourth shaft pin respectively An inner end, an inward end of the second follower and an inward end of the first secondary follower, an inward end of the second secondary follower; and a one-way pack of the first torsion joint of the torsion joint The shaft portion is elastically clamped with the first axle pin, and the one-way shaft portion of the second torsion joint of the torsion joint is elastically clamped with the second axle pin; the first shaft portion of the torsion is elastically clamped with the third axle pin, and the second The shaft shaft portion elastically sandwiches the fourth shaft pin; and the distance from the b-zone to the third axle pin of the first secondary follower is smaller than the distance from the a-zone to the third axle pin, and the b-zone of the first secondary follower The distance of the third axle pin is less than at least one of the distance from the c zone to the third axle pin; the distance from the b zone to the fourth axle pin of the second secondary follower is smaller than the distance of the a zone to the fourth axle pin, and The distance from the b zone of the second pair of followers to the fourth axle pin is less than at least one of the distance from the c zone to the fourth axle pin. The multi-axis rotary shaft device with the torque variation described in claim 1 includes a plurality of active joint sets, a torsion joint group, a follower module and a sub-slave module, which are arranged together and pivotally combined. The multi-axis rotary shaft device having a torque variation according to claim 1 or 2, wherein the first joint member and the second joint member of the active joint group are respectively provided with an outwardly facing combined end and an inwardly facing shaft a hole; an axial joint and a linkage portion respectively disposed at two ends of the linkage of the active joint group; the first torsion joint member and the second torsion joint member of the torsion joint group are respectively formed into a sheet body structure, and the combined end facing outward, and Connecting the notch of the one-way shaft portion; the torsion device is formed into a plate body structure, and is bent in the same direction into a frame type, so that the first package shaft portion and the second package shaft portion respectively have a gap, so that the first package The notch of the shaft portion and the notch of the second shaft portion are on the same horizontal reference line; the first follower and the second follower of the follower module, the first slave follower of the slave follower module, and the first The second pair of followers are respectively provided with an outward shaft hole and an inward shaft hole; an inward shaft hole of the first joint member of the active joint group, an inward shaft hole of the second joint member, and a torsion joint group first torsion joint member The one-way shaft portion and the one-way shaft portion of the second torsion joint member are respectively aligned with the first one The outwardly facing shaft hole of the device, the outward facing shaft hole of the first secondary follower, the outward facing shaft hole of the second follower, and the outward facing shaft hole of the second secondary follower, pivotally combining the first axle pin a second shaft pin; a shaft hole at both ends of the coupling of the active joint group, a first shaft portion of the torque device, and a second shaft portion respectively aligned with the inward shaft hole of the first follower and the first auxiliary follower An inward shaft hole of the device, an inward shaft hole of the second follower, and an inward shaft hole of the second secondary follower, pivotally combining the third axle pin and the fourth axle pin; and the first slave follower The distance from the b-zone of the device to the first secondary follower toward the inner shaft hole is smaller than the distance from the a-zone of the first secondary follower to the inner-shaft bore of the first secondary follower, and b of the first secondary follower The distance from the zone to the first secondary follower toward the inner shaft hole is less than at least one of the distance from the c-zone of the first secondary follower to the inward axial bore of the first secondary follower; b of the second secondary follower The distance from the zone to the second secondary follower toward the inner shaft hole is smaller than the distance from the a region of the second secondary follower to the inner shaft hole of the second secondary follower, and the b zone to the second secondary follower The distance between the second pair of followers facing the inner shaft hole is smaller than the second C region with a second sub-actuator to the follower shaft hole toward the at least one distance. The multi-axis rotating shaft device with torque variation according to claim 3, wherein the synchronous driving portion of the active joint group is one of a tooth, a friction member and a cross-synchronized traction member, and is disposed on the active joint. The outer position of the shaft hole of the group; the linkage portion of the linkage is one of a tooth, a friction member, and a cross-synchronized traction element, and is disposed outside the shaft hole of the connector; and the first follower of the follower module, The synchronous actuator of the second follower is one of a tooth, a friction member, and a cross-synchronized traction member disposed at least outside the inward shaft hole of the follower module. The multi-axis rotary shaft device with torque variation according to claim 3, wherein the one-way shaft portion of the first torsion joint of the torsion joint and the one-way shaft portion of the second torsion joint can be respectively And the first package shaft portion and the second package shaft portion of the torsion device form a frictional interlocking type; the first secondary follower and the second secondary follower are provided with synchronous urging engagement with each other at least at a position opposite to the inner end And the synchronous extension of the first secondary follower is provided with the a zone, the b zone and the c zone, so that the synchronous pilot of the first secondary follower forms a cam structure; the synchronization of the second secondary follower The agitating portion is provided with the a zone, the b zone and the c zone, so that the synchronous pilot of the second secondary follower forms a cam structure. The multi-axis rotary shaft device with torque variation according to claim 4, wherein the one-way shaft portion of the first torsion joint of the torsion joint group and the one-way shaft portion of the second torsion joint member are respectively And the first package shaft portion and the second package shaft portion of the torsion device form a frictional interlocking type; the first secondary follower and the second secondary follower are provided with synchronous urging engagement with each other at least at a position opposite to the inner end And the synchronous extension of the first secondary follower is provided with the a zone, the b zone and the c zone, so that the synchronous pilot of the first secondary follower forms a cam structure; the synchronization of the second secondary follower The agitating portion is provided with the a zone, the b zone and the c zone, so that the synchronous pilot of the second secondary follower forms a cam structure. The multi-axis rotary shaft device having the torque variation described in claim 3, wherein the active joint group and the sub-slave module are respectively a plate body structure; the follower module is at least one plate body structure; The combined end of the first joint member of the joint group and the combined end of the second joint member are respectively provided with fixing grooves, the combined end of the first torsion joint of the pivot joint group and the second torsion joint; the active joint group The combined end of the joint member and the combined end of the second joint member are respectively mounted on the display module and the body module of the electronic object. The multi-axis rotary shaft device with torque variation according to claim 4, wherein the active joint group and the sub-slave module are respectively a plate body structure; the follower module is at least one plate body structure; The combined end of the first joint member of the joint group and the combined end of the second joint member are respectively provided with fixing grooves, the combined end of the first torsion joint of the pivot joint group and the second torsion joint; the active joint group The combined end of the joint member and the combined end of the second joint member are respectively mounted on the display module and the body module of the electronic object. The multi-axis rotary shaft device with torque variation according to claim 5, wherein the active joint group and the sub-slave module are respectively a plate body structure; the follower module is at least one plate body structure; The combined end of the first joint member of the joint group and the combined end of the second joint member are respectively provided with fixing grooves, the combined end of the first torsion joint of the pivot joint group and the second torsion joint; the active joint group The combined end of the joint member and the combined end of the second joint member are respectively mounted on the display module and the body module of the electronic object. The multi-axis rotary shaft device with torque variation according to claim 6, wherein the active joint group and the sub-slave module are respectively a plate body structure; the follower module is at least one plate body structure; The combined end of the first joint member of the joint group and the combined end of the second joint member are respectively provided with fixing grooves, the combined end of the first torsion joint of the pivot joint group and the second torsion joint; the active joint group The combined end of the joint member and the combined end of the second joint member are respectively mounted on the display module and the body module of the electronic object. A multi-axis rotating shaft device with a torque variation, comprising a combination of an active joint group, a follower module and a torsion joint group; the active joint group, the follower module and the torsion joint group define a baseline, and the direction toward the baseline is toward The inner direction, the direction away from the baseline is an outward direction; the active joint group is provided with an opposite first joint member, a second joint member and at least one joint body interposed therebetween; the first joint member and the second joint member are at least One of the two ends of the linkage is provided with a synchronous driving portion; at least one of the two ends of the connecting body is provided with a linking portion corresponding to the synchronous driving portion of the active joint group; the torsion joint group is provided with a first first torsion joint member, a second torsion joint member and at least one torsion device therebetween; the torsion joint member of the torsion joint group forms a one-way shaft portion toward the inner end position, and the one-way shaft portion is an elastic tube structure; the torsion device has The double shaft portion includes a first shaft portion and a second shaft portion; the first shaft portion and the second shaft portion are respectively an elastic tube structure; the follower module is disposed on the active joint group and the torque Between the first joint member and the second joint member of at least one of the joint groups; the follower module includes at least a first follower and a second follower; a relative of the first follower and the second follower The end is provided with a synchronous urging portion to form a linkage; the synchronous urging portion of the first follower and the synchronous urging portion of the second follower are respectively provided with an area a, a b area connecting the a area, and a c area connecting the b area. The inward end of the first joint member of the active joint group, the inward end of the second joint member, and the one-way shaft portion of the first torsion joint of the torsion joint group and the one-way shaft portion of the second torsion joint member, The first shaft pin and the second shaft pin respectively correspond to the outwardly facing end of the first follower and the outward end of the second follower; the two ends of the active joint group and the first shaft of the torsion a second shaft portion and a fourth shaft pin respectively pivotally connect the inward end of the first follower and the inward end of the second follower; and the first torque joint is first The one-way shaft portion of the torsion joint member elastically clamps the first shaft pin, and the one-way shaft portion of the second torsion joint member of the torsion joint group is elastically clamped to the second portion a pin; the first shaft portion of the torsion elastically clamps the third shaft pin, the second shaft portion elastically clamps the fourth shaft pin; and the distance from the b region to the third shaft pin of the first follower is smaller than the a portion a distance to the third axle pin, and a distance from the b zone of the first follower to the third axle pin is less than at least one of the distance from the c zone to the third axle pin; b zone to fourth of the second follower The distance of the pin is smaller than the distance from the a region to the fourth pin, and the distance from the b region to the fourth pin of the second follower is less than at least one of the distance from the c region to the fourth pin. The multi-axis rotating shaft device with the torque variation described in claim 11 includes a plurality of active joint sets, a torsion joint group, a follower module and a sub-slave module, which are arranged in a joint manner and pivoted. The multi-axis rotary shaft device having a torque variation according to claim 11 or 12, wherein the first joint member and the second joint member of the active joint group are respectively provided with an outwardly facing combined end and an inwardly facing shaft a hole; an axial joint and a linkage portion respectively disposed at two ends of the linkage of the active joint group; the first torsion joint member and the second torsion joint member of the torsion joint group are respectively formed into a sheet body structure, and the combined end facing outward, and Connecting the notch of the one-way shaft portion; the torsion device is formed into a plate body structure, and is bent in the same direction into a frame type, so that the first package shaft portion and the second package shaft portion respectively have a gap, so that the first package The notch of the shaft portion and the notch of the second shaft portion are located on the same horizontal reference line; the first follower and the second follower of the follower module are respectively provided with an outward shaft hole and an inward shaft hole; The inward shaft hole of the first joint member of the group, the inward shaft hole of the second joint member, the one-way shaft portion of the first torsion joint of the torsion joint group, and the one-way shaft portion of the second torsion joint member, respectively Aligning the outward facing shaft hole of the first follower and the outward facing shaft hole of the second follower, Combining the first axle pin and the second axle pin; the shaft hole at both ends of the coupling of the active joint group, the first shaft portion of the torsion, and the second shaft portion are respectively aligned with the inward shaft of the first follower a hole, an inward shaft hole of the second follower, pivotally combining the third shaft pin and the fourth shaft pin; and a distance from the first follower b region to the first follower toward the inner shaft hole is smaller than the first The distance from the follower a region to the first follower toward the inner shaft hole, and the distance from the first follower b region to the first follower toward the inner shaft hole is smaller than the first follower c region to the first follower At least one of the distances of the actuator toward the inner shaft hole. The multi-axis rotary shaft device according to claim 13 , wherein the synchronous joint portion of the active joint group is one of a tooth, a friction member and a cross-synchronized traction member, and is disposed on the active joint. The outer position of the shaft hole of the group; the linkage portion of the linkage is one of a tooth, a friction member, and a cross-synchronized traction element, and is disposed outside the shaft hole of the connector; and the first follower of the follower module, The synchronous actuator of the second follower is one of a tooth, a friction member, and a cross-synchronized traction member disposed at least outside the inward shaft hole of the follower module. The multi-axis shaft device having the torque variation according to claim 13 , wherein the one-way shaft portion of the first torsion joint of the torsion joint group and the one-way shaft portion of the second torsion joint member are respectively And the first shaft portion and the second shaft portion of the torsion form a frictional interlocking type; the synchronous driving portion of the first follower and the synchronous driving portion of the second follower are respectively a cam structure. The multi-axis shaft device having the torque variation according to claim 14, wherein the one-way shaft portion of the first torsion joint of the torsion joint group and the one-way shaft portion of the second torsion joint member are respectively And the first shaft portion and the second shaft portion of the torsion form a frictional interlocking type; the synchronous driving portion of the first follower and the synchronous driving portion of the second follower are respectively a cam structure. The multi-axis rotary shaft device with torque variation according to claim 13 , wherein the active joint set is a plate body structure; the follower module is at least one plate body structure; and the active joint set first joint member The combined end of the combined end and the second joint member are respectively provided with a fixing groove, a combined end of the combined end of the first torsion joint of the torsion joint and the second torsion joint; the combined end of the first joint of the active joint group and The combined ends of the second joint members are respectively mounted on a display module and a body module of the electronic object. The multi-axis rotating shaft device with torque variation according to claim 14, wherein the active joint group is a plate body structure; the follower module is at least one plate body structure; and the active joint group first joint member The combined end of the combined end and the second joint member are respectively provided with a fixing groove, a combined end of the combined end of the first torsion joint of the torsion joint and the second torsion joint; the combined end of the first joint of the active joint group and The combined ends of the second joint members are respectively mounted on a display module and a body module of the electronic object. The multi-axis rotary shaft device with torque variation according to claim 15, wherein the active joint set is a plate body structure; the follower module is at least one plate body structure; and the first joint member of the active joint set is The combined end of the combined end and the second joint member are respectively provided with a fixing groove, a combined end of the combined end of the first torsion joint of the torsion joint and the second torsion joint; the combined end of the first joint of the active joint group and The combined ends of the second joint members are respectively mounted on a display module and a body module of the electronic object. The multi-axis rotary shaft device with torque variation according to claim 16, wherein the active joint set is a plate body structure; the follower module is at least one plate body structure; and the active joint set first joint member The combined end of the combined end and the second joint member are respectively provided with a fixing groove, a combined end of the combined end of the first torsion joint of the torsion joint and the second torsion joint; the combined end of the first joint of the active joint group and The combined ends of the second joint members are respectively mounted on a display module and a body module of the electronic object.