Rotary machine device and linear machine device

A rotary machine device, configured to contact with an external object, the rotary machine device comprising:

• a rotary motor, rotating for a rotary angle to provide a first torque;
• a first encoder, detecting the rotary angle of the rotary motor;
• a power transmission device, connected to the rotary motor, wherein the power transmission device increases the first torque to generate a second torque;
• an exerting shaft, comprising a connection part, wherein the exerting shaft is disposed on a housing of the power transmission device, and the second torque generated by the power transmission device drives the exerting shaft to rotate for an exerting angle;
• a fixed housing, connected to the housing of the power transmission device and being around the exerting shaft;
• a fixed shaft, comprising an accommodation hole, wherein the fixed shaft is connected to the fixed housing and is corresponding to the exerting shaft;
• an output shaft, comprising an elastomer and inserted in the accommodation hole, wherein the elastomer is penetrated through the output shaft, and an end of the elastomer is connected to the connection part of the exerting shaft;
• and
• a second encoder, comprising a disk and a sensor, wherein the disk is disposed on the exerting shaft and is around the connection part, the sensor is disposed on the fixed shaft, the sensor is corresponding in space to the disk, and the sensor detects the exerting angle of the exerting shaft through the disk.

A linear machine device, configured to contact with an external object, the linear machine device comprising:

• a linear motor, comprising a stator housing and a rotor housing, wherein the stator housing is connected to a first side of the rotor housing, the rotor housing comprising a linear rotor and an exerting unit, the exerting unit is disposed on a second side of the rotor housing, and the first side is perpendicularly connected to the second side;
• a support bracket, wherein a third side of the rotor housing is partially attached on a surface of the support bracket directly, the exerting unit is not contacted with the surface of the support bracket, the linear rotor drives the exerting unit to move a linear displacement simultaneously when the linear rotor moves the linear displacement, the linear displacement is perpendicular to the surface of the support bracket, the third side is perpendicularly connected to the second side, and the third side is opposite to the first side;
• a first encoder, connected to the stator housing for detecting the linear displacement of the linear rotor;
• an elastic element, wherein a first end of the elastic element is connected to the exerting unit;
• an output shaft, wherein a first end of the output shaft is connected to a second end of the elastic element;
• and
• a second encoder, comprising a scale and a sensor, wherein the scale is disposed on the output shaft, the sensor is disposed on a side surface of the support bracket, the sensor is corresponding in space to the scale, and the sensor detects a displacement of the output shaft through the scale.