WO2020119429A1 - 执行机构模块 - Google Patents

执行机构模块 Download PDF

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Publication number
WO2020119429A1
WO2020119429A1 PCT/CN2019/120456 CN2019120456W WO2020119429A1 WO 2020119429 A1 WO2020119429 A1 WO 2020119429A1 CN 2019120456 W CN2019120456 W CN 2019120456W WO 2020119429 A1 WO2020119429 A1 WO 2020119429A1
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WO
WIPO (PCT)
Prior art keywords
movement
output shaft
housing
drive motor
actuator module
Prior art date
Application number
PCT/CN2019/120456
Other languages
English (en)
French (fr)
Inventor
孙炳圭
李涌权
Original Assignee
上海海压特智能科技有限公司
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 上海海压特智能科技有限公司 filed Critical 上海海压特智能科技有限公司
Publication of WO2020119429A1 publication Critical patent/WO2020119429A1/zh

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Classifications

    • 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
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • 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 present invention relates to an actuator module (ACTUATOR MODULE), and in particular to the ability to reduce the upper and lower widths of the housing and thereby shorten the upper and lower lengths of the movement by changing the coupling position of the control board inside the actuator
  • An actuator module composed of a removable assembly structure.
  • the conventional actuator module is configured to arrange the driving motor 10 in the vertical direction in the vertical direction inside the housing 40.
  • a rotating shaft 11 is formed on the upper part of the drive motor 10, and a motor electrode is formed on the lower part of the drive motor 10 (not shown in the reference number).
  • the gear portion 20 is connected by a plurality of reduction gears, and is arranged from the upper portion of one side of the housing 40 toward the lower portion of the other side of the housing 40.
  • the input shaft (not shown in the drawing number) of the gear portion 20 is connected to the rotating shaft 11 of the drive motor 10, the upper portion of the output shaft 21 of the gear portion 20 is exposed to the outside of the housing 40, and the lower portion of the output shaft 21 of the gear portion 20 It is connected to a sensor 32 combined with a control board 31 described later.
  • the control unit 30 is composed of a control board 31 and a sensor 32.
  • One side of the control board 31 is located at the lower end of the drive motor 10, and the other side is formed in the horizontal direction toward the other side inside the housing 40.
  • a sensor 32 for detecting the rotation angle and rotation speed of the output shaft 21 of the gear unit 20 is coupled to the other side of the control board 31. The reason why the control board 31 is arranged at the lower end of the drive motor 10 is to directly weld the motor electrode located at the lower end portion of the drive motor 10 to the control board 31 without using an independent connection wire.
  • the upper and lower length h of the cover 40 must be formed with a uniform width because of the limitation of the upper and lower lengths of the drive motor 10 and the coupling position with the control board 31.
  • An horn 60 is coupled to the upper portion of the output shaft 21 exposed on the other side of the outer cover 40 and the lower portion of the other side of the cover 40 located on the same axis as the output shaft 21.
  • the horn-shaped body 60 is coupled to the movement 50 described later, and drives the movement 50 to operate in conjunction with the rotation of the output shaft 21.
  • FIG. 1a and FIG. 1b the coupling state of the most commonly used “ ⁇ ”-shaped movement 50 is conceptually illustrated.
  • the movement 50 is composed of a single body, and although not shown, the coupling position and coupling structure of the movement 50 can be implemented in many different ways.
  • the existing actuator module may cause a problem that the movement of the movement 50 is twisted when the movement 50 is subjected to a force of a certain size or more due to the long upper and lower lengths of the movement 50, and thus the accuracy of control decreases.
  • the movement 50 constituted by a single body may cause a problem in that it needs to be made into various sizes and lengths according to its bonding position or bonding method.
  • the technical problem to be solved by the present invention is to provide an actuator mechanism module, which can reduce the upper and lower widths of the cover combined with the organic core and the connecting machine combined with it by adjusting the combination position of the control board inside the cover of the execution structure The upper and lower lengths of the core, thereby achieving a compact overall structure.
  • Another technical problem to be solved by the present invention is to provide an actuator module, which can be constructed by assembling the movement, so that it can be in many different forms according to the applicable position of the movement and the requirements of the user It constitutes an actuator module equipped with a removable movement.
  • the technical solution of the actuator module of the present invention is:
  • a drive motor a gear part connected to the upper rotating shaft of the drive motor and interlocked rotation; a control part, by controlling the drive motor, the rotation angle and rotation speed of the gear part relative to the output shaft Control; the housing, inside which the drive motor, gear part and control part are installed, on both sides of the output shaft are formed rotary joints on the same axis as the output shaft, the upper part of the output shaft passes
  • the rotary coupling portion formed on one side is exposed to the outside; and, the movement is coupled to the cover, and is coupled to the output shaft formed in conjunction with the output shaft, centering on the rotation axis of the output shaft
  • the rotation coupling portion on the other side of the bare output shaft is interlocked with the output shaft of the gear portion by driving of the drive motor.
  • control section includes: a control board located on the side of the peripheral portion of the drive motor; and a sensor mounted on the control board and connected to the lower portion of the output shaft.
  • the upper and lower lengths of the housing on which the driving motor is mounted correspond to the upper and lower lengths of the driving motor and are greater than the upper and lower lengths of the housing on which the output shaft is mounted.
  • the upper and lower portions of the housing where the drive motor is installed and the upper and lower portions of the housing where the input shaft is installed are connected by bending inward of the housing
  • An angle restricting portion for restricting the rotation angle of the movement is formed on both sides of the bent portion.
  • a plurality of connector connection holes formed so as to penetrate the upper and lower portions of the housing are also provided at positions around the housing that do not interfere with the movement.
  • the movement includes: an upper movement, one side of which is coupled to the output shaft exposed to the upper part of the housing and interlocks with the output shaft; a lower movement, one side Rotatably coupled to the rotary coupling portion formed at the lower portion of the housing; and, connected to the movement, detachably coupled to the other side of the upper movement and the other of the lower movement side.
  • elastic support pieces facing each other at a certain distance from each other, and along the ends of the elastic support pieces are formed along Blocking protrusions protruding in opposite outer directions; support holes corresponding to the positions of the elastic support pieces are formed on the upper and lower portions of the connecting movement respectively, and formed in the support holes when combined with the elastic support pieces A support sill for blocking and supporting the blocking protrusion.
  • the vertical length of the movement can be further reduced, thereby achieving an overall compact design.
  • the maximum/minimum rotation angle of the movement can be measured to set the center reference value.
  • connection can be easily realized through the connecting piece connecting hole without being equipped with a connecting piece Additional structural bodies to be connected, thereby simplifying the structural bodies, saving the resulting costs and making maintenance work easier.
  • the removable movement structure not only can provide the " ⁇ ” shape structure, but also can easily provide the "I" shape and " ⁇ " shape structure.
  • FIG. 1a is a perspective view conceptually illustrating the internal configuration state of the existing actuator module
  • Figure 1b is a front view of Figure 1a;
  • FIG. 2 is a perspective view of an embodiment of an actuator module of the present invention
  • Figure 3 is an exploded perspective view of Figure 2;
  • FIG. 4 is an exploded perspective view of the bottom surface of FIG. 2;
  • FIG. 5 is a schematic diagram conceptually illustrating the configuration state of an embodiment of an actuator module of the present invention.
  • FIG. 6 is a schematic diagram illustrating the rotation state of the movement of the present invention.
  • FIG. 7 is a schematic diagram illustrating the combination structure of the movement of the present invention.
  • FIG. 8 is a schematic diagram illustrating the actuator of the present invention.
  • FIG. 9 is a schematic diagram illustrating the use state of the connector connecting hole of the actuator of the present invention.
  • FIG. 10 is a schematic diagram illustrating the unused state of the connector connecting hole of the present invention.
  • 50 is the movement
  • 60 is the horny body
  • 100 is the driving motor
  • 110 is the axis of rotation
  • 200 is the gear department
  • 210 is the first reduction gear
  • 240 is the fourth reduction gear
  • 241 is the output shaft
  • 300 is the control department
  • 310 is the control board
  • 320 is a sensor
  • 400 is the outer cover
  • 410 is the upper cover
  • 411 is the angle restricting department
  • 412, 422 are rotating joints
  • 420 is the lower cover
  • 421 is the angle restriction department
  • the main body cover, 440 is the connection hole of the connector
  • 500 is the movement, 510 is the upper movement,
  • 511 and 521 are combination holes
  • 513 is an elastic support sheet
  • 514 and 524 are blocking protrusions
  • 520 is the lower movement
  • 523 is an elastic support piece
  • 530 is for connecting the movement
  • 531 is the support hole
  • 600 is a connecting piece, which is 610 is the first connecting piece,
  • 700 is the note-booking department
  • 800 is the supporting part.
  • the actuator module of the present invention generally includes an actuator A and a movement 500 combined with it in a rotatable manner.
  • the actuator A includes a driving motor 100, a gear part 200, a control part 300 and a cover 400.
  • the driving motor 100 rotates the gear part 200 to drive the movement 500 described later.
  • the drive motor 100 is located on the inner side of the cover 400 (on the left side based on FIG. 5 ).
  • a rotating shaft 110 is formed at the center upper portion of the drive motor 100, and a motor electrode is formed at the lower end portion (reference number is not described).
  • the gear unit 200 is mounted inside the housing 400, and its input shaft (not shown in the drawing number) is connected to the rotating shaft 110 of the drive motor 100 and rotates in conjunction with it.
  • the gear part 200 may include a first reduction gear 210, a second reduction gear 220, a third reduction gear 230 and a fourth reduction gear 240. Although four reduction gears are illustrated in FIG. 3, it may be composed of three or less reduction gears or five or more reduction gears.
  • the first, second, and third reduction gears 210, 220, and 230 include a first gear with a larger radius (not shown in the drawing number) located at the upper portion, and a second gear with a smaller radius (attached to the lower portion of the first gear) Figure number is not recorded).
  • the fourth reduction gear 240 includes a second gear with a small radius located at the upper portion and a first gear with a large radius located at the lower portion of the second gear.
  • the first gear of the first reduction gear 210 rotates in mesh with the rotating shaft 110.
  • the first gear of the second reduction gear 220 rotates in mesh with the second gear of the first reduction gear 210.
  • the first gear of the third reduction gear 230 rotates in mesh with the second gear of the second reduction gear 220.
  • the second gear of the third reduction gear 230 rotates in mesh with the first gear of the fourth reduction gear 240.
  • the rotation shaft of the first reduction gear 210 is the input shaft
  • the rotation shaft of the fourth reduction gear 240 is the output shaft 241.
  • a rotation support protrusion 242 is formed on the upper end of the output shaft 241.
  • the rotation support protrusion 242 is coupled to the coupling hole 511 of the upper movement 510 described later, and is used to support the rotational force when the upper movement 510 rotates.
  • the first reduction gear 210 is located at the upper portion of the inner side of the housing 400, and is sequentially connected downward in order of the second reduction gear 220, the third reduction gear 230, and the fourth reduction gear 240.
  • the upper portion of the output shaft 241 of the fourth reduction gear 240 located on the other side inside the housing 400 is exposed to the upper portion of the other side of the housing 400 for a certain length, and the lower portion of the output shaft 240 is coupled to the sensor 320 described later.
  • the control unit 300 is also located inside the cover 400 and includes a PCB-shaped control board 310 and a sensor 320.
  • One side of the control board 310 (the left side with reference to FIG. 5) is located around the side of the drive motor 100, and the motor electrode of the drive motor 100 and the control board 310 are connected by a wire (not shown).
  • the upper part on the other side of the control board 310 (the upper right part based on FIG. 5) is coupled to the sensor 320.
  • the sensor 320 is coupled to the lower part of the output shaft 241 described above.
  • the sensor 320 is used to detect the rotation angle and rotation speed of the output shaft 241 and transmit the detected information to the control board 310.
  • the control board 310 is used to control the rotation angle and rotation speed of the drive motor 100.
  • Rotation coupling parts 412, 422 on the same axis as the output shaft 241 are formed on the upper and lower sides of the output shaft 241, respectively.
  • the rotation coupling portion 412 formed on the upper part is exposed to the outside.
  • FIG. 5 is a form in which only the upper cover 410 described later is illustrated and the lower cover 420 and the main body cover 430 are omitted in order to illustrate the internal structure of the outer cover 400.
  • the lower cover 420 and The main body cover 430 shows only the outline.
  • the vertical length on one side of the housing 400 corresponds to the vertical length of the drive motor 100
  • the vertical length h2 on the other side of the housing to which the output shaft 241 of the gear unit 200 is mounted is smaller than the vertical length h1 on the side of the housing 400.
  • the vertical length h2 of the other side of the cover 400 can be smaller than the vertical length h1 of the one side of the cover 400 according to the distance that the coupling position of the control board 310 moves to the upper portion of the drive motor 100.
  • the arrangement position of the gear portion 200 can also be adjusted (moved to the lower portion) at the same time, so that the vertical length h2 on the other side of the entire cover 400 can be reduced. That is, since the up-and-down length of the connecting movement 530 described later can be shortened, the torsion phenomenon that occurs when the same force is applied to the movement 500 is also reduced.
  • the housing 400 may include an upper housing 410, a lower housing 420, and a body housing 430.
  • the upper and lower parts of the main body cover 430 are open, and the drive motor 100, the gear part 200, and the control part 300 as described above are mounted inside.
  • the upper cover 410 is used to open and close the upper portion of the main body cover 430
  • the lower cover 420 is used to open and close the lower portion of the main body cover 430.
  • rotation coupling portions 412 and 422 in the form of small holes are formed on the other sides of the upper cover 410 and the lower cover 420.
  • the rotation coupling portion 412 formed in the upper housing 410 allows the upper portion of the output shaft 241 of the gear unit 200 to be exposed to the outside, and the rotation coupling portion 422 formed in the lower housing 420 allows the lower movement 520 described later to be rotatably coupled .
  • the upper housing 410 and the lower The inner direction of the outer cover 420 is bent and connected respectively, and angle restricting portions 411 and 421 for restricting the rotation angle of the movement 500 described later are formed on both sides of the bent portion.
  • the minimum rotation value can be set by bringing the angle restricting portion 411 formed on one side into contact with the upper movement 510, and as shown by the dotted line, it can be formed by The angle restricting portion 411 on the other side comes into contact with the upper movement to set the maximum rotation value.
  • the intermediate rotation value (average value) can be set as the reference value, so the reference value can be easily set.
  • the minimum rotation value in FIG. 6 is -110° (solid line portion) and the maximum rotation value is +110° (dashed line portion)
  • the reference value is 0°.
  • the radius of rotation can be adjusted by adjusting the width of the upper movement 510.
  • the upper movement 510 is illustrated in FIG. 6, because the lower movement 520 located at the lower portion also rotates at the same angle as the upper movement 510 and is similar to the angle restricting portion formed in the lower housing 420 421 contacts, so the principle is the same.
  • the rotation coupling portions 412 and 422 of the actuator A constituted by the drive motor 100, the gear portion 200, the control portion 300, and the cover 400 as described above are coupled to the movement 500 so as to be interlocked with the rotation shaft of the output shaft 241.
  • the movement 500 to which the present invention is applied adopts a detachable structure, including an upper movement 510, a lower movement 520, and a connecting movement 530.
  • One side of the upper movement 510 is coupled to the output shaft 241 exposed at the upper portion of the upper casing 410 through a rotation coupling portion 412 formed on the other side of the upper casing 410. Since the second gear is formed on the upper part of the output shaft 241 and the rotation support protrusion 242 is formed on the upper part of the second gear, the second gear and the rotation support protrusion 242 will be formed on the center of the side of the upper movement 510 Corresponding coupling hole 511.
  • a female gear portion (not shown in the reference number) corresponding to the above-mentioned second gear is formed on the inner peripheral surface of the lower portion of the coupling hole 511, and a position offset from the center of the output shaft 241 in the upper portion of the female gear portion is provided.
  • the small holes combined by the rotation support protrusions 242 constitute the coupling holes 511.
  • the upper movement 510 is coupled to the output shaft 241 by bolts or the like.
  • One side of the lower movement 520 is rotatably coupled to the rotation coupling portion 422 formed on the other side of the lower housing 420.
  • the lower movement 520 is also coupled to the rotation coupling portion 422 by bolts or the like, and in order to smoothly rotate the rotation coupling portion 422, it can be equipped with, for example, a ball bearing.
  • the connecting movement 530 is detachably coupled to the other side of the upper movement 510 and the lower movement 520. That is, on the other side of the upper movement 510 and the lower movement 520, elastic support pieces 513 and 523 which are arranged to face each other at a certain distance from each other are formed. At the ends of the elastic support pieces 513 and 523, blocking protrusions 514 and 524 protruding in the opposing outer direction are formed, respectively.
  • support holes 531 are formed in the upper and lower portions of the connection movement 530 corresponding to the positions of the elastic support pieces 513 and 523, respectively. The support holes 531 are used to block the protrusions 514 when combined with the elastic support pieces 513 and 523. , 524 to support the support sill 532.
  • FIG. 7 the state in which the upper movement 510 and the lower movement 520 are coupled to the connected movement 530 is illustrated. That is, first, as shown in FIG. 7(a), the elastic support piece 513 is bent toward the inner side in the process of being inserted into the support hole 531, and then as shown in FIG. 7(b), it is restored to its original state During the process, the blocking protrusion 514 will be blocked and bonded to the support ridge 532.
  • the upper movement 510 is illustrated in FIG. 7, the same structure can also be applied to the lower movement 520.
  • the blocking protrusion 514 is inclined or bent from the front end inserted into the support hole 531 toward the outer side of the rear end.
  • the blocking protrusion 514 can be supported from The cam 532 disengages and thereby separates the upper movement 510 from the connecting movement 530.
  • a plurality of connector connection holes 440 formed so as to penetrate the upper and lower portions of the outer cover 400 are provided at positions around the outer cover 400 that will not interfere with the movement 500.
  • FIG. 8 is a plan view illustrating another actuator A to which the present invention is applied, and illustrates a state in which four connector connecting holes 440 are formed around the outer cover 400.
  • a rotating member is installed in the connecting member connecting hole 440, and an independent connector 600 for performing a turning or rotating action can be connected to both end portions of the mounted rotating member, respectively.
  • the connector 600 is also connected to the output shaft 241, and the connector connected to the output shaft 241 can also be understood as the movement 500. However, for convenience of description, the following description will collectively refer to the connector 600.
  • FIG. 9 is a schematic diagram illustrating the state of constituting the automatic note-taking part 700, and the support part 800 for fixing the note-taking part 700 and the first actuator A1 and the second actuator A2 are connected by a connector 600, respectively.
  • the two ends of the output shaft 241 of the first actuator A1 and the support 800 are connected by the first connector 610, and the two ends of the connector connecting hole 440 formed in the lower portion of the first actuator A1
  • the second connector 620 is connected between the support portion 800 and the support portion 800.
  • the two ends of the output shaft 241 of the first actuator A1 and the two ends of the output shaft 241 of the second actuator A2 are connected by a first connector 610, and are formed on the first actuator A1.
  • the two ends of the upper connector connecting hole 440 and the two ends of the connector connecting hole 440 formed in the upper portion of the second actuator A1 are connected by a second connector 620 respectively.
  • the first connector 610 and the second connector 620 have a structure that does not interfere with the rotation or rotation between each other.
  • the first connecting member 610 and the second connecting member 620 are respectively connected in parallel, and will maintain a parallel state during operation.
  • the reason why the first connecting member 610 and the second connecting member 620 constitute the connecting member 600 is to stably fix the writing part 700 to avoid shaking during work.
  • the first connecting member 610 shown in FIG. 10 is used to connect the support 800 to the first actuator A1 and the second actuator A2
  • the weight and rotation (or rotation) of the writing part 700 and the support 800 The force received in the process will make it difficult for the support 800 to be firmly fixed, so the control accuracy of the note 700 will also decrease. Therefore, the second connector 620 as shown in FIG. 9 must be provided, but if it is assumed that the connector connection hole 440 is not formed, an additional structure for connecting the second connector 620 must be provided. Therefore, the connection can be easily achieved through the connector connecting holes 440 formed in the actuators A1 and A2 without the need to provide an additional structure 440 for connecting the connector 600, thereby simplifying the structure and saving The resulting cost also makes maintenance work easier.
  • the control board 310 incorporating the sensor 320 is mounted to the main body cover 430.
  • the connection between the motor electrode of the drive motor 100 and the control board 310 is made by an electric wire, and it may be connected before or after the body cover 430 is installed.
  • the first reduction gear 210 is coupled to the rotating shaft 110 of the drive motor 100 mounted on the inner upper portion of the main body cover 430.
  • the second, third, and fourth reduction gears 220, 230, and 240 are sequentially coupled in an intermeshing rotation.
  • the lower end portion of the output shaft 241 of the fourth reduction gear 240 is coupled to the center of the sensor 320.
  • the upper and lower parts of the main body cover 430 are closed by the upper cover 410 and the lower cover 420.
  • the upper cover 410, the lower cover 420, and the main body cover 430 can be connected by bolts or the like.
  • the upper part of the output shaft 241 is closed so as to be exposed to the rotation coupling portion 412 of the upper cover 410, and the movement 500 is coupled after the closing.
  • either the upper movement 510 or the lower movement 520 can be joined first.
  • the coupling hole 511 and the output shaft 241 are fixed with bolts, so that the output shaft 241 And the upper movement 510 rotates in conjunction.
  • the coupling hole 521 and the rotation coupling portion 422 of the lower housing 420 are fixed with bolts.
  • the elastic support pieces 513 and 523 of the upper movement 510 and the lower movement 520 formed with the blocking protrusions 514 and 524 are respectively incorporated into the support holes 531 formed on the upper and lower portions of the connection movement 530 to complete the execution Assembly of mechanism modules.
  • the blocking protrusions 514 and 524 are separated from the support ridge 532 and the elastic support pieces 513 and 523 are removed from the support hole 531 Separation, thereby disassembling the connected movement 530.
  • the bolts fixing the upper movement 510 and the lower movement 520 are loosened to separate the upper movement 510 and the lower movement 520.
  • the new upper movement 510 and the lower movement 520 having a longer length are combined.
  • the above-disassembled connecting movement 530 is recombined using the method described above.
  • the connecting movement 530 may be replaced with other connecting movements 530 of different shapes.
  • a new connecting movement 530 to be replaced is used in combination again.
  • the invention can reduce the vertical width of the outer cover and shorten the vertical length of the movement by changing the coupling position of the control board inside the actuator, and at the same time, the movement can be constructed with a detachable coupling structure.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

一种执行机构模块，包括外罩（400），内部安装有驱动电机（100）、齿轮部（200）以及控制部（300），在输出轴（241）的两侧分别形成与输出轴（241）位于相同轴线上的旋转结合部（412、422），输出轴（241）的上部通过形成于一侧的旋转结合部（412、422）裸露到外部；以及，机芯（500），结合到外罩（400），以输出轴（241）的旋转轴为中心，以与输出轴（241）连动的方式结合到形成于裸露的输出轴（241）的另一侧的旋转结合部（412、422），借助于驱动电机（100）的驱动与齿轮部（200）的输出轴（241）连动。该执行机构模块通过将控制板（310）的结合位置配置在驱动电机（100）的侧面周围部而非驱动电机（100）的下端部，并使安装有输出轴（241）的外罩（400）的上下长度小于安装有驱动电机（100）的外罩（400）的上下长度，能够减小与其结合的机芯（500）的上下长度，从而防止现有的机芯（500）的扭转现象并借此实现精密控制。

Description

执行机构模块 技术领域
本发明涉及一种执行机构模块（ACTUATOR MODULE），尤其涉及一种能够通过变更执行机构内部的控制板的结合位置而减小外罩的上下宽度并借此缩短机芯（movement）的上下长度，同时将机芯以可拆装的结合结构构成的执行机构模块。
 背景技术
如图1a、图1b所示，现有的执行机构模块是在外罩40的一侧内部沿着上下垂直的方向配置驱动电机10。在驱动电机10的上部形成旋转轴11，而在驱动电机10的下部形成电机电极（附图编号未记载）。
齿轮部20由多个减速齿轮连接，从外罩40的一侧上部向外罩40的另一侧下部方向排列。此时，齿轮部20的输入轴（附图编号未记载）连接到驱动电机10的旋转轴11，齿轮部20的输出轴21上部裸露到外罩40的外部，而齿轮部20的输出轴21下部连接到与后续说明的控制板31结合的传感器32。
控制部30由控制板31以及传感器32构成。控制板31的一侧位于驱动电机10的下端，而另一侧在外罩40的内部向另一侧沿着水平方向形成。控制板31的另一侧结合有用于对齿轮部20的输出轴21的旋转角度以及旋转速度进行检测的传感器32。之所以将控制板31配置在驱动电机10的下端，是为了在不使用独立连接线的情况下直接将位于驱动电机10的下端部的电机电极焊接结合到控制板31。
因此，外罩40的上下长度h因为受到驱动电机10的上下长度以及与控制板31的结合位置的限制而必须以均匀的宽度形成。
在向外罩40的另一侧上部裸露的输出轴21上部以及与输出轴21位于相同轴线上的外罩40的另一侧下部分别结合有角状体（horn）60。角状体60与后续说明的机芯50结合，通过与输出轴21的旋转动作连动而驱动机芯50工作。
此外，在图1a、图1b中对最常用的“匚”字形机芯50的结合状态进行了概念性图示。机芯50由单个主体构成，虽未图示，但机芯50的结合位置以及结合结构等能够以多种不同的方式实施。
如上所述的现有的执行机构模块，会因为机芯50的上下长度较长而在机芯50受到一定大小以上的力量作用时造成机芯50的扭转并因此导致控制精确度下降的问题。此外，由单个主体构成的机芯50，会导致需要根据其结合位置或结合方法制作成多种不同形态的大小以及长度的问题。
先行技术文献
专利文献  大韩民国注册专利第10-1277573号。
 技术问题
本发明所要解决的技术问题是提供一种执行机构模块，它可以通过对执行结构外罩内部的控制板的结合位置进行调整，从而减小结合有机芯的外罩的上下宽度以及与其结合的连接机芯的上下长度，并借此实现整体结构紧凑。
本发明所要解决的另一技术问题是提供一种执行机构模块，它可以通过将机芯以可组装的方式构成，从而可以根据机芯的适用位置以及使用者的要求，以多种不同的形态构成配备有可拆装机芯的执行机构模块。
 技术解决方案
为解决上述技术问题，本发明执行机构模块的技术解决方案为：
包括：驱动电机；齿轮部，连接到所述驱动电机的上部旋转轴并连动旋转；控制部，通过对所述驱动电机进行控制而对所述齿轮部相对于输出轴的旋转角度以及旋转速度进行控制；外罩，内部安装有所述驱动电机、齿轮部以及控制部，在所述输出轴的两侧分别形成与所述输出轴位于相同轴线上的旋转结合部，所述输出轴的上部通过形成于一侧的所述旋转结合部裸露到外部；以及，机芯，结合到所述外罩，以所述输出轴的旋转轴为中心，以与所述输出轴连动的方式结合到形成于所述裸露的输出轴的另一侧的所述旋转结合部，借助于所述驱动电机的驱动与所述齿轮部的输出轴连动。
在另一实施例中，所述控制部，包括：控制板，位于所述驱动电机的周围部侧面；以及，传感器，安装于所述控制板，与所述输出轴的下部连接。
在另一实施例中，安装有所述驱动电机的外罩的上下长度与所述驱动电机的上下长度对应且大于安装有所述输出轴的外罩的上下长度。
在另一实施例中，安装有所述驱动电机的所述外罩的上下部以及安装有所述输入轴的所述外罩的上下部之间，是通过向所述外罩的内侧方向折曲而连接，在所述折曲部位的两侧形成用于对所述机芯的转动角度进行限制的角度限制部。
在另一实施例中，在所述外罩的周围部中不会与所述机芯发生干扰的位置上还配备有以贯通所述外罩的上下部的方式形成的多个连接件连接孔。
在另一实施例中，所述机芯，包括：上部机芯，一侧结合到向所述外罩的上部裸露的所述输出轴并与所述输出轴连动；下部机芯，一侧以可旋转的方式结合到在外罩的下部形成的所述旋转结合部；以及，连接机芯，以可拆装的方式结合到所述上部机芯的另一侧以及所述下部机芯的另一侧。
在另一实施例中，在所述上部机芯以及下部机芯的另一侧形成以相互间隔一定的距离的方式相向配置的弹性支撑片，在所述弹性支撑片的端部分别形成沿着相向的外侧方向突出的阻挡凸起；在所述连接机芯的上下部分别形成与所述弹性支撑片的位置对应的支撑孔，在所述支撑孔中形成在与所述弹性支撑片结合时用于对所述阻挡凸起进行阻挡支撑的支撑坎。
 有益效果
本发明可以达到的技术效果是：
首先，通过将控制板的结合位置配置在驱动电机的侧面周围部而非驱动电机的下端部，并使安装有输出轴的外罩的上下长度小于安装有驱动电机的外罩的上下长度，能够减小与其结合的机芯的上下长度，从而防止现有的机芯的扭转现象并借此实现精密控制。
此外，通过省略角状体结构，能够进一步减小机芯的上下长度，从而实现整体紧凑设计。
此外，通过配备角度限制部，能够对机芯的最大/最小旋转角度进行测定，从而对中心基准值进行设定。
此外，通过配备连接件连接孔，即使是在需要连接用于执行转动或旋转动作的独立的连接件的情况下，也能够通过连接件连接孔轻易地实现连接而不需要配备用于对连接件进行连接的额外的结构体，从而对结构体进行简化、节省因此而导致的成本并使得维护保养作业变得更加容易。
此外，通过在机芯的结构中采用由上部机芯、下部机芯以及连接结构体构成的组装式结构，并采用可以在上部机芯以及下部机芯上对连接结构体进行安装或拆卸的可拆装结构，能够轻易地对上部机芯以及下部机芯的长度进行调整。
此外，能够根据机芯的结合位置以及使用状态，能够相应地适用不同的机芯构成。
此外，通过利用可拆装的机芯结构，不仅能够提供“匚”字形的结构，还能够轻易地提供“一”字形以及“└”字形的结构。
此外，通过在对可拆装的机芯进行结合时使得阻挡凸起被支撑坎支撑，能够实现稳固的结合效果。
 附图说明
本领域的技术人员应理解，以下说明仅是示意性地说明本发明的原理，所述原理可按多种方式应用，以实现许多不同的可替代实施方式。这些说明仅用于示出本发明的教导内容的一般原理，不意味着限制在此所公开的发明构思。
结合在本说明书中并构成本说明书的一部分的附图示出了本发明的实施方式，并且与上文的总体说明和下列附图的详细说明一起用于解释本发明的原理。
下面结合附图和具体实施方式对本发明作进一步详细的说明：
图1a是对现有的执行机构模块的内部构成状态进行概念性图示的斜视图；
图1b是图1a的正面图；
图2是本发明执行机构模块的一实施例的斜视图；
图3是图2的分解斜视图；
图4是图2的底面分解斜视图；
图5是对本发明执行机构模块的一实施例的构成状态进行概念性图示的示意图；
图6是对本发明的机芯的转动状态进行图示的示意图；
图7是对本发明的机芯的结合结构进行图示的示意图；
图8是对本发明的执行机构进行图示的示意图；
图9是对本发明的执行机构的连接件连接孔的使用状态进行图示的示意图；
图10是对本发明的连接件连接孔的未使用状态进行图示的示意图。
图中附图标记说明：
10为驱动电机，              11为旋转轴，
20为齿轮部，                21为输出轴，
30为控制部，                31为控制板，
32为传感器，                40为外罩，
50为机芯，                  60为角状体，
100为驱动电机，             110为旋转轴，
200为齿轮部，               210 为第一减速齿轮，
220为第二减速齿轮，         230为第三减速齿轮，
240为第四减速齿轮，         241为输出轴，
242为旋转支撑凸起，        
300为控制部，               310为控制板，
320为传感器，               
400为外罩，                 410为上部外罩，
411为角度限制部，           412、422为旋转结合部，
420为下部外罩，             421为角度限制部，
430为主体外罩，             440为连接件连接孔，
500为机芯，                 510为上部机芯，
511、521为结合孔，         
513为弹性支撑片，           514、524为阻挡凸起，
520为下部机芯，             523为弹性支撑片，
530为连接机芯，             531为支撑孔，
532为支撑坎，           
600为连接件，               610为第一连接件，
620为第二连接件，           
700为笔记部，               800为支撑部。
 本发明的最佳实施方式
接下来，将结合示例性的附图对适用本发明的部分实施例进行详细的说明。需要注意的是，在为各个附图中的构成要素分配参考符号的过程中，对于相同的构成要素，即使是被标记在不同的附图上，也尽可能地分配了相同的符号。此外，在对适用本发明的实施例进行说明的过程中，如果判定对相关的公知构成或功能的具体说明可能会妨碍对本发明之实施例的理解，将省略相关的详细说明。
此外，在对适用本发明之实施例的构成要素进行说明的过程中，可能会使用如第一、第二、A、B、（a）以及（b）等术语。上述术语只是为了将上述构成要素与其他构成要素进行区分，相应构成要素的本质、次序或顺序等并不因为上述术语而受到限制。当记载为某个构成要素与其他构成要素“连接”、“结合”或“接触”时，上述构成要素能够与其他构成要素直接连接或接触，但也能够理解为上述各个构成要素之间还有其他构成要素“连接”、“结合”或“接触”。
如图2至图4所示，本发明执行机构模块大体上包括执行机构A以及以可转动的方式与其结合的机芯500。
如图5所示，执行机构A包括驱动电机100、齿轮部200、控制部300以及外罩400。
驱动电机100通过旋转齿轮部200而驱动后续说明的机芯500工作。驱动电机100位于外罩400的内部一侧（以图5为基准的左侧）。在驱动电机100的中心上部形成旋转轴110，而在下端部形成电机电极（附图编号未记载）。
齿轮部200安装于外罩400的内部，其输入轴（附图编号未记载）连接到驱动电机100的旋转轴110并连动旋转。齿轮部200可以包括第一减速齿轮210、第二减速齿轮220、第三减速齿轮230以及第四减速齿轮240。虽然在图3中图示了四个减速齿轮，但是也可以由三个以下的减速齿轮构成或由五个以上的减速齿轮构成。第一、第二、第三减速齿轮210、220、230包括位于上部的半径较大的第一齿轮（附图编号未记载）以及位于上述第一齿轮下部的半径较小的第二齿轮（附图编号未记载）。第四减速齿轮240包括位于上部的半径较小的第二齿轮以及位于上述第二齿轮下部的半径较大的第一齿轮。第一减速齿轮210的第一齿轮与旋转轴110啮合旋转。第二减速齿轮220的第一齿轮与第一减速齿轮210的第二齿轮啮合旋转。第三减速齿轮230的第一齿轮与第二减速齿轮220的第二齿轮啮合旋转。第三减速齿轮230的第二齿轮与第四减速齿轮240的第一齿轮啮合旋转。此时，第一减速齿轮210的旋转轴为输入轴，而第四减速齿轮240的旋转轴为输出轴241。借此，构成驱动电机100的旋转力被输入到第一减速齿轮210并以预先设定的旋转减速比通过第四减速齿轮240输出的结构。在输出轴241的上端部形成旋转支撑凸起242。旋转支撑凸起242结合到后续说明的上部机芯510的结合孔511，用于对上部机芯510转动时的旋转力进行支撑。第一减速齿轮210位于外罩400的内部一侧上部，以第二减速齿轮220、第三减速齿轮230以及第四减速齿轮240的顺序依次向下连接。位于外罩400的内部另一侧的第四减速齿轮240的输出轴241上部向外罩400的另一侧上部裸露一定长度，输出轴240的下部结合到后续说明的传感器320。
控制部300也位于外罩400的内部，包括PCB形态的控制板310以及传感器320。控制板310的一侧（以图5为基准的左侧）位于驱动电机100的侧面周围，驱动电机100的电机电极和控制板310通过电线（未图示）连接。控制板310的另一侧上部（以图5为基准的右侧上部）与传感器320结合。传感器320与上述输出轴241的下部结合。传感器320用于对输出轴241的旋转角度以及旋转速度进行检测并将检测到的信息传递到控制板310。控制板310用于对驱动电机100的旋转角度以及旋转速度进行控制。
外罩400的内部安装有驱动电机100、齿轮部200以及控制部300，在输出轴241的上下两侧分别形成与输出轴241位于相同轴线上的旋转结合部412、422，输出轴241的上部通过形成于上部的旋转结合部412裸露到外部。
此外，图5是为了对外罩400的内部结构进行图示而仅对后续说明的上部外罩410进行图示并对下部外罩420以及主体外罩430进行省略的形态，为了说明的便利，下部外罩420以及主体外罩430仅对轮廓线进行了图示。如图5所示，外罩400的一侧上下长度与驱动电机100的上下长度对应，安装有齿轮部200的输出轴241的外罩的另一侧上下长度h2小于外罩400的一侧上下长度h1。即，根据控制板310的结合位置向驱动电机100的上部移动的距离，外罩400的另一侧上下长度h2能够小于外罩400的一侧上下长度h1。此时，还能够同时对齿轮部200的排列位置进行调整（向下部移动），从而使整个外罩400的另一侧上下长度h2变小。即，因为能够缩短后续说明的连接机芯530的上下长度，因此在假设将相同的力量施加到机芯500时，所发生的扭转现象也将减少。
此外，外罩400可以包括上部外罩410、下部外罩420以及主体外罩430。
主体外罩430的上部以及下部为开放形态，在其内部安装有如上所述的驱动电机100、齿轮部200以及控制部300。
上部外罩410用于对主体外罩430的上部进行开闭，而下部外罩420用于对主体外罩430的下部进行开闭。在上部外罩410以及下部外罩420的另一侧，形成小孔形态的旋转结合部412、422。形成于上部外罩410的旋转结合部412可供齿轮部200的输出轴241上部裸露到外部，而形成于下部外罩420的旋转结合部422可供后续说明的下部机芯520以可旋转的方式结合。在安装有驱动电机100的上、下部外罩410、420的一侧以及安装有齿轮部200的输出轴241的上、下部外罩410、420的另一侧之间，是通过向上部外罩410以及下部外罩420的内侧方向分别折曲而连接，在折曲部位的两侧形成用于对后续说明的机芯500的转动角度进行限制的角度限制部411、421。
如图6所示，作为一实施例，可以通过使形成于一侧的角度限制部411与上部机芯510发生接触而对转动最小值进行设定，而且如虚线部分所示，可以通过使形成于另一侧的角度限制部411与上部机芯发生接触而对转动最大值进行设定。此外，通过计算出转动最小值以及转动最大值，可以将转动中间值（平均值）设定为基准值，因此能够方便地对基准值进行设定。作为一实施例，当图6中的转动最小值为-110°（实线部分）而转动最大值为+110°（虚线部分）时，基准值为0°。此外，因为在上部机芯510的宽度变小或变大时转动最小值以及转动最大值也将随之变大或变小，因此能够通过调整上部机芯510的宽度而对转动半径进行调整。此外，虽然在图6中仅对上部机芯510进行了图示，但是因为位于下部的下部机芯520同样以与上部机芯510相同的角度转动并与形成于下部外罩420中的角度限制部421接触，因此其原理相同。
由如上所述的驱动电机100、齿轮部200、控制部300以及外罩400构成的执行机构A的旋转结合部412、422以能够与输出轴241的旋转轴连动的方式与机芯500结合。
适用本发明的机芯500采用可拆装结构，包括上部机芯510、下部机芯520以及连接机芯530。
上部机芯510的一侧通过形成于上部外罩410的另一侧的旋转结合部412结合到裸露在上部外罩410的上部的输出轴241。因为在输出轴241的上部形成上述第二齿轮且在上述第二齿轮的上部形成旋转支撑凸起242，因此在上部机芯510的一侧中心将形成与上述第二齿轮以及旋转支撑凸起242对应的结合孔511。即，在结合孔511的下部内侧周面上形成与上述第二齿轮对应的母齿轮部（附图编号未记载），在母齿轮部的上部中从输出轴241的中心偏离的位置形成可供旋转支撑凸起242结合的小孔，从而构成结合孔511。上部机芯510通过螺栓等结合到输出轴241。
下部机芯520的一侧以可旋转的方式结合到形成于下部外罩420的另一侧的旋转结合部422。下部机芯520同样通过螺栓等结合到旋转结合部422，且为了使旋转结合部422流畅地旋转，能够配备如滚珠轴承等。
连接机芯530以可拆装的方式结合到上部机芯510以及下部机芯520的另一侧。即，在上部机芯510以及下部机芯520的另一侧，分别形成以相互间隔一定的距离的方式相向配置的弹性支撑片513、523。在弹性支撑片513、523的端部，分别形成沿着相向的外侧方向突出的阻挡凸起514、524。此外，在连接机芯530中与弹性支撑片513、523的位置对应的上下部分别形成支撑孔531，在支撑孔531中形成在与弹性支撑片513、523结合时用于对阻挡凸起514、524进行阻挡支撑的支撑坎532。
在图7中对上部机芯510以及下部机芯520结合到连接机芯530的状态进行了图示。即，首先如图7的（a）所示，在弹性支撑片513被插入到支撑孔531的过程中向相向的内侧方向弯曲，接下来如图7的（b）所示，在还原成原状的过程中阻挡凸起514将被阻挡结合到支撑坎532。虽然在图7中对上部机芯510进行了图示，但是相同的结构也能够适用于下部机芯520。
因此，阻挡凸起514从插入到支撑孔531中的前端向后端的外侧方向倾斜或弯曲形成为宜。
此外，在从连接机芯530分离上部机芯510时，通过从插入有弹性支撑片513的支撑孔531的相反一侧向相向的内侧方向按压阻挡凸起514，能够使阻挡凸起514从支撑坎532脱离并借此使上部机芯510与连接机芯530分离。
此外，在外罩400的周围部中不会与机芯500发生干扰的位置上还配备有以贯通外罩400的上下部的方式形成的多个连接件连接孔440。
图8是对适用本发明的另一执行机构A进行图示的平面图，对在外罩400的周围部形成四个连接件连接孔440的状态进行了图示。在连接件连接孔440中安装有旋转部件，在所安装的旋转部件的两侧端部能够分别连接用于执行转动或旋转动作的独立的连接件600。
接下来，将结合图9以及图10对连接件连接孔440的使用状态进行说明。
首先，连接件600也被连接到输出轴241，连接到输出轴241中的连接件也能够理解成机芯500。但是为了便于说明，在下述说明内容中将统称为连接件600。
图9是对构成自动笔记部700的状态进行图示的示意图，用于对笔记部700进行固定的支撑部800和第一执行机构A1以及第二执行机构A2之间分别通过连接件600连接。
即，在第一执行机构A1的输出轴241的两侧端部和支撑部800之间通过第一连接件610连接，在形成于第一执行机构A1下部的连接件连接孔440的两侧端部和支撑部800之间通过第二连接件620连接。此外，在第一执行机构A1的输出轴241的两侧端部和第二执行机构A2的输出轴241的两侧端部之间通过第一连接件610连接，在形成于第一执行机构A1上部的连接件连接孔440的两侧端部和形成于第二执行机构A1上部的连接件连接孔440的两侧端部之间分别通过第二连接件620连接。第一连接件610以及第二连接件620采用不会对相互之间的转动或旋转动作造成干扰的结构。此外，第一连接件610以及第二连接件620大致上分别平行连接，在工作时也将维持平行的状态。
此时，之所以由第一连接件610以及第二连接件620构成连接件600，是为了稳固地对笔记部700进行固定以避免其在工作过程中发生晃动。当在支撑部800和第一执行机构A1以及第二执行机构A2之间分别只利用如图10所示的第一连接件610连接时，笔记部700和支撑部800的重量以及转动（或旋转）过程中所受到的力量会导致支撑部800难以被坚固固定的问题，因此笔记部700的控制精确度也将随之下降。所以，必须配备如图9所示的第二连接件620，但是如果假定没有形成连接件连接孔440，则必须配备用于对第二连接件620进行连接的额外的结构体。因此，能够通过形成于执行机构A1、A2的连接件连接孔440轻易地实现连接而不需要配备用于对连接件600进行连接的额外的结构体440，从而对结构体进行简化、节省因此而导致的成本并使得维护保养作业变得更加容易。
接下来，将对如上所述的适用本发明的执行机构模块的组装过程进行详细的说明。
首先，在将驱动电机100结合到主体外罩430之后，将结合有传感器320的控制板310安装到主体外罩430。此时，在驱动电机100的电机电极和控制板310之间通过电线连接，可以在安装到主体外罩430之前连接或在安装之后连接。
接下来，将安装在主体外罩430内侧上部的驱动电机100的旋转轴110上结合第一减速齿轮210。在结合第一减速齿轮210之后，以相互啮合旋转的方式依次结合第二、第三、第四减速齿轮220、230、240。此时，第四减速齿轮240的输出轴241的下端部结合到传感器320的中心。
在将驱动电机100、齿轮部200以及控制部300安装到主体外罩430之后，利用上部外罩410以及下部外罩420封闭主体外罩430的上下部。虽未图示，在对上部外罩410、下部外罩420以及主体外罩430进行结合时能够利用螺栓等进行连接。
此时，以使输出轴241的上部裸露到上部外罩410的旋转结合部412的方式进行封闭，并在封闭之后结合机芯500。
在对机芯500进行结合时，能够首先对上部机芯510或下部机芯520中的某一个进行结合。在对上部机芯510进行结合时，在确认输出轴241的旋转支撑凸起242被结合到结合孔511的正确位置之后，利用螺栓对结合孔511以及输出轴241进行固定，从而使输出轴241以及上部机芯510连动旋转。在对下部机芯520进行结合时，利用螺栓对结合孔521以及下部外罩420的旋转结合部422进行固定。
接下来，将上部机芯510以及下部机芯520的形成有阻挡凸起514、524的弹性支撑片513、523分别结合到形成于连接机芯530的上下部的支撑孔531中，从而完成执行机构模块的组装。
此外，作为一实施例，当需要更换使用长度较长的上部机芯510以及下部机芯520时，将阻挡凸起514、524从支撑坎532分离并将弹性支撑片513、523从支撑孔531分离，从而对连接机芯530进行分解。松开对上部机芯510以及下部机芯520进行固定的螺栓，从而对上部机芯510以及下部机芯520进行分离。利用如上所述的方法，对长度更长的新的上部机芯510以及下部机芯520进行结合。接下来，利用如上所述的方法重新结合上述所分解出的连接机芯530。
或者，也可以将连接机芯530更换成不同形状的其他连接机芯530，此时在利用如上所述的方法分解出连接机芯530之后重新结合使用需要更换的新的连接机芯530。
在上述内容中，虽然以构成适用本发明之实施例的所有构成要素被结合成一体或结合工作的方式进行了说明，但这并不代表本发明必须限定于如上所述的实施例。即，在本发明的目的范围内，上述所有构成要素中的一个以上能够选择性地结合工作。此外，除非另有明确的相反记载，否则在上述内容中所记载的“包括”、“构成”或“具有”等术语只是代表相应的构成要素存在，并不是排除其他构成要素，而是应该理解为还能够包括其他构成要素。除非另有定义，否则包含技术性或科学性术语在内的所有术语的含义与具有本发明所属技术领域之一般知识的人员所通常理解的含义相同。已在词典中做出定义的通常所使用的术语应理解为与相关技术的上下文一致的含义，除非在本发明中做出明确的定义，否则不应解释为过于理想或夸张的含义。
上述内容只是对本发明的技术思想进行的示例性说明，具有本发明所属技术领域之一般知识的人员能够在不脱离本发明的本质特性的范围内进行各种修改以及变形。因此，在本发明中所公开的实施例只是用于对本发明的技术思想进行说明而非限定，本发明的技术思想的范围并不限定于如上所述的实施例。本发明的保护范围应通过下述的权利要求书做出解释，与其同等范围内的所有技术思想均包含在本发明的权利要求范围之内。
 工业实用性
本发明能够通过变更执行机构内部的控制板的结合位置而减小外罩的上下宽度并借此缩短机芯（movement）的上下长度，同时将机芯以可拆装的结合结构构成。

Claims (7)

  1. 一种执行机构模块，其特征在于，包括：
    驱动电机；
    齿轮部，连接到所述驱动电机的上部旋转轴并连动旋转；
    控制部，通过对所述驱动电机进行控制而对所述齿轮部相对于输出轴的旋转角度以及旋转速度进行控制；
    外罩，内部安装有所述驱动电机、齿轮部以及控制部，在所述输出轴的两侧分别形成与所述输出轴位于相同轴线上的旋转结合部，所述输出轴的上部通过形成于一侧的所述旋转结合部裸露到外部；以及，
    机芯，以所述输出轴的旋转轴为中心，以与所述输出轴连动的方式结合到形成于所述裸露的输出轴的另一侧的所述旋转结合部。
  2. 根据权利要求1所述的执行机构模块，其特征在于，所述控制部，包括：
    控制板，位于所述驱动电机的周围部侧面；以及，
    传感器，安装于所述控制板，与所述输出轴的下部连接。
  3. 根据权利要求2所述的执行机构模块，其特征在于，安装有所述驱动电机的外罩的上下长度与所述驱动电机的上下长度对应且大于安装有所述输出轴的外罩的上下长度。
  4. 根据权利要求3所述的执行机构模块，其特征在于，安装有所述驱动电机的所述外罩的上下部以及安装有所述输入轴的所述外罩的上下部之间，是通过向所述外罩的内侧方向折曲而连接，在所述折曲部位的两侧形成用于对所述机芯的转动角度进行限制的角度限制部。
  5. 根据权利要求1所述的执行机构模块，其特征在于，在所述外罩的周围部中不会与所述机芯发生干扰的位置上还配备有以贯通所述外罩的上下部的方式形成的多个连接件连接孔。
  6. 根据权利要求1至5任一项所述的执行机构模块，其特征在于，所述机芯，包括：
    上部机芯，一侧结合到通过形成于一侧的所述旋转结合部裸露到外部的所述输出轴并与所述输出轴连动；
    下部机芯，一侧以可旋转的方式结合到在外罩的下部形成于另一侧的所述旋转结合部；以及，
    连接机芯，以可拆装的方式结合到所述上部机芯的另一侧以及所述下部机芯的另一侧。
  7. 根据权利要求6所述的执行机构模块，其特征在于，在所述上部机芯以及下部机芯的另一侧形成以相互间隔一定的距离的方式相向配置的弹性支撑片，在所述弹性支撑片的端部分别形成沿着相向的外侧方向突出的阻挡凸起；
    在所述连接机芯的上下部分别形成与所述弹性支撑片的位置对应的支撑孔，在所述支撑孔中形成在与所述弹性支撑片结合时用于对所述阻挡凸起进行阻挡支撑的支撑坎。
     
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