WO2018121749A1 - 一种舵机 - Google Patents

一种舵机 Download PDF

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Publication number
WO2018121749A1
WO2018121749A1 PCT/CN2017/119936 CN2017119936W WO2018121749A1 WO 2018121749 A1 WO2018121749 A1 WO 2018121749A1 CN 2017119936 W CN2017119936 W CN 2017119936W WO 2018121749 A1 WO2018121749 A1 WO 2018121749A1
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WO
WIPO (PCT)
Prior art keywords
gear
output
motor
transmission mechanism
steering
Prior art date
Application number
PCT/CN2017/119936
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English (en)
French (fr)
Inventor
符勇
丁宏钰
熊友军
Original Assignee
深圳市优必选科技有限公司
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Application filed by 深圳市优必选科技有限公司 filed Critical 深圳市优必选科技有限公司
Publication of WO2018121749A1 publication Critical patent/WO2018121749A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears

Definitions

  • the invention belongs to the technical field of steering gears, and in particular relates to a steering gear.
  • the steering gear is generally composed of components such as a casing, a circuit board, a motor, a gear set, and a position detector.
  • the overall size of the existing steering gear is large, which is not conducive to miniaturization of the size of the intelligent robot, and the output power is insufficient.
  • some steering gears reduce the output of the steering gear and fail to meet the structural requirements of small intelligent robots.
  • the present invention provides a steering gear including a housing, a driving mechanism mounted on the housing, a transmission mechanism, and an output mechanism, the driving mechanism including a motor, and the output mechanism passing through the transmission mechanism and the motor a driving connection, the motor is provided with a driving gear, the transmission mechanism includes a first gear, the output mechanism is provided with an output gear, the driving gear and the first gear are both twill gears, and the two mesh with each other.
  • the motor is further driven to drive the output gear to rotate by a drive transmission mechanism.
  • the transmission mechanism includes a first gear, and the driving gear and the first gear are both twill gears, so that the noise of the steering gear can be effectively reduced, and the driving gear can be effectively improved.
  • the transmission efficiency and the output torque of the steering gear are further mounted on the outer casing, which further makes the structure of the entire steering gear more compact and reduces the manufacturing cost.
  • the transmission mechanism further includes a second gear that is drivingly coupled to the first gear and a third gear that is drivingly coupled to the second gear, the second gear being driven by the first gear to drive the third transmission,
  • the output gear and the third gear mesh with each other and are drivingly connected.
  • the transmission mechanism further includes a first rotating shaft, and the first gear and the third gear are both mounted on the outer casing through the first rotating shaft.
  • the transmission mechanism further includes a second rotating shaft, the second gear is mounted on the outer casing by the second rotating shaft, and the driving gear is located below the second rotating shaft.
  • the outer casing comprises a middle cover, a top cover mounted on the upper end of the middle cover, and a bottom cover mounted on the lower end of the middle cover, the motor is disposed on the middle cover, and the transmission mechanism and the output mechanism are disposed at the Between the middle cover and the top cover, the circuit board is installed between the middle cover and the bottom cover.
  • the bottom cover is provided with a positioning platform, and the positioning platform is provided with a bottom cover wire hole for connecting an external wire through the circuit board.
  • the output mechanism comprises an output shaft and two bearings mounted on the output shaft, one end of the output shaft extends out of the outer casing, and the other end is connected to the third gear through the output gear, two Bearings are respectively located on both sides of the output gear.
  • the output shaft protrudes from one end of the outer casing and is provided with a spline.
  • the output shaft is provided with a screw hole on one end provided with a spline.
  • the output mechanism further includes an encoder for transmitting a signal
  • the driving mechanism includes a circuit board and a motor disposed on the circuit board, the encoder is mounted on the output mechanism, and the circuit board is provided with And a signal receiver for receiving a signal, the encoder being mounted at one end of the output shaft.
  • FIG. 1 is a schematic structural view of a steering gear according to a preferred embodiment of the present invention.
  • Figure 2 is a schematic cross-sectional view of the steering gear of the present invention.
  • Figure 3 is an exploded perspective view of the steering gear of the present invention.
  • Figure 4 is a plan view of the steering gear of the present invention.
  • Figure 5 is a bottom plan view of the steering gear of the present invention.
  • Figure 6 is a schematic view showing the structure of the middle cover of the present invention.
  • Figure 7 is a schematic view showing the structure of a driving mechanism in the present invention.
  • Figure 8 is an exploded perspective view of the transmission mechanism of the present invention.
  • Figure 9 is an exploded perspective view of the output mechanism of the present invention.
  • Figure 10 is a schematic view showing the structure of an encoder in the present invention.
  • an embodiment of the present invention provides a steering gear including a housing 10, a driving mechanism 20, a transmission mechanism 30, and an output mechanism 40.
  • the housing 10 includes a top cover 11 and a middle cover. 12 and the bottom cover 13, the upper cover upper and lower end faces of the middle cover 12 respectively have a middle cover upper end surface screw hole 123, a middle cover lower end surface screw hole (not shown), and the top cover 11 is provided with a top cover a through hole 111, the screw 113 is threadedly connected to the upper cover screw hole 123 through the top cover through hole 111, thereby fixing the top cover 11 to the lower end surface of the middle cover 12, the bottom cover 13 is provided with a bottom cover through hole 111 through which the screw 135 is threadedly connected with the lower end surface of the middle cover, thereby fixing the bottom cover 13 to the lower end surface of the middle cover 12
  • the housing 10 includes a top cover 11 and a middle cover. 12 and the bottom cover 13, the upper cover upper and lower end faces of the middle cover 12 respectively have a middle cover
  • the middle cover 12 is provided with an upper cavity 121 and a lower cavity 122.
  • the driving mechanism 20 is mounted on the lower cavity 122, and the transmission mechanism 30 and the output mechanism 40 are mounted.
  • the top cover 11 is mounted on the upper cavity 121, and the bottom cover 13 is mounted on the bottom
  • the cavity 122 can effectively reduce the overall size of the steering gear, and at the same time make the mechanism of the steering gear more compact, and facilitate the installation and maintenance of the steering gear, thereby saving a large manufacturing cost and thereby improving the rudder.
  • the market competitiveness of the machine can effectively reduce the overall size of the steering gear, and at the same time make the mechanism of the steering gear more compact, and facilitate the installation and maintenance of the steering gear, thereby saving a large manufacturing cost and thereby improving the rudder. The market competitiveness of the machine.
  • the driving mechanism 20 includes a circuit board 22 and a motor 21 disposed on the circuit board 22 .
  • the motor 21 includes a motor body 211 and a motor shaft 212 extending from the motor body 211.
  • the motor body 211 is directly soldered on the circuit board 22, which further improves the utilization of the structure space of the lower cavity 122, and also makes the structure of the entire steering gear more compact, and reduces the manufacturing cost, and does not need to be
  • the motor 21 is processed separately from the circuit board 22 and assembled.
  • the transmission mechanism 30 includes a first gear 31 , a second gear 32 , a third gear 33 , a first rotating shaft 34 , and a second rotating shaft 35 .
  • the first gear 31 , the first gear The second gear 32 and the third gear 33 are stepped gears, and the first gear 31 is provided with a first lower gear 311, a first upper gear 312 disposed on the first lower gear 311, and a first lower gear.
  • the second gear 32 is provided with a second lower gear 321 , a second upper gear 322 and a second through the second lower gear 321 and the second upper gear 322 a through hole 324
  • the third gear 33 is provided with a third lower gear 331, a third upper gear 332 disposed above the third lower gear 331, and a third through the third lower gear 331 and the third upper gear 332 a three-way hole 333, wherein the first gear 31 and the third gear 33 are rotatably mounted on the upper cavity 121 through the first rotating shaft 34, and the first lower gear 311 is drivingly connected to the driving mechanism 20.
  • the second gear 32 is rotatably mounted on the upper cavity 121 through the second rotating shaft 35, and the second lower gear 321 is
  • the first upper gear 312 is meshingly coupled to the third upper gear 332, and the third lower gear 331 is drivingly coupled to the output mechanism 40.
  • the manufacturing process of the first gear 31, the second gear, and the third gear 33 is reduced, and the structure of the entire steering gear is more compact, the overall size of the steering gear is reduced, and the first gear 31 and the first gear are further
  • the three gears 33 are all mounted on the first rotating shaft 34, which not only ensures the coaxiality of the first gear 31 and the third gear 33, thereby reducing the noise of the whole machine, and further reduces the overall size of the steering gear.
  • the upper cavity 121 is respectively provided with a first rotating shaft hole 124 and a second rotating shaft hole 125.
  • the first rotating shaft 34 is mounted on the first rotating shaft hole 124
  • the second rotating shaft is mounted on the first rotating shaft hole 124.
  • the second rotating shaft hole 125 is mounted on the second rotating shaft hole 125.
  • the motor 21 is mounted below the second rotating shaft hole 125, and the motor rotating shaft 212 and the second rotating shaft 35 are located on the same axis.
  • the motor shaft 212 is provided with a driving gear 213.
  • the driving gear 213 is meshed with the first lower gear 311.
  • the driving gear 213 and the first lower gear 311 are both twill gears.
  • the motor rotating shaft 212 is on the same axis of the second rotating shaft 35, the overall size of the steering gear is further reduced, and the mechanism of the steering gear is made more compact, and further, due to the driving gear 213 And the first lower gear 311 is a twill gear, thereby effectively reducing the noise of the steering gear and improving the output shaft transmission efficiency.
  • the number of teeth of the first lower gear 311 is greater than the number of teeth of the first upper gear 312, and the number of teeth of the second lower gear 321 is greater than the number of teeth of the second upper gear 322.
  • the number of teeth of the third lower gear 331 is smaller than the number of teeth of the third upper gear 332, and the number of teeth of the first lower gear 311 is larger than the number of teeth of the driving gear 213, thereby effectively reducing the number of teeth of the steering gear The output speed and noise are reduced, and the output torque of the steering gear is increased.
  • the output mechanism 40 includes an output shaft 41 and two bearings 42 and 43 .
  • the output shaft 41 is respectively provided with an output gear 411 and bearing mounting portions 414 and 415 , and the bearing mounting portion 414 . 415 are respectively located on two sides of the output gear 411, and inner rings of the two bearings 42, 43 are respectively mounted on the bearing mounting portions 414, 415, and the middle cover 12 is provided with a middle cover bearing groove 127.
  • the top cover 11 is provided with an upper cover bearing groove 115.
  • the outer rings of the two bearings 42 and 43 are respectively mounted on the upper cover bearing groove 115 and the middle cover bearing groove 127, and the output gear 411 and the first
  • the three lower gears 331 are meshed and connected, and the number of teeth of the output gear 411 is smaller than the number of teeth of the third lower gear 331, which further increases the output torque of the steering gear.
  • the second lower gear 321 is further provided with a gear boss 323, and the second upper gear 322 is disposed on the second lower gear 321 through the gear boss 323 for the output.
  • the transmission of the gear 411 and the third lower gear 331 provides an effective space, which not only improves the rigidity of the third lower gear 331 but also reduces the manufacturing cost of the third gear 33, and does not require the gear boss 323 as a whole.
  • the third lower gear 331 is machined and, in addition, the overall structure of the steering gear is made more compact.
  • the apparatus further includes an encoder 50 for signal connection with the circuit board 22, the circuit board including a circuit board body 221 and a signal receiver 222 disposed on the circuit board body, the circuit
  • the plate body 221 is welded to the motor.
  • the encoder 50 includes an encoder shaft 51 and a magnet 52 mounted on the encoder shaft 51.
  • the magnet 52 is disposed opposite the signal receiver 222 and spaced apart.
  • encoder 50 is a magnetic encoder and said signal receiver 222 is a magnetic encoder chip.
  • the output shaft 41 is provided with an encoder connecting hole (not shown), the encoder shaft 51 is directly riveted on the encoder connecting hole, and the lower cavity 122 is disposed on the upper cavity 122.
  • the encoder shaft 51 rotates with the rotation of the output shaft 41, not only effectively fixing the encoder 50 to the output shaft 41, but also accurately rotating the output shaft 41 or
  • the position information is transmitted to the circuit board body 221, thereby facilitating effective control of the motor 21.
  • the encoder 50 and the driving mechanism 20 are both disposed on the lower cavity 122, the reduction is again reduced.
  • the structural size of the steering gear is again reduced.
  • the output shaft 41 is further provided with a spline 412 for transmitting power.
  • the spline 412 is a rectangular spline 412, and the shaft screw hole 413 is outputted on the end portion for convenient use. A more stable and more efficient transmission power, and also ensures the rigidity of the output shaft 41.
  • the top cover 11 and the bottom cover 13 are respectively provided with a top cover screw hole 114 and a bottom cover thread 133 for connecting with other parts, thereby expanding the applicable range of the steering gear, and then
  • the bottom cover 13 is further provided with a positioning platform 132, and the positioning platform 132 is provided with a bottom cover wire hole 134 for connecting an external electric wire to the circuit board. Not only is the installation of the steering gear and the power supply to the drive mechanism 20 facilitated, but the overall structure is more compact.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Power Engineering (AREA)
  • Power Steering Mechanism (AREA)

Abstract

一种舵机，包括外壳（10）、安于所述外壳（10）的驱动机构（20）、传动机构（30）及输出机构（40），所述驱动机构（20）包括电机，所述输出机构（40）通过所述传动机构（30）与所述电机传动连接，所述电机上设有驱动齿轮（213），所述传动机构（30）包括第一齿轮（31），所述输出机构（40）上设有输出齿轮（411），驱动齿轮（213）及所述第一齿轮（31）均为斜纹齿轮，且二者相互啮合，以使电机通过驱动传动机构来进一步驱动所述输出齿轮（411）转动；这样可以有效的减低所述舵机的噪音，而且能够有效的提高所述舵机的传动效率及输出转矩。

Description

一种舵机 技术领域
本发明属于舵机技术领域，具体涉及一种舵机。
背景技术
舵机一般主要由外壳、电路板、马达、齿轮组及位置检测器等零部件构成，但是现有舵机的整体尺寸偏大，不利于智能机器人的体积小型化，而且输出力富余，没有充分利用，甚至有些舵机为了降低整体尺寸，减少舵机内部零部件，却降低了舵机输出力，达不到目前小型智能机器人的结构要求。
发明内容
有鉴于此，本发明提供一种舵机，包括外壳、安于所述外壳的驱动机构、传动机构及输出机构，所述驱动机构包括电机，所述输出机构通过所述传动机构与所述电机传动连接，所述电机上设有驱动齿轮，所述传动机构包括第一齿轮，所述输出机构上设有输出齿轮，驱动齿轮及所述第一齿轮均为斜纹齿轮，且二者相互啮合，以使电机通过驱动传动机构来进一步驱动所述输出齿轮转动。
由于所述驱动机构上设有驱动齿轮，所述传动机构包括第一齿轮，该驱动齿轮与第一齿轮均为斜纹齿轮，这样可以有效的减低所述舵机的噪音，而且能够有效的提高了所述舵机的传动效率及输出转矩，此外，所述驱动机构、传动机构及输出机构均安装于所述外壳上，进一步使得整个舵机的结构更加紧凑，也降低了制造成本。
优选的，所述传动机构还包括与第一齿轮传动连接的第二齿轮及与第二齿轮传动连接的第三齿轮，所述第二齿轮受第一齿轮的传动以驱动第三传动，所述输出齿轮与第三齿轮相互啮合且传动连接。
优选的，所述传动机构还包括第一转轴，所述第一齿轮与第三齿 轮均通过所述第一转轴安装于所述外壳上。
优选的，所述传动机构还包括第二转轴，所述第二齿轮通过所述第二转轴安装于所述外壳上，所述驱动齿轮位于所述第二转轴的下方。
优选的，所述外壳包括中盖、安装在中盖上端的顶盖及安装在中盖下端的底盖，所述电机设置于所述中盖上，所述传动机构及输出机构均设置于所述中盖与顶盖之间，所述电路板安装于所述中盖与底盖之间。
优选的，所述底盖上设有定位台，所述定位台上设有供外部电线穿过与电路板连接的底盖线孔。
优选的，所述输出机构包括输出轴及安装于在输出轴上的两个轴承，所述输出轴的一端伸出所述外壳，另一端通过所述输出齿轮与第三齿轮传动连接，两个轴承分别位于于所述输出齿轮的两侧上。
优选的，所述输出轴伸出外壳的一端上设有花键。
优选的，所述输出轴在设置有花键的一端上开设有螺孔。
优选的，所述输出机构还包括用于传递信号的编码器，所述驱动机构包括电路板及设置在电路板上的电机，所述编码器安装于输出机构上，所述电路板上设有用于接收信号的信号接收器，所述编码器安装于所述输出轴的一端。
附图说明
图1为本发明较佳实施例所提供一种舵机的结构示意图。
图2为本发明中舵机的剖面示意图。
图3为本发明中舵机的分解示意图。
图4为本发明中舵机的俯视图。
图5为本发明中舵机的仰视图。
图6为本发明中中盖的结构示意图。
图7为本发明中驱动机构的结构示意图。
图8为本发明中传动机构的分解示意图。
图9为本发明中输出机构的分解示意图。
图10为本发明中编码器的结构示意图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明：
请参阅图1-6，本发明实施例提供一种舵机，包括外壳10、驱动机构20、传动机构30及输出机构40，在本实施例中，所述外壳10包括顶盖11、中盖12及底盖13，所述中盖12上下两端面上分别开设了中盖上端面螺孔123、中盖下端面螺孔(图中未示出)，所述顶盖11上设有顶盖通孔111，螺丝113穿过顶盖通孔111后与所述中盖上端面螺孔123螺纹连接，从而将所述顶盖11固定在所述中盖12的下端面上，所述底盖13上设有底盖通孔111，螺丝135穿过该底盖通孔111后与所述中盖下端面螺孔螺纹连接，从而将所述底盖13固定在所述中盖12的下端面上，采用以上技术方案后，不仅便于所述舵机的拆卸及安装，而且可以使得固定更加牢固，或者可以在螺丝113、螺丝135上涂满胶水后，再分别安装在中盖上端面螺孔123、中盖下端面螺孔上。
请参阅图1-6，所述中盖12上设有上腔体121及下腔体122，所述驱动机构20安装于所述下腔体122上，所述传动机构30与输出机构40安装于上腔体121上，且所述输出机构40通过所述传动机构30与所述驱动机构20传动连接，所述顶盖11安装于所述上腔体121，所述底盖13安装于下腔体122上，这样可以有效的缩减所述舵机的整体尺寸，同时使得所述舵机的机构更加紧凑，而且便于所述舵机的安装及维护，节约大量的制造成本，从而提高该舵机的市场竞争力。
请参阅图7，所述驱动机构20包括电路板22及设置在电路板22上的电机21，所述电机21包括电机本体211及从电机本体211延伸而出的电机转轴212，在本实施例中，所述电机本体211直接焊接在所述电路板22上，进一步提高了所述下腔体122结构空间的利用，也使得整个舵机的结构更加紧凑，同时降低了制造成本，不需要将电机21与电路板22分开加工后再组装。
请参阅图8，所述传动机构30包括第一齿轮31、第二齿轮32、第三齿轮33、第一转轴34及第二转轴35，在本实施例中，所述第一齿轮31、第二齿轮32及第三齿轮33均为阶梯齿轮，所述第一齿轮31上设有第一下齿轮311、设置在第一下齿轮311上的第一上齿轮312及贯穿所述第一下齿轮311与第一上齿轮312的第一通孔313，所述第二齿轮32上设有第二下齿轮321、第二上齿轮322及贯穿第二下齿轮321与第二上齿轮322的第二通孔324，所述第三齿轮33上设有第三下齿轮331、设置在所述第三下齿轮331上方的第三上齿轮332及贯穿第三下齿轮331与第三上齿轮332的第三通孔333，所述第一齿轮31与第三齿轮33均通过所述第一转轴34可转动安装于上腔体121上，且所述第一下齿轮311与所述驱动机构20传动连接，所述第二齿轮32通过所述第二转轴35可转动安装于所述上腔体121上，所述第二下齿轮321与所述第一上齿轮312啮合连接，所述第二上齿轮322与所述第三上齿轮332啮合连接，所述第三下齿轮331与所述输出机构40传动连接，采用以上技术方案后，不仅减少了所述第一齿轮31、第二齿轮及第三齿轮33的制造工艺，而且使得整个舵机的结构更加紧凑，缩减了舵机的整体尺寸，此外，将所述第一齿轮31与第三齿轮33均安装在第一转轴34上，不仅确保了所述第一齿轮31与第三齿轮33的同轴度，从而降低整机的噪音，还再次缩减了舵机的整体尺寸。
请参阅图6-8，所述上腔体121上分别设有第一转轴孔124、第二转轴孔125，所第一转轴34安装于所述第一转轴孔124上，所述 第二转轴35安装于所述第二转轴孔125，在本实施例中，所述电机21安装于所述第二转轴孔125的下方，且所述电机转轴212与所述第二转轴35位于同一轴线上，所述电机转轴212上设有驱动齿轮213，所述驱动齿轮213与所述第一下齿轮311啮合，优选的，所述驱动齿轮213及所述第一下齿轮311均为斜纹齿轮。采用以上技术方案，由于电机转轴212在所述第二转轴35的同一轴线上，再一次缩减所述舵机的整体尺寸，而且使得舵机的机构更为紧凑，此外，由于所述驱动齿轮213及所述第一下齿轮311均为斜纹齿轮，进而有效的降低了所述舵机的噪音，同时也提高了输出轴传动效率。
请参阅图6-8，在本实施例中，所述第一下齿轮311的齿数大于所述第一上齿轮312的齿数，所述第二下齿轮321的齿数大于第二上齿轮322的齿数，所述第三下齿轮331的齿数小于所述第三上齿轮332的齿数，且所述第一下齿轮311的齿数大于所述驱动齿轮213的齿数，从而有效的降低了所述舵机的输出转速及噪音的减少，并提高了所述舵机的输出转矩。
请参阅图8-9，所述输出机构40包括输出轴41及两个轴承42、43，所述输出轴41上分别设有输出齿轮411及轴承安装部414、415，所述轴承安装部414、415分别位于所述输出齿轮411的两侧上，两个轴承42、43的内圈分别安装在所述轴承安装部414、415上，所述中盖12上设有中盖轴承槽127，所述顶盖11上设有上盖轴承槽115，两个轴承42、43的外圈分别安装于所述上盖轴承槽115及中盖轴承槽127上，所述输出齿轮411与所述第三下齿轮331啮合连接，而且所述输出齿轮411的齿数小于所述第三下齿轮331的齿数，再一次提高了所述舵机的输出转矩，采用以上技术方案后，不仅有效的将所述输出齿轮411所承受的力矩分散到两侧轴承上，同时也提高了该输出齿轮411的同轴度，降低了所述舵机的噪音，此外，便于所述输出轴41的安装与拆卸。
请参阅图8-9，所述第二下齿轮321上还设有齿轮凸台323，所 述第二上齿轮322通过该齿轮凸台323设置在所述第二下齿轮321，为所述输出齿轮411与第三下齿轮331的传动提供了有效的空间，不仅提高了所述第三下齿轮331的强硬度，而且减少了第三齿轮33的制造成本，不需要整一个将齿轮凸台323加工成第三下齿轮331，此外，更使得所述舵机的整体结构更为紧凑。
请参阅图1-10，所述还包括用于与所述电路板22信号连接的编码器50，所述电路板包括电路板本体221及设置在电路板本体的信号接收器222，所述电路板本体221与所述电机焊接。所述编码器50包括编码器转轴51及安装在编码器转轴51上的磁石52，磁石52与信号接收器222相对且间隔距离设置。优选的，编码器50为磁编码器，所述信号接收器222为磁编码器芯片。所述输出轴41上设有编码器连接孔(图中未示出)，所述编码器转轴51直接铆压在该编码器连接孔上，并且设置所述下腔体122上，采用以上技术方案后，所述编码器转轴51随着该输出轴41的转动而转动，不仅有效的将所述编码器50固定在输出轴41上，而且可以准确的将所述输出轴41的转数或位置信息传递至所述电路板本体221上，从而便于有效的控制所述电机21，此外，由于该编码器50与所述驱动机构20均设置于所述下腔体122上，又一次缩减了所述舵机的结构尺寸。
请参阅图1-10，所述输出轴41上还设有用于将动力传递出去的花键412，所述花键412为矩形花键412，且端部上输出轴螺孔413，以便更方便、更稳固及更有效的传动动力，而且也确保了所述输出轴41的强硬度。
请参阅图1-10，所述顶盖11及底盖13上还分别设有用于与其他零件连接的顶盖螺孔114、底盖螺纹133，从而扩展了所述舵机的适用范围，再而提高了该舵机的市场竞争力，此外，所述底盖13上还设有用于定位台132，所述定位台132设有供外部电线穿过与电路板连接的底盖线孔134，不仅便于所述舵机的安装及向所述驱动机构20供电，而且使得整体结构更为紧凑。
以上所述仅为本发明的较佳实施例而已，并不用于限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包括在本发明保护的范围之内。

Claims (10)

  1. 一种舵机，包括外壳、安于所述外壳的驱动机构、传动机构及输出机构，所述驱动机构包括电机，所述输出机构通过所述传动机构与所述电机传动连接，所述电机上设有驱动齿轮，所述传动机构包括第一齿轮，所述输出机构上设有输出齿轮，其特征在于：驱动齿轮及所述第一齿轮均为斜纹齿轮，且二者相互啮合，以使电机通过驱动传动机构来进一步驱动所述输出齿轮转动。
  2. 如权利要求1所述的一种舵机，其特征在于：所述传动机构还包括与第一齿轮传动连接的第二齿轮及与第二齿轮传动连接的第三齿轮，所述第二齿轮受第一齿轮的传动以驱动第三传动，所述输出齿轮与第三齿轮相互啮合且传动连接。
  3. 如权利要求2所述的一种舵机，其特征在于：所述传动机构还包括第一转轴，所述第一齿轮与第三齿轮均通过所述第一转轴安装于所述外壳上。
  4. 如权利要求3所述的一种舵机，其特征在于：所述传动机构还包括第二转轴，所述第二齿轮通过所述第二转轴安装于所述外壳上，所述驱动齿轮位于所述第二转轴的下方。
  5. 如权利要求1所述的一种舵机，其特征在于：所述外壳包括中盖、安装在中盖上端的顶盖及安装在中盖下端的底盖，所述电机设置于所述中盖上，所述传动机构及输出机构均设置于所述中盖与顶盖之间，所述电路板安装于所述中盖与底盖之间。
  6. 如权利要求5所述的一种舵机，其特征在于：所述底盖上设有定位台，所述定位台上设有供外部电线穿过与电路板连接的底盖线孔。
  7. 如权利要求1所述的一种舵机，其特征在于：所述输出机构包括输出轴及安装于在输出轴上的两个轴承，所述输出轴的一端伸出所述外壳，另一端通过所述输出齿轮与第三齿轮传动连接，两个轴承分别位于于所述输出齿轮的两侧上。
  8. 如权利要求7所述的一种舵机，其特征在于：所述输出轴伸出 外壳的一端上设有花键。
  9. 如权利要求8所述的一种舵机，其特征在于：所述输出轴在设置有花键的一端上开设有螺孔。
  10. 如权利要求8所述的一种舵机，其特征在于：还包括用于传递信号的编码器，所述驱动机构包括电路板及设置在电路板上的电机，所述编码器安装于输出机构上，所述电路板上设有用于接收信号的信号接收器，所述编码器安装于所述输出轴的一端。
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