WO2020107581A1 - 可移动平台及其舵机 - Google Patents

可移动平台及其舵机 Download PDF

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Publication number
WO2020107581A1
WO2020107581A1 PCT/CN2018/122792 CN2018122792W WO2020107581A1 WO 2020107581 A1 WO2020107581 A1 WO 2020107581A1 CN 2018122792 W CN2018122792 W CN 2018122792W WO 2020107581 A1 WO2020107581 A1 WO 2020107581A1
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WO
WIPO (PCT)
Prior art keywords
upper cover
guide
steering gear
hook
movable platform
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Application number
PCT/CN2018/122792
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English (en)
French (fr)
Inventor
罗冲
聂金安
都涛
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Publication of WO2020107581A1 publication Critical patent/WO2020107581A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/24—Transmitting means
    • B64C13/38—Transmitting means with power amplification
    • B64C13/50—Transmitting means with power amplification using electrical energy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C9/00—Adjustable control surfaces or members, e.g. rudders
    • B64C9/02—Mounting or supporting thereof

Definitions

  • the embodiments of the present invention relate to the field of transmission technology, and in particular, to a movable platform and its steering gear.
  • the steering gear can be applied to some control systems that need to keep changing the angle and can maintain it.
  • the servo when the servo is working, it first receives the signal sent by the receiver, and then drives the coreless motor through the IC on the circuit board to start rotating, and transmits the power to the swing arm through the reduction gear, and at the same time is sent by the position detection element Return signal to determine whether the swing arm has reached the specified position.
  • the existing steering gear is mainly composed of a casing, a circuit board, a drive motor, a speed reducer and a position detection element.
  • a steering gear such as an unmanned aerial vehicle
  • two mounting walls perpendicular to the side walls are formed on the two opposite side walls of the housing by integral molding.
  • a bolt hole is opened in the mounting plate, so that the bolt can pass through the bolt hole to fix the housing on the fuselage such as a drone.
  • the existing housing with the mounting plate formed on the side wall increases the volume of the steering gear, which makes it difficult to install other components such as the drone.
  • Embodiments of the present invention provide a movable platform and a drone to solve the above-mentioned or other potential problems in the prior art.
  • a steering gear including: an upper cover, a lower cover, and a middle case disposed between the upper cover and the lower cover; an installation is provided on the top surface of the upper cover Hole, the mounting hole is provided with a fastener for fixing the upper cover and the middle shell, the fastener is also used for fixing the steering gear on a movable platform;
  • the middle shell is formed with a buckle structure for detachable connection; the lower cover is fixedly connected with the middle shell.
  • the snap structure includes a snap hook and a snap groove matched with the snap hook.
  • the buckle structure further includes a guide portion provided close to the chute, and the guide portion is used to guide the hook into the chute.
  • the hook includes a first inclined surface and a second inclined surface that are arranged oppositely
  • the guide portion includes a first guide surface and a second guide surface that are arranged oppositely
  • the first guide surface is away from The clamping groove is provided, and the first guide surface is used to guide the second inclined surface
  • the second guide surface is provided near the clamping groove and communicates with the clamping groove, and the second guide surface is used to Guide the first slope.
  • the middle case includes a first step portion and a second step portion that are stacked, and the outer edge of the first step portion is located inside the outer edge of the second step portion.
  • the clamping groove is provided on the outer surface of the first step portion.
  • the mounting holes are provided at the top corners of the upper cover.
  • the above-mentioned steering gear includes: a fuselage, a driven body, and the above-mentioned steering gear, the driven body is mounted on the fuselage, and the steering gear is used to drive the driven body .
  • the upper cover of the steering gear is provided with a mounting hole, and the fastener passes through the mounting hole to temporarily assemble the upper cover and the middle shell together, and at the same time, a removable cover is formed on the upper cover and the middle shell Buckle structure.
  • the fasteners can be removed.
  • the upper cover and the middle shell are also snapped together by the snap structure, the upper cover and the middle shell will not be opposite Therefore, the positioning accuracy of the transmission components positioned in the first accommodating cavity formed by the upper cover and the middle shell will not change, thereby ensuring the positioning accuracy of the internal components.
  • the above-mentioned steering gear can easily realize the assembly of the steering gear and the movable platform without forming an outwardly extending mounting plate on the side wall, and when removing the pre-installed fasteners, With the snap structure formed on the upper cover and the middle shell, the relative displacement of the upper cover and the middle shell will not occur, thereby not only ensuring the positioning accuracy of the transmission component provided between the upper cover and the middle shell, but also avoiding the extra The volume of the mounting plate increases, and the assembly of the steering gear is simple and reliable.
  • FIG. 1 is a schematic structural diagram of a steering gear provided by an embodiment of the present invention.
  • Figure 2 is a schematic diagram of the structure of the upper cover
  • Figure 3 is a schematic diagram of the structure of the middle shell
  • Figure 4 is a schematic structural view of the lower cover
  • Figure 5 is a front view of Figure 1;
  • FIG. 6 is a cross-sectional view taken along line A-A in FIG. 5;
  • FIG. 7 is a partial enlarged view of the I position in FIG. 6;
  • FIG. 8 is a partial structural diagram of a movable platform provided by an embodiment of the present invention.
  • first and second are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
  • the features defined with “first” and “second” may include at least one of the features either explicitly or implicitly.
  • the meaning of "plurality” is at least two, such as two, three, etc., unless specifically defined otherwise.
  • the steering gear is mainly composed of a casing and a transmission component arranged in the casing.
  • the movement of the driven body connected to the steering gear can be adjusted, thereby changing the movable platform Working status.
  • the installation space reserved for the steering gear of the movable platform is generally relatively small.
  • an installation is usually extended out on the side wall of the housing Plate way to achieve the fixation of the steering gear and the movable platform.
  • a second fastening hole is opened on the outwardly extending mounting plate, and the second fastening hole is used to
  • the first fastening hole cooperates, and the fastener (for example, a bolt) passes through the first fastening hole and the second fastening hole to conveniently fix the steering gear on the movable platform.
  • the fastener for example, a bolt
  • this tightening method invisibly increases the volume of the steering gear, or even if the volume of the steering gear is not changed, the space inside the compression casing needs to be disguised, which affects the size or specifications of the transmission components used by the steering gear .
  • this embodiment provides a steering gear, which does not require a mounting plate extending outward on the side wall of the housing, and thus does not increase the volume of the steering gear or compress the internal space of the housing.
  • FIG. 1 is a schematic structural view of a steering gear provided in this embodiment
  • FIG. 2 is a structural schematic view of an upper cover
  • FIG. 3 is a structural schematic view of a middle cover
  • FIG. 4 is a structural schematic view of a lower cover
  • FIG. 5 is a front view of FIG.
  • the steering gear 10 of this embodiment is generally a rectangular block shape. Of course, in some examples, it may also be provided in other suitable geometric shapes.
  • the steering gear 10 includes an upper cover 110 and a lower cover 130 disposed oppositely, and a middle case 120 disposed between the upper cover 110 and the lower cover 130, and the middle case 120 is also fixed to the upper cover 110 and the lower cover 130, respectively Together.
  • a mounting hole is opened on the top surface of the upper cover 110, and a fastener 140 for fixing the upper cover 110 and the middle case 120 is provided in the mounting hole
  • the fastener 140 is also used as a fastener 140 for fixing the steering gear 10 and the movable platform.
  • the fastener 140 installed in the mounting hole opened by the upper cover 110 has the function of pre-fixing the upper cover 110 and the middle case 120, and at the same time, the fastener 140 can also be used to fix the steering gear 10 and the
  • the mobile platform can save materials, thereby reducing the manufacturing cost of the steering gear 10, and at the same time can also reduce the assembly cost of the steering gear 10 and the movable platform.
  • the fastener 140 needs to be removed, so that the upper When the fixed connection between the cover 110 and the middle case 120 is broken, the upper cover 110 and the middle case 120 will be relatively displaced, and the components (such as gears or rockers) provided in the upper cover 110 and the middle case 120 will also be displaced. In this way, the transmission components disposed between the upper cover 110 and the middle case 120 will be misaligned or the positioning accuracy will be reduced, which will seriously affect the work of the precision instrument such as the steering gear 10. In view of this, as shown in FIGS.
  • a detachable snap structure is also formed on the upper cover 110 and the middle case 120, so that when the fastener 140 is removed, the upper cover 110 And the middle shell 120 are still connected together by a snap structure, thereby reducing the possibility of displacement of the two, and positioning accuracy of various components positioned in the first receiving cavity formed by the upper cover 110 and the middle shell 120 Therefore, no change will occur, thereby ensuring the normal operation of the steering gear 10.
  • the upper cover 110 includes a top plate 111 and an upper side wall 112 extending along the edge of the top plate 111 toward the middle case 120.
  • the top plate 111 is provided with a plurality of through holes or threaded holes.
  • the bolts as fasteners 140 pass through the through holes or threaded holes and extend toward the middle case 120.
  • a plurality of mounting holes may be provided on the top plate 111 uniformly or unevenly.
  • the top plate 111 in a rectangular shape shown in FIG. 1 is provided with mounting holes at four vertices of the rectangle.
  • the upper cover 110 can be made of any suitable material, for example, it can be stamped out of metal, or it can be made of plastic through molding. Moreover, in this embodiment, the shape of the upper cover 110 can be set to any suitable geometric shape including a rectangle according to actual needs.
  • the middle case 120 includes a partition 121 and a middle side wall 122 extending along the edge of the partition 121 toward the lower cover 130.
  • a recess 121a in the direction of the lower cover 130 is formed at a suitable position of the partition 121, and the recess 121a is used to accommodate a transmission member, such as a gear, a shaft, and the like.
  • the partition 121 is provided with a matching hole corresponding to the mounting hole of the upper cover 110, and the fastener 140 passes through the mounting hole of the upper cover 110 and is fixed in the matching hole of the middle case 120, thereby realizing the upper cover 110 and the middle case 120 pre-fixed.
  • the shape of the middle case 120 generally matches the shape of the upper cover 110.
  • the middle case 120 is also generally set as a rectangle, as shown in FIG.
  • the middle shell 120 can also be made of metal or plastic material.
  • the partition 121 of the middle case 120 is provided with matching holes.
  • the number of the matching holes is the same as the number of the mounting holes of the upper cover 110.
  • each mounting hole may be provided with a fastener 140 (such as a bolt), or a corresponding number may be provided in a part of the mounting holes ⁇ fasteners 140.
  • the buckle structure for detachably connecting the upper cover 110 and the middle case 120 may be any buckle structure used in the prior art.
  • the buckle structure may include a hook 113 and a matching groove 123. When the upper cover 110 is closed on the middle case 120, the hook 113 will extend into the groove 123 and be locked It is held in the card slot 123, so as to realize the snap connection of the upper cover 110 and the middle case 120.
  • the buckle structure may also be an elastic buckle and a hole that cooperate with each other.
  • the buckle structure may also be a protrusion and a recess that cooperates with the protrusion.
  • the technical solution of this embodiment is explained below by taking the snap structure including the hook 113 and the slot 123 as an example, so that those skilled in the art can better understand the solution.
  • a portion of the middle case 120 near the upper cover 110 is recessed inward, that is, the middle side wall 122 includes: a recessed first portion 122a And a second portion 122b disposed below the first portion 122a and fixed to the first portion 122a.
  • the middle case 120 includes a first step portion and a second step portion stacked from top to bottom, and the outer edge of the first step portion is located inside the outer edge of the second step portion When the upper cover 110 is closed on the middle case 120, the first step portion can extend into the lower opening of the upper cover 110.
  • the partition 121 of the middle case 120 may be disposed on the top surface of the first portion 122a of the middle sidewall 122 as shown in FIG. 3, or the partition 121 may also be disposed on any cross-section of the middle sidewall 122, for example In some cases, the partition 121 and the connecting portion may be arranged on a plane. Of course, in some alternative embodiments, the thickness of the partition plate 121 may be the same as the length of the first portion 122a recessed inward of the side wall extending in the vertical direction.
  • the middle shell 120 with an integrated structure may be formed by molding or stamping, or the partition 121 and the middle side wall 122 may be separately manufactured, and then assembled together.
  • a suitable mold can be made to be directly formed by molding or molding
  • the middle cover 120 may be prepared by plastic molding, or may be prepared by molding and stamping metal.
  • the above buckle structure includes a hook 113 provided on the inner surface of the upper side wall 112, and a hook 123 provided on the outer surface of the first step portion, the hook 123 and the hook 113 fits so that when the upper cover 110 is closed to the middle shell 120, the upper cover 110 and the middle shell 120 are snapped, so that when the steering gear 10 needs to be installed on the movable platform, even if the upper cover 110 is fastened After the fastener 140 of the middle shell 120 is removed, the upper cover 110 and the middle shell 120 will not move relative to each other, thereby ensuring that the position of the components installed between the upper cover 110 and the middle shell 120 does not change, thereby ensuring the The positioning accuracy of the components in the cover 110 and the middle case 120 is unchanged.
  • the two can also play the role of snapping.
  • the locking groove 123 is provided on the outer surface of the first step, and accordingly, the locking hook 113 is provided on the inner surface of the upper side wall 112.
  • the hook 113 is not limited to being disposed on the inner surface of the upper side wall 112 as shown in FIG. 2, it may be disposed at any suitable position.
  • the hook 113 may be disposed on the inner surface of the top plate 111, and correspondingly, the hook groove 123 that cooperates with the hook 113 is disposed on the top surface of the partition 121.
  • the hook 113 is provided on the inner surface of the top plate 111, its length should be configured to a length suitable for engaging with the groove 123 provided on the top surface of the partition 121.
  • the number of the buckle structure can also be set according to actual needs.
  • the upper cover 110 is provided with two sets of hooks 113 along the length direction (only one set of hooks 113 is shown in FIG. 2 ), and each set of hooks 113 includes two symmetrical two Hook 113; correspondingly, the middle case 120 is provided with two sets of slot 123 along the length direction (only one set of slot 123 is also shown in FIG. 3), each set of slot 123 also includes two symmetrically arranged Card slot 123. In other examples, more hooks 113 and slots 123 may be provided.
  • the middle case 120 is formed with the first step portion and the second step portion stacked, even if the middle case 120 does not form the first step portion and the second step portion, the same
  • the hook 113 and the groove 123 may be formed on the upper cover 110 and the middle case 120 to cooperate with each other.
  • the inner surface of the top plate 111 and the top surface of the partition 121 may be provided with hooks 113 and grooves 123 respectively; in other alternative ways, the middle shell 120 may be made It is smaller than the upper cover 110, so that the hook 113 and the groove 123 can be provided on the inner surface of the upper side wall 112 and the outer surface of the lower side wall 132, respectively.
  • the buckle structure may further include a guide portion 124 disposed near the locking groove 123.
  • the guiding portion 124 is used to guide the hook 113 into the locking groove 123.
  • the guide portion 124 may be a guide surface with an appropriate inclination.
  • the hook 113 located on the inner surface of the upper side wall 112 contacts the guide surface, and moves under the guidance of the guide surface, when the innermost point of the hook 113 passes At the outermost point of the guide surface, the hook 113 slides into the slot 123 to achieve the purpose of snapping the upper cover 110 and the middle shell 120 together. It can be seen from this that by providing the guide portion 124, the difficulty in snapping the upper cover 110 and the middle case 120 can be reduced.
  • the hook 113 includes a first inclined surface 113 a and a second inclined surface 113 b that are disposed oppositely.
  • the guide portion 124 includes a first guide surface 124 a and a second guide that are disposed oppositely. ⁇ 124b.
  • the first guide surface 124a is disposed away from the card slot 123, and the first guide surface 124a is used to guide the second inclined surface 113b; the second guide surface 124b is disposed near the card slot 123 and communicates with the card slot 123, which is used to guide The first slope 113a.
  • the first inclined surface 113a is located above the second inclined surface 113b, and the first guide surface 124a is also located above the second guide surface 124b.
  • the upper cover 110 is pressed in the direction of the middle case 120, the second inclined surface 113b of the hook 113 contacts the first guide surface 124a, and under the guidance of the first guide surface 124a, the hook 113 moves downward and to the right.
  • the hook 113 enters the chute to realize the locking of the hook 113 and the groove 123 Pick up.
  • the upper cover 110 is pulled away from the middle case 120, and the first inclined surface 113a of the hook 113 contacts the second guide surface 124b. Under the guidance of the second guide surface 124b, the hook 113 moves upward motion.
  • the hook 113 is disengaged from the slide groove, and the upper cover 110 and the middle case 120 are disengaged. At this time, the upper cover 110 can be removed from the middle case 120.
  • the first slope 113a and the second slope 113b are rounded to improve the smoothness during disassembly.
  • the length of the second guide surface 124b is greater than the length of the first guide surface 124a, so that when the upper cover 110 is detached from the middle case 120, it is necessary to provide a sufficiently long pulling force, which can prevent the upper cover 110 from being wrong Detached from the middle shell 120.
  • the angle between the first guide surface 124a and the horizontal plane and the angle between the second guide surface 124b and the horizontal plane are equal.
  • the two included angles can also be different, so that different strengths required for installation or removal between the upper cover 110 and the middle cover 120 can meet different installation or removal requirements.
  • the shape of the lower cover 130 matches the shape of the middle case 120, or the lower cover 130 and the middle case 120 are both rectangular.
  • the lower cover 130 and the middle case 120 may be detachable connections, such as bolt connections, or non-removable connections, such as bonding or welding.
  • the lower cover 130 includes a bottom plate 131 and a lower side wall 132 extending upward along an outer edge of the bottom plate 131, and a through hole for extending the transmission member is formed in the bottom plate 131.
  • a second accommodating space is enclosed between the upper cover 110 and the middle case 120, which can be used for mounting a circuit board or other structures.
  • the lower cover 130 may be prepared by molding plastics, or may be prepared by molding and stamping metal.
  • both the upper cover 110 and the lower cover 130 are made of plastic, and the middle case 120 is made of metal, so as to reduce the weight of the steering gear 10 while ensuring that the steering gear 10 has sufficient strength
  • the middle shell 120 used to carry the transmission components is made of metal, and its strength is higher, which is beneficial to prolong the service life of the steering gear 10.
  • FIG. 8 illustrates a partial structure 1 of a movable platform (such as a robot arm).
  • the movable platform includes: a fuselage, a driven body 20, and the above-mentioned steering gear 10.
  • the driven body 20 is installed on the fuselage, and the steering gear 10 is used to drive the driven body 20.
  • the movable platform may be an unmanned aerial vehicle or a robot, and of course, it may be another suitable device capable of autonomous or semi-autonomous movement.
  • the steering gear 10 may be installed near the robot joint, thereby driving the joint to rotate.
  • the steering gear 10 can drive the robot to raise, lower, extend, or retract the forearm. That is to say, at this time, the driven body 20 driven by the servo 10 is the arm of the robot or the forearm in the arm.
  • the servo 10 is installed on the gimbal of the robot, and the attitude of the gimbal is adjusted by the servo 10 to achieve the effect of enhancing the stability of the image sensing device. That is to say, at this time, the driven body 20 driven by the servo 10 is the axis of the gimbal.
  • the steering gear can be used to drive, for example, the tail wing to rotate, thereby adjusting the flying attitude of the unmanned aerial vehicle. That is to say, at this time, the driven body driven by the servo is the tail.

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  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
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Abstract

一种舵机（10）和可移动平台，舵机（10）包括：上盖（110）、下盖（130），以及设置在上盖（110）和下盖（130）之间的中壳（120）；上盖（110）的顶面开设有安装孔，安装孔内设置有用于将上盖（110）和中壳（120）固定的紧固件（140），紧固件（140）还用于将舵机（10）固定在可移动平台上；上盖（110）与中壳（120）形成有用于可拆卸连接的卡扣结构；下盖（130）与中壳（120）固定连接。舵机（10）无需在侧壁上向外延伸出与可移动平台连接的安装板，直接通过紧固件（140）将上盖（110）和中壳（120）预连接在一起，然后通过形成在上盖（110）和中壳（120）上的卡扣结构保证紧固件（140）被取下时该上盖（110）和中壳（120）不会发生相对移动，从而保证了传动部件的定位精度。

Description

可移动平台及其舵机 技术领域
本发明实施例涉及传动技术领域，尤其涉及一种可移动平台及其舵机。
背景技术
舵机作为一种位置(角度)伺服的驱动器，可以适用于一些需要角度不断变化并可以保持的控制系统。一般来说，舵机在工作时，首先接收由接收机发出的讯号，然后经由电路板上的IC驱动无核心马达开始转动，透过减速齿轮将动力传至摆臂，同时由位置检测元件送回讯号，判断摆臂是否已经到达指定位置。
现有的舵机主要是由外壳、电路板、驱动马达、减速器与位置检测元件所构成。为了将舵机装配到诸如无人机上，一般在外壳相对的两个侧壁上通过一体成型的方式分别形成有垂直于侧壁的安装板。在该安装板上开设有螺栓孔，从而螺栓可以穿过该螺栓孔将外壳固定在诸如无人机的机身上。
然而，现有的这种在侧壁上形成有安装板的外壳增加了舵机的体积，给诸如无人机上其他部件的安装造成了困难。
发明内容
本发明实施例提供一种可移动平台及无人机，以解决现有技术存在的上述或者其他潜在问题。
根据本发明的一些实施例，提供一种舵机，包括：上盖、下盖，以及设置在所述上盖和所述下盖之间的中壳；所述上盖的顶面开设有安装孔，所述安装孔内设置有用于将所述上盖和中壳固定的紧固件，所述紧固件还用于将所述舵机固定在可移动平台上；所述上盖与所述中壳形成有用于可拆卸连接的卡扣结构；所述下盖与所述中壳固定连接。
如上所述的舵机，其中，所述卡扣结构包括卡勾以及与所述卡勾配合的卡槽。
如上所述的舵机，其中，所述卡扣结构还包括靠近所述卡槽设置的引导部，所述引导部用于引导所述卡勾进入所述卡槽。
如上所述的舵机，其中，所述卡勾包括相对设置的第一斜面和第二斜面，所述引导部包括相对设置的第一引导面和第二引导面；所述第一引导面远离所述卡槽设置，所述第一引导面用于引导所述第二斜面；所述第二引导面靠近所述卡槽设置、并与所述卡槽连通， 所述第二引导面用于引导所述第一斜面。
如上所述的舵机，其中，所述第一斜面和第二斜面之间圆角过渡；和/或所述第二引导面的长度大于所述第一引导面；和/或所述第一引导面与水平面的夹角和所述第二引导面与水平面的夹角相等。
如上所述的舵机，其中，所述卡勾设置与所述上盖的内表面，所述卡槽设置在所述中壳的外表面。
如上所述的舵机，其中，所述中壳包括层叠设置的第一台阶部和第二台阶部，所述第一台阶部的外边缘位于所述第二台阶部的外边缘的内部，所述卡槽设置在所述第一台阶部的外表面。
如上所述的舵机，其中，所述上盖的顶角位置均开设有所述安装孔。
如上所述的舵机，其中，所述上盖和所述下盖均采用塑料制成，所述中壳采用金属制成。
如上所述的舵机，其中，包括：机身、被驱动体以及如上所述的舵机，所述被驱动体安装在所述机身上，所述舵机用于驱动所述被驱动体。
根据本发明实施例的技术方案，舵机的上盖开设有安装孔，紧固件穿过安装孔将上盖和中壳临时装配在一起，同时，在上盖和中壳上形成有可拆卸的卡扣结构。当需要在可移动平台上装配舵机时，可以将紧固件取下，此时，由于上盖和中壳还通过卡扣结构卡接在一起，上盖和中壳也就不会发生相对移，被定位在上盖和中壳所形成的第一容置空腔内的传动部件的定位精度也就不会发生变化，从而保证了内部各个部件的定位精度。也即是说，上述舵机无需在侧壁上形成向外延伸的安装板，即可轻松的实现舵机与可移动平台的装配，而且在将预先安装的紧固件拆卸下来的时候，由于上盖和中壳上形成的卡扣结构，上盖和中壳也不会发生相对位移，从而不仅保证了设置在上盖和中壳之间的传动部件的定位精度，也避免了由于额外的安装板的设计造成的体积增大，同时舵机的装配简单、可靠。
本发明的附加方面的优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
通过参照附图的以下详细描述，本发明实施例的上述和其他目的、特征和优点将变得更容易理解。在附图中，将以示例以及非限制性的方式对本发明的多个实施例进行说明，其中：
图1为本发明实施例提供的舵机的结构示意图；
图2为上盖的结构示意图；
图3为中壳的结构示意图；
图4为下盖的结构示意图；
图5为图1的正视图；
图6为图5中A-A向剖视图；
图7为图6中I位置的局部放大图；
图8为本发明实施例提供的一种可移动平台的部分结构示意图。
图中：
1-可移动平台的部分结构；10-舵机；110-上盖；111-顶板；112-上侧壁；113-卡勾；113a-第一斜面；113b-第二斜面；120-中壳；121-隔板；121a-凹陷部；122-中侧壁；122a-第一部分；122b-第二部分；123-卡槽；124-引导部；124a-第一引导面；124b-第二引导面；130-下盖；131-底板；132-下侧壁；140-紧固件；20-被驱动体。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
首先需要说明的是，在本发明的描述中，术语“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
一般而言，舵机一般主要由外壳、设置在外壳内的传动部件组成，通过控制舵机中传动部件的工作状态，可以调整与该舵机传动连接的被驱动体运动，从而改变可移动平台的工作状态。但是，可移动平台预留给舵机的安装空间一般都会比较小，为了方便将舵机牢 固地安装到可移动平台上，现有技术中通常会采用在外壳的侧壁上往外延伸出一个安装板的方式来实现舵机和可移动平台的固定。具体来说，为了实现舵机与可移动平台的装配，会在向外延伸的安装板上开设第二紧固孔，该第二紧固孔用来与可移动平台的机身上所开设的第一紧固孔配合，紧固件(例如螺栓)穿过第一紧固孔和第二紧固孔就可以方便的将舵机固定在可移动平台上。然而，这种紧固方式无形中增大了舵机的体积，或者即使不改变舵机的体积，也需要变相的压缩外壳内部的空间，使得舵机所使用的传动部件的尺寸或者规格受到影响。
有鉴于此，本实施例提供一种舵机，这种舵机不需要在外壳的侧壁上设置往外延伸的安装板，也就不会增加舵机的体积或者是压缩外壳的内部空间。
图1为本实施例提供的舵机的结构示意图；图2为上盖的结构示意图；图3为中盖的结构示意图；图4为下盖的结构示意图；图5为图1的正视图。
如图1至图5所示，本实施例的舵机10，大体上为矩形的块状，当然，在某些示例中，其也可以设置成其他合适的几何形状。该舵机10包括：相对设置的上盖110和下盖130、以及设置在上盖110和下盖130之间的中壳120，并且该中壳120还分别与上盖110和下盖130固定在一起。
请参见图1和图2，为了避免现有技术的上述缺点，在上盖110的顶面开设有安装孔，该安装孔内设置有用于将上盖110和中壳120固定的紧固件140，而且，当该舵机10需要组装到可移动平台上的时候，该紧固件140还用来作为固定舵机10和可移动平台的紧固件140。由上所述可知，安装在上盖110所开设的安装孔内的紧固件140具有预固定上盖110和中壳120的作用，同时还可以利用该紧固件140固定舵机10和可移动平台，这样可以节省材料，从而降低舵机10的制造成本，同时也可以降低舵机10与可移动平台的装配成本。
由于本实施例的上盖110和中壳120是通过紧固件140临时装配在一起，当需要在可移动平台上装配舵机10时，需要将该紧固件140拆卸下来，这样就使得上盖110和中壳120的固定连接被打破，上盖110和中壳120就会发生相对位移，同时设置在上盖110和中壳120内的部件(例如齿轮或者摇杆等)也会产生位移，这样就会使得设置在上盖110和中壳120之间的传动部件发生错位或者定位精度降低，这样就会严重影响舵机10这种精密仪器的工作。有鉴于此，如图2和图3所示，本实施例还在上盖110和中壳120上形成有可拆卸的卡扣结构，这样，当紧固件140被取下时，上盖110和中壳120通过卡扣结构依然连接在一起，从而降低了二者发生位移的可能性，被定位在上盖110和中壳120所 形成的第一容置空腔内的各个部件的定位精度也就不会发生变化，进而保证了舵机10的正常工作。
具体的，如图1和图2所示，上盖110包括：顶板111以及沿着顶板111的边缘往中壳120的方向延伸的上侧壁112。在顶板111上开设有多个通孔或者螺纹孔，螺栓作为紧固件140从通孔或者螺纹孔内穿过并往中壳120的方向延伸。多个安装孔可以均匀或者不均匀的设置在顶板111上，例如，图1中示出的呈矩形形状的顶板111分别在矩形的四个顶点的位置均设置有安装孔。
在本实施例中，上盖110可以由任意合适的材料制作而成，例如，可以通过金属冲压而成，或者也可以通过塑料经过模塑制成。而且，在本实施例中，上盖110的形状可以根据实际需要设置成包括矩形在内的任意合适的几何形状。
如图1和图3所示，中壳120包括：隔板121以及沿着隔板121的边缘往下盖130的方向延伸的中侧壁122。在隔板121的合适位置形成有往下盖130方向的凹陷部121a，该凹陷部121a用于容纳传动部件，例如齿轮、轴等。在隔板121上设置有与上盖110的安装孔对应的配合孔，紧固件140穿过上盖110的安装孔之后固定于中壳120的配合孔内，从而实现上盖110和中壳120的预固定。
中壳120的形状一般与上盖110的形状相匹配，例如，当上盖110是如图2所示的矩形时，则中壳120也一般会设置成矩形，如图3所示。大体上来讲，中壳120也可以使用金属或者塑料材质制备而成。为了配合紧固件140，中壳120的隔板121上开设有配合孔，一般来讲，配合孔的数量会与上盖110的安装孔的数量相同。当然，如果有多个安装孔以及与安装孔一一对应的配合孔，则每个安装孔内均可以设置一个紧固件140(例如螺栓)，或者也可以在一部分的安装孔内设置相应数量的紧固件140。
在本实施例中，用来可拆卸连接上盖110和中壳120的卡扣结构可以是现有技术中使用的任何结构形式的卡扣结构。例如，在一些示例中，卡扣结构可以包括卡勾113以及与其配合的卡槽123，当上盖110盖合在中壳120上时，卡勾113就会伸入到卡槽123内并卡持在卡槽123内，从而实现对上盖110和中壳120的卡接。在另外一些示例中，卡扣结构也可以是相互配合的弹性卡扣和卡孔，当然，在其他一些示例中，卡扣结构也可以是突起以及与突起配合的凹坑。为了描述方便，下文以包括有卡勾113和卡槽123的卡扣结构为例对本实施例的技术方案进行讲解，以便本领域技术人员能够更好的理解方案。
如图2和图3所示，为了提高密闭性或者为了降低组装时的难度，中壳120靠近上盖110的一部分向内凹陷，也即，中侧壁122包括：往内凹陷的第一部分122a、以及设置在 该第一部分122a下方并与该第一部分122a固定的第二部分122b。继续参照图3，从整体上来看，中壳120包括了从上到下叠置的第一台阶部和第二台阶部，且第一台阶部的外边缘位于第二台阶部的外边缘的内部，当将上盖110盖合到中壳120上时，该第一台阶部可以伸入到上盖110的下开口内。
中壳120的隔板121可以如图3所示的设置在中侧壁122的第一部分122a的顶面上，或者该隔板121也可以设置在中侧壁122的任意一个横截面上，例如，在某些时候可以将隔板121与连接部设置在一个平面上。当然，在一些可选的实施方式中，隔板121的厚度可以与侧壁向内凹陷的第一部分122a沿竖直方向延伸的长度相同。
在制作时，可以通过模塑、冲压形成一体结构的中壳120，或者，也可以分别制作隔板121和中侧壁122，然后再将二者组装在一起。为了在中壳120的侧壁上形成向内凹陷的第一部分122a，以使中壳120具有第一台阶部和第二台阶部，可以制作合适的模具，从而通过模塑或者模压的方式直接形成中壳120；或者，也可以对中侧壁122进行切割或者铣削从而在外观上形成向内凹陷的第一部分122a。
其中，中盖120可以通过塑料经过模塑的方式制备而成，或者，也可以由金属经过模压、冲压的方式制备而成。
请继续参考图2和图3，上述卡扣结构包括设置予上侧壁112的内表面的卡勾113，以及设置在第一台阶部的外表面的卡槽123，该卡槽123与卡勾113相配合以便当上盖110盖合到中壳120上时实现上盖110和中壳120的卡接，从而当需要将舵机10安装到可移动平台上时，即使将紧固上盖110和中壳120的紧固件140被取下，上盖110和中壳120也不会发生相对移动，继而保证上盖110和中壳120之间安装的部件的位置不发生改变，进而保证上盖110和中壳120内的部件的定位精度不变。当然，即使将上述卡勾113和卡槽123的位置进行互换，二者同样可以起到卡接的作用。具体而言，就是将卡槽123设置在第一台阶部的外表面，相应的，将卡勾113设置在上侧壁112的内表面。
需要说明的是，在本实施例中，一方面，卡勾113并不限于如图2所示的设置在上侧壁112的内表面，其可以设置在任意合适的位置。例如，在某些示例中，该卡勾113可以被设置在顶板111的内表面上，相应的，与卡勾113配合的卡槽123被设置在隔板121的顶面上。当然，如果卡勾113被设置在顶板111的内表面，则其长度应该被配置成适宜于与设置在隔板121的顶面的卡槽123相卡接的长度。
另一方面，根据所需要的卡接强度的不同，卡扣结构的数量也可以根据实际需要进行设置。以图2和图3为例，上盖110沿着长度方向设置有两组卡勾113(图2中仅示意出 了其中一组卡勾113)，每组卡勾113包括有对称的两个卡勾113；相应的，中壳120沿着长度方向设置有两组卡槽123(图3中也仅示意出了其中一组卡槽123)，每组卡槽123也包括对称设置的两个卡槽123。在另外一些示例中，还可以设置更多的卡勾113和卡槽123。
此外，虽然上述示例是以中壳120形成有叠置的第一台阶部和第二台阶部为基础进行说明的，但是，即使中壳120不形成上述第一台阶部和第二台阶部，同样也可以在上盖110和中壳120上形成相互配合的卡勾113和卡槽123。例如，在一些可选的方式中，可以在顶板111的内表面以及隔板121的顶面分别设置卡勾113和卡槽123；在另一些可选的方式中，可以将中壳120做得比上盖110小，这样，就可以将卡勾113和卡槽123分别设置在上侧壁112的内表面和下侧壁132的外表面上。
图6为图5中A-A向剖视图；图7为图6中I位置的局部放大图。如图6和7所示，在本实施例中，卡扣结构还可以进一步包括靠近卡槽123设置的引导部124，该引导部124用于引导卡勾113进入到卡槽123内。具体的，在本实施例中，引导部124可以是具有合适倾斜度的引导面。当上盖110盖合到中壳120上时，位于上侧壁112的内表面上的卡勾113与该引导面接触，在该引导面的引导下运动，当卡勾113的最内侧点通过引导面的最外侧点时，卡勾113滑落到卡槽123内，实现将上盖110和中壳120卡接在一起的目的。由此可见，通过设置引导部124，可以降低上盖110与中壳120卡扣时的难度。
继续参考图7，在某些示例中，卡勾113包括有相对设置的第一斜面113a和第二斜面113b，相应的，引导部124则包括有相对设置的第一引导面124a和第二引导面124b。其中，第一引导面124a远离卡槽123设置，该第一引导面124a用于引导第二斜面113b；第二引导面124b则靠近卡槽123设置、并与卡槽123连通，其用于引导第一斜面113a。具体而言，在图7中，第一斜面113a位于第二斜面113b的上方，第一引导面124a也位于第二引导面124b的上方。
装配时，把上盖110向中壳120方向按压，卡勾113的第二斜面113b与第一引导面124a接触，在第一引导面124a的引导下，卡勾113向右下方运动。当第一斜面113a和第二斜面113b的连接点滑离第一引导面124a和第二引导面124b的连接点时，卡勾113进入到滑槽内，实现卡勾113和卡槽123的卡接。
拆卸时，把上盖110往远离中壳120的方向拉拔，卡勾113的第一斜面113a与第二引导面124b接触，在该第二引导面124b的引导下，卡勾113向右上方运动。当第一斜面113a和第二斜面113b的连接点滑离第一引导面124a和第二引导面124b的连接点时，卡勾113脱离滑槽，上盖110和中壳120脱离卡接，此时，可以将上盖110从中壳120上拿 开。
基于上述可知，通过设置第一斜面113a、第二斜面113b，以及与该第一斜面113a和第二斜面113b配合的第一引导面124a和第二引导面124b，可以实现在拆装时均能够提供相应的引导，在拆装时相对比较省力，从而降低拆装的难度。
可选地，如图7所示，第一斜面113a和第二斜面113b之间圆角过渡，以提高拆装时的平滑性。
又可选地，第二引导面124b的长度大于第一引导面124a的长度，从而当从中壳120上拆卸上盖110时需要提供足够长时间的拉拔力，这样可以避免上盖110被错误的从中壳120上拆卸下来。
又可选地，第一引导面124a与水平面的夹角和第二引导面124b与水平面的夹角相等。当然，这两个夹角也可以不等，以使得上盖110与中盖120之间安装或拆卸时需要的不同力度，满足不同的安装或拆卸的需求。
请参考图1和图4，在本实施例中，下盖130的形状与中壳120的形状匹配，或者，下盖130和中壳120均为矩形。下盖130和中壳120可以是可拆卸连接，例如螺栓连接，也可以是不可拆卸连接，例如粘接或者焊接。
如图1和图4所示，下盖130包括：底板131以及下沿着底板131的外边缘向上延伸的下侧壁132，在底板131上开设有供传动部件伸出的通孔。在上盖110与中壳120之间围合成第二容置空间，其可以用来安装电路板或者其他结构。
下盖130可以通过塑料经过模塑的方式制备而成，或者，也可以由金属经过模压、冲压的方式制备而成。可选地，在某些示例中，上盖110和下盖130均使用塑料制成，而中壳120使用金属制成，以便在降低舵机10重量的同时，保证舵机10具有足够的强度，尤其是用于承载传动部件的中壳120使用金属制造，其强度更高，有利于延长舵机10的使用寿命。
图8示意了一种可移动平台的部分结构1(如机械臂)，该可移动平台包括：机身、被驱动体20以及上述舵机10，被驱动体20安装在机身上，舵机10用来驱动被驱动体20。
具体而言，可移动平台可以是无人机或者机器人，当然也可以是其他合适的能够自主或者半自主移动的装置。以图8为例，当可移动平台为机器人时，则舵机10可以安装在机器人关节附近，从而驱动关节旋转。例如，舵机10安装在机器人的前臂和后臂的连接处，则通过舵机10可以驱动机器人将前臂抬起、放下、伸出或者缩回等。也即是说，此时舵机10驱动的被驱动体20是机器人的手臂或者手臂中的前臂。又如，舵机10安装在 机器人的云台上，通过舵机10来调整云台的姿态，从而实现增强图像传感设备稳定性的作用。也即是说，此时舵机10驱动的被驱动体20是云台的轴。
当然，当可移动平台为无人机时，则该舵机可以用来驱动诸如尾翼转动，从而调整无人机的飞行姿态。也即是说，此时舵机驱动的被驱动体是尾翼。
在上文的描述中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
最后，以上实施方式仅用以说明本发明的技术方案，而非对其进行限制；尽管参照前述实施方式对本发明已经进行了详细的说明，但本领域的普通技术人员应当理解：其依然可以对前述实施方式所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明实施方式技术方案的范围。

Claims (18)

  1. 一种舵机，其特征在于，包括：上盖、下盖，以及设置在所述上盖和所述下盖之间的中壳；
    所述上盖的顶面开设有安装孔，所述安装孔内设置有用于将所述上盖和中壳固定的紧固件，所述紧固件还用于将所述舵机固定在可移动平台上；所述上盖与所述中壳形成有用于可拆卸连接的卡扣结构；所述下盖与所述中壳固定连接。
  2. 根据权利要求1所述的舵机，其特征在于，所述卡扣结构包括卡勾以及与所述卡勾配合的卡槽。
  3. 根据权利要求2所述的舵机，其特征在于，所述卡扣结构还包括靠近所述卡槽设置的引导部，所述引导部用于引导所述卡勾进入所述卡槽。
  4. 根据权利要求3所述的舵机，其特征在于，所述卡勾包括相对设置的第一斜面和第二斜面，所述引导部包括相对设置的第一引导面和第二引导面；所述第一引导面远离所述卡槽设置，所述第一引导面用于引导所述第二斜面；所述第二引导面靠近所述卡槽设置、并与所述卡槽连通，所述第二引导面用于引导所述第一斜面。
  5. 根据权利要求4所述的舵机，其特征在于，所述第一斜面和第二斜面之间圆角过渡；和/或
    所述第二引导面的长度大于所述第一引导面；和/或
    所述第一引导面与水平面的夹角和所述第二引导面与水平面的夹角相等。
  6. 根据权利要求2所述的舵机，其特征在于，所述卡勾设置与所述上盖的内表面，所述卡槽设置在所述中壳的外表面。
  7. 根据权利要求6所述的舵机，其特征在于，所述中壳包括层叠设置的第一台阶部和第二台阶部，所述第一台阶部的外边缘位于所述第二台阶部的外边缘的内部，所述卡槽设置在所述第一台阶部的外表面。
  8. 根据权利要求1所述的舵机，其特征在于，所述上盖的顶角位置均开设有所述安装孔。
  9. 根据权利要求1至8任一项所述的舵机，其特征在于，所述上盖和所述下盖均采用塑料制成，所述中壳采用金属制成。
  10. 一种可移动平台，其特征在于，包括：机身、被驱动体以及舵机，所述被驱动体安装在所述机身上，所述舵机用于驱动所述被驱动体；
    所述舵机包括：上盖、下盖，以及设置在所述上盖和所述下盖之间的中壳；
    所述上盖的顶面开设有安装孔，所述安装孔内设置有用于将所述上盖和中壳固定的紧固件，所述紧固件还用于将所述舵机固定在可移动平台上；所述上盖与所述中壳形成有用于可拆卸连接的卡扣结构；所述下盖与所述中壳固定连接。
  11. 根据权利要求10所述的可移动平台，其特征在于，所述卡扣结构包括卡勾以及与所述卡勾配合的卡槽。
  12. 根据权利要求11所述的可移动平台，其特征在于，所述卡扣结构还包括靠近所述卡槽设置的引导部，所述引导部用于引导所述卡勾进入所述卡槽。
  13. 根据权利要求12所述的可移动平台，其特征在于，所述卡勾包括相对设置的第一斜面和第二斜面，所述引导部包括相对设置的第一引导面和第二引导面；所述第一引导面远离所述卡槽设置，所述第一引导面用于引导所述第二斜面；所述第二引导面靠近所述卡槽设置、并与所述卡槽连通，所述第二引导面用于引导所述第一斜面。
  14. 根据权利要求13所述的可移动平台，其特征在于，所述第一斜面和第二斜面之间圆角过渡；和/或
    所述第二引导面的长度大于所述第一引导面；和/或
    所述第一引导面与水平面的夹角和所述第二引导面与水平面的夹角相等。
  15. 根据权利要求11所述的可移动平台，其特征在于，所述卡勾设置与所述上盖的内表面，所述卡槽设置在所述中壳的外表面。
  16. 根据权利要求15所述的可移动平台，其特征在于，所述中壳包括层叠设置的第一台阶部和第二台阶部，所述第一台阶部的外边缘位于所述第二台阶部的外边缘的内部，所述卡槽设置在所述第一台阶部的外表面。
  17. 根据权利要求10所述的可移动平台，其特征在于，所述上盖的顶角位置均开设有所述安装孔。
  18. 根据权利要求10至17任一项所述的可移动平台，其特征在于，所述上盖和所述下盖均采用塑料制成，所述中壳采用金属制成。
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