WO2020107571A1 - 舵机及无人机 - Google Patents

舵机及无人机 Download PDF

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Publication number
WO2020107571A1
WO2020107571A1 PCT/CN2018/122134 CN2018122134W WO2020107571A1 WO 2020107571 A1 WO2020107571 A1 WO 2020107571A1 CN 2018122134 W CN2018122134 W CN 2018122134W WO 2020107571 A1 WO2020107571 A1 WO 2020107571A1
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WO
WIPO (PCT)
Prior art keywords
output shaft
cone surface
steering gear
tapered surface
steering wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/122134
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English (en)
French (fr)
Inventor
罗冲
聂金安
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201880042748.4A priority Critical patent/CN111032505A/zh
Publication of WO2020107571A1 publication Critical patent/WO2020107571A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U40/00—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration
    • B64U40/10—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration for adjusting control surfaces or rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/20—Transmission of mechanical power to rotors or propellers

Definitions

  • the embodiments of the present invention generally relate to a steering gear, and in particular, to a steering gear and a drone equipped with the steering gear.
  • the steering gear is mainly composed of a housing, a circuit board, a drive motor, a reducer and a position detection element. Its working principle is that the receiver sends a signal to the steering gear, rotates the motor through the IC on the circuit board, and transmits the power through the reduction gear. To the output shaft and rudder disc.
  • the output shaft and the steering wheel are connected by a spline and a spline groove, but there is a gap between the output shaft and the steering wheel where the spline and the spline groove are connected, and the size of the gap is not easy to control .
  • the existence of the load will cause the gap to become larger and larger, affecting the normal operation of the servo.
  • a main purpose of the embodiments of the present invention is to overcome at least one of the above-mentioned defects of the prior art, and to provide a steering gear that can effectively eliminate transmission gaps.
  • Another main object of the embodiments of the present invention is to overcome at least one of the above-mentioned defects of the prior art and provide a steering gear.
  • Another main object of the embodiments of the present invention is to overcome at least one of the above-mentioned shortcomings of the prior art and provide a drone equipped with the above-mentioned steering gear.
  • a steering gear including an output shaft and a steering wheel connected to the output shaft, the output shaft has a first matching portion, and the steering wheel has a first matching portion
  • the connected second mating part, one of the first mating part and the second mating part has an outer tapered surface, and the other one has an inner tapered surface;
  • the outer tapered surface is outwardly directed toward the inner tapered surface
  • the inner cone surface is inclined in such a manner that the inner diameter increases toward the outer cone surface, the outer cone surface is in contact with the inner cone surface;
  • the steering gear further includes a locking member, the lock The tightening member is connected to the output shaft and the steering wheel.
  • the outer tapered surface and the inner tapered surface are interference fit.
  • a circumferential limiting structure is provided between the outer cone surface and the inner cone surface.
  • the circumferential limit structure is:
  • One of the outer surface of the outer tapered surface and the inner surface of the inner tapered surface is provided with at least one key slot, and the other is provided with a convex key matching the size of the at least one key slot, the convex key sliding into The direction of the keyway is at an angle of less than 90 degrees with the axis of the output shaft.
  • the locking member is a locking bolt
  • the output shaft and the steering wheel are provided with coaxial threaded holes
  • the locking bolt is connected to the output shaft and the steering wheel The threaded holes of the are engaged to lock the output shaft and the steering wheel.
  • the end of the output shaft has a blind hole-type threaded hole in the axial direction
  • the steering wheel has a through-hole type threaded hole in the axial direction
  • the locking bolt passes The two threaded holes lock the steering wheel and the output shaft.
  • the axis lines of the blind hole type threaded hole and the through hole type threaded hole coincide with the axis line of the output shaft.
  • the steering gear further includes a sloped pin that passes through the contact surface of the outer cone surface and the inner cone surface in the radial direction of the output shaft.
  • the outer cone surface is an outer cone surface
  • the inner cone surface is an inner cone surface
  • the cross-sectional curve of the cone formed on the outer peripheral surface of the first fitting portion or the second fitting portion is an isometric curve.
  • the steering gear further includes at least one expansion sleeve sleeved on the outer cone surface, the inner wall surface and the outer wall surface of the expansion sleeve are respectively in contact with the outer cone surface and the inner cone Face contact.
  • the outer cone surface is an outer cone surface
  • the inner cone surface is an inner cone surface
  • the cross-sectional curve of the cone formed on the outer peripheral surface of the first fitting portion or the second fitting portion is an isometric curve.
  • a drone including a load or propeller, a flight controller, and a steering gear according to any one of the foregoing connected to the load or propeller, the flight controller controlling The steering gear drives the load or propeller movement.
  • the outer cone surface is inclined so that the outer diameter decreases toward the inner cone surface direction
  • the inner cone surface is inclined so as to increase toward the inner diameter of the outer cone surface, the outer cone surface and the inner cone
  • Fig. 1 is a cross-sectional view of a steering gear according to an exemplary embodiment.
  • Fig. 2 is an exploded view of a steering gear according to an exemplary embodiment.
  • Fig. 3 is a perspective view of an output shaft with a keyway according to an exemplary embodiment.
  • Fig. 4 is a perspective view of a steering wheel having a convex key according to an exemplary embodiment.
  • FIG. 5 is a cross-sectional view taken along the diameter direction of the rudder disc in FIG. 4.
  • Fig. 1 is a cross-sectional view of a steering gear according to an exemplary embodiment.
  • Fig. 2 is an exploded view of a steering gear according to an exemplary embodiment.
  • Fig. 3 is a perspective view of an output shaft with a keyway according to an exemplary embodiment.
  • Fig. 4 is a perspective view of a steering wheel having a convex key according to an exemplary embodiment.
  • FIG. 5 is a cross-sectional view taken along the diameter direction of the rudder disc in FIG. 4.
  • FIG. 1 schematically shows a steering gear including an output shaft 10 and a steering wheel 20 connected to the output shaft 10.
  • steering gear provided by the embodiments of the present invention may be applied in multiple fields, such as the field of smart cars, the field of aeromodelling, or other industrial application fields.
  • the output shaft 10 has a first fitting portion 11, and correspondingly, the rudder disc 20 has a second fitting portion 21 connected to the first fitting portion 11.
  • One of the first fitting portion 11 and the second fitting portion 21 has an outer tapered surface 111, and the other one has an inner tapered surface 211.
  • the second mating portion 21 of the rudder disc 20 has an inner tapered surface 211.
  • the second mating portion 21 of the rudder disc 20 has an outer tapered surface 111.
  • first mating portion 11 having an outer tapered surface 111 and the second mating portion 21 having an inner tapered surface 211 are also applicable to the first mating portion 11 having The inner tapered surface 211 and the second fitting portion 21 have an embodiment of the outer tapered surface 111.
  • the outer tapered surface 111 is inclined so that the outer diameter decreases toward the inner tapered surface 211
  • the inner tapered surface 211 is inclined so as to increase toward the inner diameter of the outer tapered surface 111
  • the outer tapered surface 111 is in contact with the inner tapered surface 211.
  • the outer diameter of the outer tapered surface 111 refers to an outer contour cut in a direction perpendicular to the axial direction of the output shaft 10.
  • the outer contour can be circular, the outer cone surface 111 is a conical surface; the outer contour can be rectangular, the outer cone surface 111 is a quadrangular pyramid surface; the outer contour can be a polygon, the outer cone surface 111 is a polygonal pyramid surface;
  • the outer contour can also be other special shapes, which satisfy the reduced outer diameter and are tapered, and will not be described in detail here.
  • the steering gear may further include a bevel pin, and the bevel pin passes through the contact surface of the outer cone surface 111 and the inner cone surface 211 along the radial direction of the output shaft 10.
  • the bevel pin passes through the outer wall of the second fitting portion 21, the inner wall of the second fitting portion 21, and part of the first fitting portion 11 in order to prevent relative sliding between the two.
  • the steering gear further includes a locking member 30, which can be configured to be axially connected to the output shaft 10 and the steering wheel 20 described above.
  • the locking member 30 may be a bolt provided along the circumferential direction of the output shaft 10.
  • the locking member 30 may also be other axial locking structures such as rivets.
  • the outer tapered surface 111 of the first fitting portion 11 and the inner tapered surface 211 of the second fitting portion 21 are interference fit.
  • the interference fit design has the advantages of simple structure, good coaxiality, and can withstand greater axial force and torque.
  • the interference between the outer cone surface 111 and the inner cone surface 211 can reduce the circumferential load of the locking member 30 accordingly, making the connection between the output shaft 10 and the steering wheel 20 more stable, firm and without gaps, effectively eliminating the output shaft 10 Transmission gap between the steering wheel 20.
  • the outer cone surface 111 is an outer cone surface
  • the inner cone surface 211 is an inner cone surface.
  • the design of the outer conical surface and the inner conical surface makes the outer wall of the first mating portion 11 of the output shaft 10 be a cone, ensuring that the contact surfaces of the first mating portion 11 and the second mating portion 21 are inclined surfaces, eliminating the maximum The gap between the two.
  • a circumferential limiting structure is provided between the outer tapered surface 111 and the inner tapered surface 211.
  • One of the outer surface of the outer cone surface 111 and the inner surface of the inner cone surface 211 is provided with at least one key slot 112, and the other is provided with a size corresponding to at least one key slot 112.
  • the cooperating convex key 212, the direction in which the convex key 212 slides into the key groove 112 forms an angle of less than 90 degrees with the axis of the output shaft 10.
  • the outer tapered surface 111 has at least one key groove 112 and the inner tapered surface 211 has a convex key 212 matching the size of the at least one key groove 112 as an example for schematic description.
  • the embodiment of the present invention does not particularly limit the axial cross-sectional shape of the keyway 112, for example, it may be a rectangular trapezoid, a parallelogram, a triangle, or other shapes.
  • the embodiment of the present invention does not particularly limit the cross-sectional shape of the keyway 112 perpendicular to the axial direction, and the cross-sectional shape may be, for example, dovetail-shaped, rectangular, or the like.
  • the embodiment of the present invention does not particularly limit the number of keyways 112, which can be one, two, three, four, or more.
  • Those of ordinary skill in the art can determine the output shaft 10 cross-sectional size according to the torque Other factors to design the specific number of keyways 112.
  • outer cone surface 111 and the inner cone surface 211 are the outer cone surface and the inner cone surface, respectively, and have four uniformly arranged key grooves 112.
  • the above-mentioned locking member 30 may be a locking bolt, and coaxial threaded holes are formed in the output shaft 10 and the steering wheel 20.
  • the locking bolt is connected to the output shaft 10 and the steering wheel 20.
  • the threaded holes cooperate to lock the output shaft 10 and the end plate.
  • the threaded hole may be provided along the axial direction of the output shaft 10 or may be provided along the radial direction of the output shaft 10.
  • a screw hole is provided along the axial direction of the output shaft 10 as an example for illustration.
  • the end of the first fitting portion 11 of the output shaft 10 has a blind hole in the axial direction
  • the screw hole 113 of the type is provided with a through-hole type screw hole 213 in the axial direction of the steering wheel 20, and the locking bolt locks the steering wheel 20 and the output shaft 10 through the above two screw holes.
  • the axis lines of the blind hole type screw hole 113 and the through hole type screw hole 213 coincide with the axis line of the output shaft 10.
  • the cross-sectional curve of the cone formed on the outer peripheral surface of the first fitting portion 11 or the second fitting portion 21 is an equidistant curve.
  • the equidistant curve is defined as the distance between two parallel lines tangent to its contour curve is a constant.
  • the steering gear further includes at least one expansion sleeve, which is sleeved on the outer cone surface 111, and the inner wall surface and the outer wall surface of the expansion sleeve are in contact with the outer cone surface 111 and the inner cone surface 211, respectively, and the output is achieved through the expansion connection Connection of shaft 10 and rudder disc 20.
  • the number of expansion sleeves is not particularly limited.
  • the expansion sleeves simultaneously expand the output shaft 10 and the steering wheel 20 under the action of an axial force.
  • the outer cone surface 111 may be an outer cone surface
  • the inner cone surface 211 may be an inner cone surface
  • the cross-sectional curve of the cone formed on the outer peripheral surface of the first fitting portion 11 or the second fitting portion 21 is an equidistant curve.
  • An embodiment of the present invention also provides a drone, which includes a load or propeller, a flight controller, and any one of the above-mentioned steering gears connected to the above load or propeller, wherein the flight controller controls the steering gear to drive the load or the propeller to move.
  • the beneficial effect of the steering gear is that, “the outer cone surface 111 is inclined in such a manner that the outer diameter decreases toward the inner cone surface 211, and the inner cone surface 211 is oriented
  • the outer cone surface 111 is inclined in a manner of increasing the inner diameter, and the design of the outer cone surface 111 being in contact with the inner cone surface 211 makes the outer cone surface 111 closely contact the inner cone surface 211, effectively eliminating the output shaft 10 and The transmission gap between the rudder discs 20 improves the transmission efficiency.
  • the locking member 30 is used to lock the output shaft 10 and the steering wheel 20 in the axial direction, which can ensure the stability of the further connection of the two.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Steering Controls (AREA)
  • Gear Transmission (AREA)

Abstract

一种舵机及无人机，舵机包括输出轴(10)以及与输出轴(10)连接的舵盘(20)，输出轴(10)具有第一配合部(11)，舵盘(20)具有与第一配合部(11)连接的第二配合部(21)，第一配合部(11)和第二配合部(21)其中之一具有外锥面(111)，其中另一具有内锥面(211)；外锥面(111)以朝向内锥面(211)方向外径缩小的方式倾斜，内锥面(211)以朝向外锥面(111)内径扩大的方式倾斜，外锥面(111)与内锥面(211)相接触；舵机还包括锁紧件(30)，锁紧件(30)沿轴向与输出轴(10)及舵盘(20)连接。

Description

舵机及无人机 技术领域
本发明实施例总体来说涉及一种舵机，具体而言，涉及一种舵机及安装有该舵机的无人机。
背景技术
舵机主要是由外壳、电路板、驱动马达、减速器与位置检测元件构成，其工作原理是由接收机发出信号给舵机，经由电路板上的IC驱动马达转动，通过减速齿轮将动力传至输出轴和舵盘。
现有技术中，输出轴与舵盘是通过花键与花键槽连接，但在花键与花键槽连接处的输出轴和舵盘之间是存在间隙的，并且间隙的大小是不容易控制的。舵机在使用一定时间后，负载的存在会导致间隙越来越大，影响舵机的正常工作。
在所述背景技术部分公开的上述信息仅用于加强对本发明实施例的背景的理解，因此它可以包括不构成对本领域普通技术人员已知的现有技术的信息。
发明内容
本发明实施例的一个主要目的在于克服上述现有技术的至少一种缺陷，提供一种可有效消除传动间隙的舵机。
本发明实施例的另一个主要目的在于克服上述现有技术的至少一种缺陷，提供一种舵机。
本发明实施例的再一个主要目的在于克服上述现有技术的至少一种缺陷，提供一种安装有上述舵机的无人机。
为实现上述发明实施例目的，本发明实施例采用如下技术方案：
根据本发明的一个方面，提供了一种舵机，包括输出轴以及与所述输出轴连接的舵盘，所述输出轴具有第一配合部，所述舵盘具有与所述第一 配合部连接的第二配合部，所述第一配合部和所述第二配合部其中之一具有外锥面，其中另一具有内锥面；所述外锥面以朝向所述内锥面方向外径缩小的方式倾斜，所述内锥面以朝向所述外锥面内径扩大的方式倾斜，所述外锥面与所述内锥面相接触；所述舵机还包括锁紧件，所述锁紧件连接于所述输出轴及所述舵盘。
根据本发明的一实施方式，所述外锥面与所述内锥面过盈配合。
根据本发明的一实施方式，所述外锥面与所述内锥面之间设置有周向限位结构。
根据本发明的一实施方式，所述周向限位结构为：
所述外锥面的外表面和所述内锥面的内表面其中之一开设有至少一键槽，其中另一设置有与所述至少一键槽尺寸相配合的凸键，所述凸键滑入所述键槽的方向与所述输出轴的轴心线成小于90度的夹角。
根据本发明的一实施方式，所述锁紧件为锁紧螺栓，所述输出轴和所述舵盘开设有同轴的螺纹孔，所述锁紧螺栓与所述输出轴及所述舵盘的所述螺纹孔配合以将所述输出轴和所述舵盘锁紧。
根据本发明的一实施方式，所述输出轴的端部轴向上开有盲孔式的螺纹孔，所述舵盘的轴向上开有通孔式的螺纹孔，所述锁紧螺栓通过两个所述螺纹孔将所述舵盘和所述输出轴锁紧。
根据本发明的一实施方式，所述盲孔式的螺纹孔和所述通孔式的螺纹孔的轴心线与所述输出轴的轴心线重合。
根据本发明的一实施方式，所述舵机还包括斜面销，所述斜面销沿所述输出轴径向穿过所述外锥面与所述内锥面的接触面。
根据本发明的一实施方式，所述外锥面为外圆锥面，所述内锥面为内圆锥面。
根据本发明的一实施方式，所述第一配合部或所述第二配合部的外周面形成的锥体的截面曲线为等距曲线。
根据本发明的一实施方式，所述舵机还包括至少一胀套，套设于所述 外锥面，所述胀套的内壁面和外壁面分别与所述外锥面和所述内锥面接触。
根据本发明的一实施方式，所述外锥面为外圆锥面，所述内锥面为内圆锥面。
根据本发明的一实施方式，所述第一配合部或所述第二配合部的外周面形成的锥体的截面曲线为等距曲线。
根据本发明的再一方面，提供一种无人机，包括负载或螺旋桨，飞行控制器，以及与所述负载或螺旋桨连接的上述任一项所述的舵机，所述飞行控制器控制所述舵机以驱动所述负载或螺旋桨运动。
由上述技术方案可知，本发明的舵机优点和积极效果在于：
通过“所述外锥面以朝向所述内锥面方向外径缩小的方式倾斜，所述内锥面以朝向所述外锥面内径扩大的方式倾斜，所述外锥面与所述内锥面相接触”的设计，使得外锥面能够紧贴内锥面，其有效消除了输出轴和舵盘之间的传动间隙，提高了传动效率。
附图说明
通过参照附图详细描述其示例实施方式，本发明实施例的上述和其它特征及优点将变得更加明显。
图1是根据一示例性实施方式示出的一种舵机的剖面图。
图2是根据一示例性实施方式示出的一种舵机的爆炸图。
图3是根据一示例性实施方式示出的具有键槽的输出轴的立体图。
图4是根据一示例性实施方式示出的具有凸键的舵盘的立体图。
图5是图4中沿舵盘直径方向切出的剖面图。
其中，附图标记说明如下：
10、输出轴
11、第一配合部
111、外锥面
112、键槽
113、盲孔式的螺纹孔
20、舵盘
21、第二配合部
211、内锥面
212、凸键
213、通孔式的螺纹孔
30、锁紧件
具体实施方式
现在将参考附图更全面地描述示例实施方式。然而，示例实施方式能够以多种形式实施，且不应被理解为限于在此阐述的实施方式；相反，提供这些实施方式使得本发明将全面和完整，并将示例实施方式的构思全面地传达给本领域的技术人员。图中相同的附图标记表示相同或类似的结构，因而将省略它们的详细描述。
虽然本说明书中使用相对性的用语，例如“上”、“下”来描述图标的一个组件对于另一组件的相对关系，但是这些术语用于本说明书中仅出于方便，例如根据附图中所述的示例的方向。能理解的是，如果将图标的装置翻转使其上下颠倒，则所叙述在“上”的组件将会成为在“下”的组件。其他相对性的用语，例如“顶”、“底”等也作具有类似含义。用语“一个”、“一”、“该”和“所述”用以表示存在一个或多个要素/组成部分/等；用语“包括”和“具有”用以表示开放式的包括在内的意思并且是指除了列出的要素/组成部分/等之外还可存在另外的要素/组成部分/等；用语“第一”、“第二”、“第三”和“第四”等仅作为标记使用，不是对其对象的数量限制。
下面结合附图，对本发明的一些实施方式作详细说明，在不冲突的情况下，下述实施方式中的特征可以相互结合。
图1是根据一示例性实施方式示出的一种舵机的剖面图。图2是根据一示例性实施方式示出的一种舵机的爆炸图。图3是根据一示例性实施方式示出的具有键槽的输出轴的立体图。图4是根据一示例性实施方式示出的具有凸键的舵盘的立体图。图5是图4中沿舵盘直径方向切出的剖面图。
请参阅图1，图1示意性地示出了一种舵机，其包括输出轴10以及与输出轴10连接的舵盘20。
应当理解的是，本发明实施例提供的舵机可以应用在多个领域，例如智能小车领域、航模领域或其他工业应用领域。
其中，上述输出轴10具有第一配合部11，对应地，上述舵盘20具有与第一配合部11连接的第二配合部21。第一配合部11和第二配合部21其中之一具有外锥面111，其中另一具有内锥面211，具体来说，当输出轴10的第一配合部11具有外锥面111时，舵盘20的第二配合部21具有内锥面211，当输出轴10的第一配合部11具有内锥面211时，舵盘20的第二配合部21具有外锥面111。
为了便于下述说明，以第一配合部11具有外锥面111以及第二配合部21具有内锥面211为例来进行说明，下述的多种变形，同样适用于第一配合部11具有内锥面211和第二配合部21具有外锥面111的实施方式。
其中，外锥面111以朝向内锥面211方向外径缩小的方式倾斜，内锥面211以朝向外锥面111内径扩大的方式倾斜，外锥面111与内锥面211相接触。
具体来说，外锥面111的外径是指，以垂直于输出轴10的轴向方向切出的外轮廓。
其中，外轮廓可以为圆形，则外锥面111为圆锥面；外轮廓可以为矩形，则外锥面111为四棱锥面；外轮廓可以为多边形，则外锥面111为多边棱锥面；外轮廓还可以为其他特殊形状，满足外径缩小且为锥面即可，在此不再详细说明。
应当理解的是，上述外锥面111的多种变形实施方式均在本发明实施例的保护范围内。
应当理解的是，所述舵机还可以包括斜面销，斜面销沿输出轴10径向穿过外锥面111与内锥面211的接触面。具体来说，以第一配合部11具有外锥面111和第二配合部21具有内锥面211为例来进行示意性说明。斜面销依次穿过第二配合部21的外壁、第二配合部21的内壁以及部分第一配合部11，防止两者之间发生相对滑动。
舵机还包括锁紧件30，锁紧件30可配置为沿轴向与上述的输出轴10和舵盘20连接。举例来说，锁紧件30可以为沿输出轴10周向设置的螺栓。所述锁紧件30还可以是铆钉等其他轴向的锁紧结构。
进一步地，在本实施方式中，第一配合部11的外锥面111与第二配合部21的内锥面211过盈配合。过盈配合的设计具有结构简单，同轴性好且可承受较大的轴向力、扭矩等优点。同时，外锥面111与内锥面211过盈配合，可相应减轻锁紧件30的周向负荷，使得输出轴10与舵盘20的连接更加稳定、牢固且无间隙，有效消除了输出轴10与舵盘20之间的传动间隙。
进一步地，如图2所示，在本实施方式中，上述的外锥面111为外圆锥面，上述的内锥面211为内圆锥面。外圆锥面与内圆锥面的设计，使得输出轴10的第一配合部11的外壁为一圆锥体，保证第一配合部11与第二配合部21的接触面都为斜面，最大限度地消除了两者之间的间隙。
进一步地，在本实施方式中，外锥面111与内锥面211之间设置有周向限位结构。具体来说，请同时参阅图3和图4，外锥面111的外表面和内锥面211的内表面其中之一开设有至少一键槽112，其中另一设置有与至少一键槽112尺寸相配合的凸键212，凸键212滑入键槽112的方向与输出轴10的轴心线成小于90度的夹角。
为了便于下述说明，以外锥面111具有至少一键槽112以及内锥面211具有与至少一键槽112尺寸相配合的凸键212为例进行示意性说明。
其中，本发明实施例不对键槽112的沿轴向截面形状作特别限定，例如可以是直角梯形、平行四边形、三角形或其他形状。
当然，本发明实施例不对键槽112的垂直于轴向的截面形状作特别限定，截面形状例如可以为燕尾型、矩形等。
另外，本发明实施例也不对键槽112的数量作特别限定，可以是一个、两个、三个、四个或多个，本领域的普通技术人员，可根据扭矩的大小、输出轴10截面尺寸等因素来设计具体的键槽112数量。
在其他实施方式中，如图3所示，示意性地示出了外锥面111和内锥面211分别为外圆锥面和内圆锥面，且具有四个均匀布置的键槽112。
进一步地，在本实施方式中，上述的锁紧件30可以为锁紧螺栓，在输出轴10和舵盘20上开设有同轴的螺纹孔，锁紧螺栓与输出轴10及舵盘20的螺纹孔配合以将输出轴10和端盘锁紧。其中，螺纹孔可以设置在沿输出轴10的轴向上，也可以设置在沿输出轴10的径向上。
下面以螺纹孔设置在沿输出轴10的轴向上为例进行说明，如图1、图3和图4所示，输出轴10的第一配合部11的端部轴向上开有盲孔式的螺纹孔113，舵盘20的轴向上开有通孔式的螺纹孔213，锁紧螺栓通过上述的两个螺纹孔将舵盘20和输出轴10锁紧。
进一步地，如图1所示，在本实施方式中，盲孔式的螺纹孔113和通孔式的螺纹孔213的轴心线与输出轴10的轴心线重合。
进一步地，在本实施方式中，第一配合部11或第二配合部21的外周面形成的锥体的截面曲线为等距曲线。其中，等距曲线定义为与其轮廓曲线相切的两平行线之间的距离为一常数。
进一步地，所述舵机还包括至少一胀套，套设于外锥面111，胀套的内壁面和外壁面分别与外锥面111和内锥面211接触，通过胀紧连接方式实现输出轴10和舵盘20的连接。
其中，本发明实施例不对胀套的数量作特别限定，胀套在轴向力的作用下，同时胀紧输出轴10和舵盘20。
进一步地，在本实施方式中，外锥面111可以为外圆锥面，以及内锥面211可以为内圆锥面。
进一步地，在本实施方式中，第一配合部11或第二配合部21的外周面形成的锥体的截面曲线为等距曲线。
本发明实施例还提供一种无人机，其包括负载或螺旋桨、飞行控制器以及与上述负载或螺旋桨连接的上述任一个舵机，其中，飞行控制器控制舵机以驱动负载或螺旋桨运动。
综上所述，本发明实施例提供的舵机的有益效果在于，通过“所述外锥面111以朝向所述内锥面211方向外径缩小的方式倾斜，所述内锥面211以朝向所述外锥面111内径扩大的方式倾斜，所述外锥面111与所述内锥面211相接触”的设计，使得外锥面111紧贴内锥面211，有效消除了输出轴10和舵盘20之间的传动间隙，提高了传动效率。
进一步通过锁紧件30实现输出轴10和舵盘20沿轴向的锁紧，可保证二者进一步连接的稳固性。
应可理解的是，本发明实施例不将其应用限制到本说明书提出的部件的详细结构和布置方式。本发明能够具有其他实施方式，并且能够以多种 方式实现并且执行。前述变形形式和修改形式落在本发明的范围内。应可理解的是，本说明书公开和限定的本发明延伸到文中和/或附图中提到或明显的两个或两个以上单独特征的所有可替代组合。所有这些不同的组合构成本发明的多个可替代方面。本说明书所述的实施方式说明了已知用于实现本发明的最佳方式，并且将使本领域技术人员能够利用本发明。

Claims (26)

  1. 一种舵机，包括输出轴以及与所述输出轴连接的舵盘，其特征在于，所述输出轴具有第一配合部，所述舵盘具有与所述第一配合部连接的第二配合部，所述第一配合部和所述第二配合部其中之一具有外锥面，其中另一具有内锥面；
    所述外锥面以朝向所述内锥面方向外径缩小的方式倾斜，所述内锥面以朝向所述外锥面内径扩大的方式倾斜，所述外锥面与所述内锥面相接触；
    所述舵机还包括锁紧件，所述锁紧件沿轴向与所述输出轴及所述舵盘连接。
  2. 根据权利要求1所述的舵机，其特征在于，所述外锥面与所述内锥面过盈配合。
  3. 根据权利要求1所述的舵机，其特征在于，所述外锥面与所述内锥面之间设置有周向限位结构。
  4. 根据权利要求3所述的舵机，其特征在于，所述周向限位结构为：
    所述外锥面的外表面和所述内锥面的内表面其中之一开设有至少一键槽，其中另一设置有与所述至少一键槽尺寸相配合的凸键，所述凸键滑入所述键槽的方向与所述输出轴的轴心线成小于90度的夹角。
  5. 根据权利要求1所述的舵机，其特征在于，所述锁紧件为锁紧螺栓，所述输出轴和所述舵盘开设有同轴的螺纹孔，所述锁紧螺栓与所述输出轴及所述舵盘的所述螺纹孔配合以将所述输出轴和所述舵盘锁紧。
  6. 根据权利要求5所述的舵机，其特征在于，所述输出轴的端部轴向上开有盲孔式的螺纹孔，所述舵盘的轴向上开有通孔式的螺纹孔，所述锁紧螺栓通过两个所述螺纹孔将所述舵盘和所述输出轴锁紧。
  7. 根据权利要求6所述的舵机，其特征在于，所述盲孔式的螺纹孔和所述通孔式的螺纹孔的轴心线与所述输出轴的轴心线重合。
  8. 根据权利要求1所述的舵机，其特征在于，所述舵机还包括斜面销，所述斜面销沿所述输出轴径向穿过所述外锥面与所述内锥面的接触面。
  9. 根据权利要求1-8任一项所述的舵机，其特征在于，所述外锥面为外圆锥面，所述内锥面为内圆锥面。
  10. 根据权利要求1-8任一项所述的舵机，其特征在于，所述第一配合部或所述第二配合部的外周面形成的锥体的截面曲线为等距曲线。
  11. 根据权利要求1所述的舵机，其特征在于：
    所述舵机还包括至少一胀套，套设于所述外锥面，所述胀套的内壁面和外壁面分别与所述外锥面和所述内锥面接触。
  12. 根据权利要求11所述的舵机，其特征在于，所述外锥面为外圆锥面，所述内锥面为内圆锥面。
  13. 根据权利要求11所述的舵机，其特征在于，所述第一配合部或所述第二配合部的外周面形成的锥体的截面曲线为等距曲线。
  14. 一种无人机，其特征在于，包括负载或螺旋桨，飞行控制器，以及与所述负载或螺旋桨连接的舵机，所述飞行控制器控制所述舵机以驱动所述负载或螺旋桨运动；
    所述舵机包括输出轴以及与所述输出轴连接的舵盘，其特征在于，所述输出轴具有第一配合部，所述舵盘具有与所述第一配合部连接的第二配合部，所述第一配合部和所述第二配合部其中之一具有外锥面，其中另一具有内锥面；
    所述外锥面以朝向所述内锥面方向外径缩小的方式倾斜，所述内锥面以朝向所述外锥面内径扩大的方式倾斜，所述外锥面与所述内锥面相接触；
    所述舵机还包括锁紧件，所述锁紧件沿轴向与所述输出轴及所述舵盘连接。
  15. 根据权利要求14所述的无人机，其特征在于，所述外锥面与所述内锥面过盈配合。
  16. 根据权利要求14所述的无人机，其特征在于，所述外锥面与所述内锥面之间设置有周向限位结构。
  17. 根据权利要求16所述的无人机，其特征在于，所述周向限位结构 为：
    所述外锥面的外表面和所述内锥面的内表面其中之一开设有至少一键槽，其中另一设置有与所述至少一键槽尺寸相配合的凸键，所述凸键滑入所述键槽的方向与所述输出轴的轴心线成小于90度的夹角。
  18. 根据权利要求14所述的无人机，其特征在于，所述锁紧件为锁紧螺栓，所述输出轴和所述舵盘开设有同轴的螺纹孔，所述锁紧螺栓与所述输出轴及所述舵盘的所述螺纹孔配合以将所述输出轴和所述舵盘锁紧。
  19. 根据权利要求18所述的无人机，其特征在于，所述输出轴的端部轴向上开有盲孔式的螺纹孔，所述舵盘的轴向上开有通孔式的螺纹孔，所述锁紧螺栓通过两个所述螺纹孔将所述舵盘和所述输出轴锁紧。
  20. 根据权利要求19所述的无人机，其特征在于，所述盲孔式的螺纹孔和所述通孔式的螺纹孔的轴心线与所述输出轴的轴心线重合。
  21. 根据权利要求14所述的无人机，其特征在于，所述舵机还包括斜面销，所述斜面销沿所述输出轴径向穿过所述外锥面与所述内锥面的接触面。
  22. 根据权利要求14-21任一项所述的无人机，其特征在于，所述外锥面为外圆锥面，所述内锥面为内圆锥面。
  23. 根据权利要求14-21任一项所述的无人机，其特征在于，所述第一配合部或所述第二配合部的外周面形成的锥体的截面曲线为等距曲线。
  24. 根据权利要求14所述的无人机，其特征在于：
    所述舵机还包括至少一胀套，套设于所述外锥面，所述胀套的内壁面和外壁面分别与所述外锥面和所述内锥面接触。
  25. 根据权利要求24所述的无人机，其特征在于，所述外锥面为外圆锥面，所述内锥面为内圆锥面。
  26. 根据权利要求24所述的无人机，其特征在于，所述第一配合部或所述第二配合部的外周面形成的锥体的截面曲线为等距曲线。
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