Motor locking mechanism including memory alloy wire

Abstract

A locking device includes a sliding member, and a first memory alloy wire is configured to cooperate with the sliding member, and is used to apply a first force to move the sliding member to a locked position along a first sliding direction when electric energy is applied to the first memory alloy wire. The locking device also includes a second memory alloy wire, and the second memory alloy wire is configured to cooperate with the sliding member, and is used to apply a second force to move the sliding member to an unlocked position along a second sliding direction when electric energy is applied to the second memory alloy wire. The locking device also includes a position limiting structure, and when the sliding member moves to the locked position, the position limiting structure keeps the sliding member in the locked position, and when the sliding member moves to the unlocked position, the position limiting structure keeps the sliding member in the unlocked position.

Description

[0001] Copyright Notice

[0002] A portion of the disclosure of this patent document contains material which is subject to copyright protection. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure as it appears in the Patent and Trademark Office patent file or records, but otherwise reserves all copyright rights whatsoever. Technical Field

[0003] The present disclosure relates to a locking mechanism including a memory alloy wire, and more particularly to a motor locking device and system including the memory alloy wire. Background Art

[0004] Size is an important aspect of mechanical equipment, motors, medical devices, or other devices, mechanisms, and systems. The smaller the device, the better the user experience, the fewer external constraints, and the more functionality the device can provide. However, small devices also bring challenges. As the space and energy storage of the device decreases, the complexity of the operation and the sophistication of the device components also increase accordingly.

[0005] Traditional locking mechanisms are manually controlled. However, since miniaturized devices or their components are smaller than conventional sizes, it is difficult to manually operate their locking mechanisms with human hands or fingers. An electrically controlled locking mechanism is a better choice. In addition, an electrically controlled locking mechanism can reduce the number and complexity of commands given by the user. Locking and unlocking commands can even be given and guaranteed automatically based on other conditions and information.

[0006] Shake, displacement, and other unintentional or accidental inputs can present another challenge for small devices and their delicate components.

[0007] Therefore, there is a need for improved locking mechanisms. Summary of the invention

[0008] In accordance with the embodiments of the present disclosure, the locking device includes a sliding member, a first memory alloy wire, the first memory alloy wire is configured to cooperate with the sliding member, and is used to apply a first force to move the sliding member to a locked position along a first sliding direction when electric energy is applied to the first memory alloy wire, wherein the applied electric energy causes the length of the first memory alloy wire to change, and the length change applies the first force to move the sliding member through the cooperation of the first memory alloy wire and the sliding member. The locking device also includes a second memory alloy wire, the second memory alloy wire is configured to cooperate with the sliding member, and is used to apply a second force to move the sliding member to an unlocked position along a second sliding direction when electric energy is applied to the second memory alloy wire, wherein the applied electric energy causes the length of the second memory alloy wire to change, and the length change applies the second force to move the sliding member through the cooperation of the second memory alloy wire and the sliding member. The locking device also includes a position limiting structure. When the sliding member moves to the locked position, the position limiting structure keeps the sliding member in the locked position. When the sliding member moves to the unlocked position, the position limiting structure keeps the sliding member in the unlocked position.

[0009] In accordance with some other embodiments of the present disclosure, a motor locking system for locking and unlocking a motor comprises: a motor; a sliding member and a first memory alloy wire, wherein the first memory alloy wire is configured to cooperate with the sliding member, and is used to apply a first force to move the sliding member to a locked position along a first sliding direction when electric energy is applied to the first memory alloy wire, wherein the applied electric energy causes the length of the first memory alloy wire to change, and the length change applies the first force to move the sliding member through the cooperation between the first memory alloy wire and the sliding member. The locking system also comprises a second memory alloy wire, wherein the second memory alloy wire is configured to cooperate with the sliding member, and is used to apply a second force to move the sliding member to an unlocked position along a second sliding direction when electric energy is applied to the second memory alloy wire, wherein the applied electric energy causes the length of the second memory alloy wire to change, and the length change applies the second force to move the sliding member through the cooperation between the second memory alloy wire and the sliding member.

[0010] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 A side view of a first exemplary locking system according to an embodiment of the present disclosure is shown.

[0012] Figure 2A partial top view of a first exemplary locking system according to an embodiment of the present disclosure is shown.

[0013] Figure 3 Another view of a first exemplary locking system according to an embodiment of the present disclosure is shown.

[0014] Figure 4 An exemplary application of a first exemplary locking system according to an embodiment of the present disclosure is shown.

[0015] Figure 5 Another side view of the first exemplary locking system according to an embodiment of the present disclosure is shown.

[0016] Figure 6 Another top view of a first exemplary locking system according to an embodiment of the present disclosure is shown.

[0017] Figure 7 An exemplary plunger according to an embodiment of the present disclosure is shown.

[0018] Figure 8 A top view of a second exemplary locking system according to an embodiment of the present disclosure is shown.

[0019] Fig. 9 A top view of a third exemplary locking system according to an embodiment of the present disclosure is shown.

[0020] Fig.10 A top view of a fourth exemplary locking system according to an embodiment of the present disclosure is shown.

[0021] Fig.11 An exemplary application of a fifth exemplary locking system according to an embodiment of the present disclosure is shown.

[0022] Example

[0023] The following detailed description refers to the accompanying drawings. Wherever possible, the same reference numerals represent the same or similar parts. Although several exemplary embodiments are described herein, modifications, adaptations, and other implementations may be made. For example, the components shown in the drawings may be replaced, added, or modified. Therefore, the following detailed description is not limited to the disclosed embodiments and examples. Instead, the proper scope is defined by the appended claims.

[0024] Consistent with embodiments of the present invention, locking devices and systems are provided that include a memory alloy wire.

[0025] Figure 1 FIG. 1 shows a side view of a first exemplary locking system 100 configured to lock and unlock a motor 102 according to an embodiment of the present disclosure. The motor 102 may be a linear motor or a rotary motor. Figure 1, body 110 diagrammatically represents the relationship of motor 102 to its parent device, for example, a vehicle associated with motor 102 or a corresponding operating environment. For example, motor 102 may be a motor of a rotary joint associated with a gimbal, and body 110 may be a part of the gimbal. As another example, motor 102 may be a rotor of a rotor-propeller assembly associated with an aircraft, and body 110 may be an arm of the aircraft on which the rotor is mounted. As yet another example, motor 102 may be a linear vibrator of a mobile phone, and body 110 may be a part of the housing of the mobile phone. Motor 102 may rotate or translate relative to body 110, and the locking system is configured to prevent motor 102 from undergoing such rotational or translational motion.

[0026] The base 112 may serve as a platform on which various components related to the locking mechanism of the locking system 100 may be disposed and fixed. In some embodiments, the base 112 may be disposed on the body 110 and may be detachably fixed to the body 110. In some other embodiments, the base 112 may be a part of the body 110 and cannot be separated from the body 110. Figure 1 In the exemplary embodiment, the base 112 is schematically shown in relation to the locking mechanism in the locking system 100. The configuration of the base 112 may depend on various factors, such as ease of manufacturing and quality control, cost, size, and mechanical and spatial requirements based on the specific application of the locking mechanism. For example, the base 112 may have a simple shape and be part of the body 110. As another example, the base 112 may have an irregular shape and include multiple sub-components. In the exemplary locking system 100, the base 112 has a circular disk shape with a slight radial expansion on one side for accommodating the slider 120, such as Figure 2 The top view of the locking system 100 is shown in FIG. The base 112 has a predetermined depth, such as Figure 1 A side view of the locking system 100 is shown.

[0027] The slider 120 is configured to be movable along the surface of the base 112, for example, in a track along the surface of the base 112. At one or more positions along the range of movement of the slider 120, the motor 102 can be locked to prevent movement, for example, to prevent rotation. At one or more positions along the range of movement of the slider 120, the motor 102 can be unlocked. In some embodiments, the one or more positions can be one or more ranges, rather than just one or more discrete positions. In an exemplary embodiment, the slider 120 is configured to move between a locked position and an unlocked position.

[0028] The slide 120 can be moved by one or more components of the locking system 100. The locking system 100 includes one or more restoring members to apply a force to move the slide 120. For example, the locking system 100 includes a first restoring member 170 configured to apply a first force to move the slide 120. The locking system 100 also includes a second restoring member 180 configured to apply a second force to move the slide 120. The restoring member 170 is configured to apply a first force to move the slide bar 120 to a first position, such as a locked position. The restoring member 180 is configured to apply a second force to move the slide 120 to a second position, such as an unlocked position.

[0029] The recovery member 170 includes a memory alloy wire, an elastic component (such as a spring) or any suitable device, or a combination thereof. In an exemplary embodiment, the recovery member 170 includes a first memory alloy wire 130. The recovery member 180 includes a memory alloy wire, an elastic component (such as a spring) or any suitable device, or a combination thereof. In an exemplary embodiment, the recovery member 180 includes a second memory alloy wire 140.

[0030] exist Figure 1 In the embodiment of the present invention, the first memory alloy wire 130 and the second memory alloy wire 140 are configured to move the slider 120. The first memory alloy wire 130 and the second memory alloy wire 140 apply a first force and a second force, respectively, to move the slider 120 by contacting a portion of the slider 120. The first memory alloy wire 130 and the second memory alloy wire 140 can each contact the slider 120 through one or more hooks, protrusions, buttons, channels, or any other configurations to be able to drive the slider 120. The first memory alloy wire 130 and the second memory alloy wire 140 can always contact the slider 120, or they can only contact when the slider 120 is driven.

[0031] In some embodiments, the slider 120 includes a first coupling portion configured to cooperate with the first memory alloy wire 130 to move the slider 120, and a second coupling portion configured to cooperate with the second memory alloy wire 130 to move the slider 120. In an exemplary embodiment, the first coupling portion includes a first protrusion 113, and the first protrusion 113 is configured so that the first memory alloy wire 130 is detachably wrapped around a portion of the first protrusion 113, so that the slider 120 can be pulled by applying a first force on the first protrusion 113. Similarly, the second coupling portion includes a second protrusion 114, which is configured so that the second memory alloy wire 140 is detachably wrapped around a portion of the second protrusion 114, so that the slider 120 can be pulled by the second protrusion 114. In some other embodiments, at least one of the first memory alloy wire 130 and the second memory alloy wire 140 can be wrapped around more than one protrusion on the slider 120, and the slider 120 can be moved by applying a second force to the more than one protrusion. In other embodiments, the first protrusion 113 can cooperate with the end of the first memory alloy wire 130, and enable the first memory alloy wire 130 to pull the sliding member 120 in the same direction of linear contraction and actuate the displacement. The use and allocation of the first memory alloy wire 130 and the second memory alloy wire 140 relative to the locking mechanism and other components of the locking system 100 are referred to in Figure 2 Described in more detail.

[0032] The first coupling portion and the second coupling portion may include any suitable structure (e.g., a protrusion, a channel, a groove, etc.) to match the recovery member 170 and the recovery member 180. For example, the first coupling portion may include a first channel for matching the first memory alloy wire 130 through the slider 120, and the second coupling portion may include a second channel for matching the second memory alloy wire 140 through the slider 120. For another example, when the recovery member 180 is an elastic component such as a spring, the second coupling portion may include a second protrusion 114, or any structure suitable for connecting to the spring recovery member. Similarly, when the recovery member 170 is a spring, the first coupling portion may include a first protrusion 113, or any structure suitable for connecting to the spring recovery member.

[0033] In some embodiments, the locking system 100 may include a path limiting structure or device to limit the movement of the slider 120. In some exemplary embodiments, the path limiting structure may be a cover 160. The cover 160 may limit the movement of the slider along a given movement path between the locked position and the unlocked position. Figure 3 The cover 160 is described in more detail.

[0034] In some embodiments, the slider 120 is configured to move between a locked position and an unlocked position, wherein the motor 102 is locked to prevent movement and unlocking, respectively. The locking system 100 may include a position limiting structure 105 to maintain the discrete position of the slider 120, solving many engineering problems. For example, in the absence of a position limiting structure, after the first memory alloy wire 130 moves the slider 120 to the locked position, assuming that there are no other position limiting structures, the first memory alloy wire 130 may require a continuous power supply to ensure that the slider 120 remains in the locked position. This may result in an undesirable increase in power usage and have an adverse effect on the service life of related components. In addition, the first memory alloy wire 130 itself may not be able to accurately and stably maintain the slider 120 in the locked position, especially when a sudden external force is applied. The second memory alloy wire 140 may have similar problems relative to the unlocked position.

[0035] The position limiting structure 105 may include one or more positioning parts, each of which is configured to selectively cooperate with one or more matching parts of the sliding member 120 when the sliding member 120 is in different positions. The one or more positioning parts may respectively include springs, levers, plunger balls, protrusions, or any other suitable structures or mechanisms. The matching parts of the sliding member 120 may each include a groove, a protrusion, or any other suitable structure or mechanism, so that at least one is used for positioning and matching. Figure 1 In some exemplary embodiments shown, the position limiting structure 105 includes a positioning portion, which includes a spring 150. The spring 150 is configured to cooperate with a first matching portion of the sliding member 120 when the sliding member 120 is in the locked position. The spring 150 is configured to cooperate with a second matching portion of the sliding member 120 when the sliding member 120 is in the unlocked position. Figure 1 In the exemplary embodiment shown, the first mating portion is a groove 123 located at the bottom of the sliding member 120, and the second mating portion is a groove 124 located at the bottom of the sliding member 120. The groove 123 is on the right and the groove 124 is on the left. Figure 1 As shown. The mounting portion of the spring piece 150 has any suitable shape and can be matched with the groove 123 or the groove 124. In an exemplary embodiment, the shape of the mounting portion of the spring piece 150 has a protruding shape similar to the top side profile of a speed bump. In some other embodiments, the mounting portion of the spring piece 150 can have a different protruding shape, or other types of suitable shapes or structures.

[0036] In some other embodiments, the sliding member 120 includes at least one or more mating portions, and each mating portion is configured to be selectively mated by one or more positioning portions of the position limiting structure 105 when the sliding member 120 is in different positions. For example, the sliding member 120 may include a mating portion, and the position limiting structure 105 may include a first positioning portion and a second positioning portion. The first positioning portion is configured to engage with the mating portion when the sliding member 120 is in the locked position, thereby maintaining the sliding member 120 in the locked position. The second positioning portion is configured to engage with the mating portion when the sliding member 120 is in the unlocked position, thereby maintaining the sliding member 120 in the unlocked position.

[0037] The groove 123 and the groove 124 may have the same shape or different shapes from each other. The shapes of the groove 123 and the groove 124 may be any suitable shape or structure that can fit or receive the corresponding mounting portion of the spring 150 and provide sufficient resistance so that the slider 120 may not be easily moved from the current position, while still allowing the slider 120 to be moved out of the current position when sufficient force is applied. In some exemplary embodiments, the groove 123 and the groove 124 may both have a concave shape that closely mirrors the protruding shape of the corresponding assembly portion of the spring 150, so that the groove 123 or the groove 124 can effectively cooperate with the spring 150 to prevent the slider from accidentally moving from the locked or unlocked position. When the slider 120 moves to the locked position, the mounting portion of the spring 150 in the protruding shape can be received in the groove 123, thereby holding the slider in the locked position. Similarly, when the slider 120 moves to the unlocked position, the mounting portion of the spring 150 in the protruding shape can be received in the groove 124, thereby holding the slider 120 in the unlocked position.

[0038] In some other embodiments, the position limiting structure 105 may include a plunger. The plunger may be a spring plunger. Figure 7 and Figure 8 , the plunger and its use and distribution via the position limiting structure 105 and the locking system 100 are described in more detail.

[0039] In some embodiments, the electrically controlled locking device may include one or more components of the locking system 100 and may be used to lock objects other than motors. For example, when the motor 102 is replaced by a door or a portion of a door, the locking system 100 may form a door locking device. As another example, the locking system 100 and the slider 120 may be configured to control the operation of an electrically controlled valve.

[0040] Figure 21 shows a top view of a portion of the locking system 100 according to an embodiment of the present disclosure. In order to better show certain components and structures of the locking system 100, such as the shapes of the first memory alloy wire 130 and the second memory alloy wire 140, the cover 160 of the locking system 100 is not shown. Figure 2 Shown.

[0041] The first memory alloy wire 130 and the second memory alloy wire 140 are made of nickel titanium (nickel titanium alloy), nickel titanium alloy or other suitable materials or combinations or alloys thereof. The memory alloy wire facilitates the operation of the locking mechanism and the locking system 100 of the disclosed embodiment through its temperature-dependent transformation characteristics, more specifically, through the electrically controllable change of the shape and length of the wire. This characteristic enables the displacement and drive of the slider 120 to be electrically controlled based on the control of the power supply of the first memory alloy wire 120 or the second memory alloy wire 130. In an exemplary embodiment, the first memory alloy wire 130 and the second memory alloy wire 140 shorten (contract) when electrical energy is provided. For example, if the first memory alloy wire 130 is wrapped around a portion of the first protrusion of the slider 120 so that the slider 120 can be pulled by applying a first force on the first protrusion 113, the first memory alloy wire 130 forms an acute angle θ with the displacement direction, and the displacement driven by the first memory alloy wire can be multiplied by one or more factors including cosine θ by the memory alloy wire contraction. For another example, if the first memory alloy wire 130 or the second memory alloy wire 140 is in a straight line shape, one end is fixed and the other end is movable for driving, when electrical energy is provided, the displacement driven by the contraction of the memory alloy wire will be equal to the length contraction of the straight memory alloy wire.

[0042] Typically, shape memory alloy wires are in straight or coil shapes. However, in a small device environment, the straight shape may not be able to effectively utilize space. The coil shape also has other disadvantages, such as insufficient driving force. Even if a thicker wire can be used to increase the driving force of the coil shape memory alloy wire, this may cause new problems, such as reduced responsiveness.

[0043] Various methods of optimizing displacement by memory alloy wire can be applied to the locking system 100. The memory alloy wire can be formed into a W shape, a V shape, a pentagonal arrow shape, or other suitable shapes to achieve efficient use of space. This is particularly useful for objects and equipment with limited space. For example, Figure 2As shown, the second memory alloy wire 140 can form an approximate W-shape. The second memory alloy wire 140 has two fixed ends, wherein the two ends are fixed on the terminal 241 and the terminal 242. The two fixed end terminals 241 and 242 are respectively located at the side ends of the W-shape. The second memory alloy wire 140 has one or more turning points between the two fixed ends to form a W-shape. The one or more turning points include turning points 243 and 244 as the two bottom ends of the W-shape and a turning point at the middle top, wherein the second memory alloy wire 140 further cooperates with the second protrusion 114 to form a W-shape. Only the midpoint of the W-shape at the protrusion 114 is movable, so the displacement generated when the second memory alloy wire 140 contracts can be transferred to the movable midpoint, thereby amplifying the displacement relative to the limited space around the movable midpoint and the corresponding movement of the second protrusion 114. The base 112 may include a suitable structure, for example, a protrusion such as a pin, for the second memory alloy wire 140 to cooperate at the turning points 243 and 244. In some embodiments, the base 112 may have additional structures to hold the second memory alloy wire 140 to maintain the W-shape stability. For example, the base 112 may have a protrusion at the turning point 243 and a protrusion at the turning point 244, each protrusion having a channel, the channel being configured to guide the second memory alloy wire 140 and allow it to fit, while not fixing any portion of the second memory alloy wire 140 at the turning point 243 or 244, so that any contraction of the second memory alloy wire 140 can be freely transferred through the turning point and contribute to the displacement at the movable midpoint.

[0044] like Figure 2 As shown, the first memory alloy wire 130 can form a portion of a shape approximating a pentagonal arrow. The first memory alloy wire 130 has two fixed ends at terminals 231 and 232 at one end of the pentagonal arrow, and one or more turning points between the two ends of the pentagonal arrow. The one or more turning points of the first memory alloy wire 130 include two turning points 233 and 234 at the vertices of the pentagonal arrow sides, and a movable midpoint at the first protrusion 113 at the tip of the pentagonal arrow. This configuration amplifies the displacement at the movable midpoint because the contraction on the first memory alloy wire 130 is transferred to the movable midpoint, within the limited space around the movable midpoint and the corresponding movement of the first protrusion 113. As shown Figure 2As shown, the base 112 may include suitable structures, such as protrusions such as pins, for the first memory alloy wire 130 to cooperate at the turning points 233 and 234. In some embodiments, the base 112 may have additional structures to hold the first memory alloy wire 130 to maintain the stability of the pentagonal arrow shape. For example, the base 112 may have raised portions at the turning points 233 and 234, each of which has a channel, and its channel is configured to guide the first memory alloy wire 130 and allow it to cooperate, while not fixing any portion of the first memory alloy wire 130 at the turning point 233 or 234, so that any contraction of the first memory alloy wire 130 can be freely transferred through the turning point and contribute to the displacement at the movable midpoint.

[0045] In some embodiments, the ends of the first memory alloy wire 130 and the second memory alloy wire 140 are fixed to the base 112 or to the structure of the base 112. In some other embodiments, the first memory alloy wire 130 and the second memory alloy wire 140 may extend above or below the base 112, for example, through a through hole in the base 112 before being fixed at their respective ends. This may provide additional length for the memory alloy wire, thereby increasing potential displacement, but may be at the expense of increased manufacturing complexity.

[0046] In some embodiments, the ends of the first memory alloy wire 130 and the second memory alloy wire 140 can be fixed to the connection structure on the base 112, which is shown as terminals 231, 232, 241 and 242. The fixing to the connection structure can be in any suitable manner, such as by welding, snap fit, friction fit, buckle, latch, lock, or other connection, or a combination thereof.

[0047] In some embodiments, the connection structure on the base 112 may include a power connection for the first memory alloy wire 130 and the second memory alloy wire 140. For example, one or more circuits may be connected to some or all of the connection structures on the base 112 at or around the ends of the wires at the terminals 231, 232, 241, and 242 so as to be able to provide power to the first memory alloy wire 130 and the second memory alloy wire 140.

[0048] like Figure 2As shown, the motor 102 may have at least one structure for the slider 120 to cooperate with to lock the motor 102. Such a structure of the motor 102 and the corresponding interface portion of the slider 120 may be a groove, a protrusion or an opening, or any other suitable structure on the outer surface of the motor 102 and the slider 120. In an exemplary embodiment, the motor 102 may have a motor slot 202 for cooperating with the slider 120 to lock the motor 102. In some other embodiments, the motor 102 may have a plurality of such structures for cooperating with the slider 120.

[0049] When the slider 102 is in the locked position, a portion of the slider 120 fits into, ie fits into, the motor slot 202, thereby preventing the motor 102 from rotating. When the slider 102 is in the unlocked position, the slider 120 is disengaged from the motor slot 202.

[0050] In some embodiments, the slider 120 is fitted into the motor slot 202 via a ramp. The ramp can protect the slider 120 from being damaged by allowing the slider 120 to move away from the motor slot 202 when a sudden force is applied to cause displacement between the slider 120 and the motor 102.

[0051] Protective features, such as the angled design of the motor slot 202 in the exemplary embodiment, are not essential to the function of the locking mechanism, but simply provide an engineering aspect to protect the locking system 100 components in rare and / or adverse circumstances. The forces between the motor slot 202, the slider 120, and the position limiting structure 105, including friction, help to maintain the motor 102 in the locked state, and can be configured and adjusted in different ways to be proportional to the needs of the lock. For example, the locking system 100 can act as a brake to stop the rotor driving the propeller, and the angled design of the motor slot 202 or other protective features, can still be present to allow the slider 120 to disengage when the motor rotor moves to rotate at high speed or when certain components are subjected to sudden impact.

[0052] In some embodiments, the slide 120 can be tightly matched with a corresponding structure on the motor 102 to lock. Figure 2 , the motor slot 202 can be tightly received by the corresponding portion of the slider 120 installed in the motor slot 202, so that the motor 102 can not rotate to any angle when the slider 120 is in the locked position. In some other embodiments, when the slider 120 is in the locked position, the structure on the motor 102 can allow the motor 102 to have limited translation and / or rotational displacement relative to the slider 120. For example, the motor slot 202 can be wider than the corresponding portion of the slider 120, so that when the slider 120 is in the locked position, the motor 102 can rotate to a certain angle.

[0053] In some embodiments, the first memory alloy wire 130 can contract when electrical energy is applied, thereby pulling the protrusion 113 to the locked position in the first direction. The second memory alloy wire 140 can contract when electrical energy is applied thereto, thereby pulling the protrusion 114 to the unlocked position in the second direction. In some other embodiments, the first memory alloy wire 130 or the second memory alloy wire 140 can push or otherwise actuate the sliding member 120 to the locked or unlocked position. In some further embodiments, electrical energy can be applied to the first memory alloy wire 130 until the sliding member 120 moves to the locked position, and electrical energy can be applied to the second memory alloy wire 140 until the sliding member 120 moves to the unlocked position.

[0054] In some other embodiments, there may be a spring structure that pushes or pulls the slider 120 away from the locked position, so that electrical energy may need to be continuously applied to the first memory alloy wire 130 to resist the force of the spring structure to keep the slider 120 in the locked position. Similarly, electrical energy may need to be continuously applied to the second memory alloy wire 140.

[0055] In some embodiments, the motor 102 includes a motor rotor located at the center or central axis of the motor 102 and a motor stator located at the periphery of the locking system 100 in a top view. Figure 2 ). The motor rotor is configured to rotate relative to the motor stator when the motor 102 is running. In some embodiments, the first direction can be radially inward toward the motor 102 at the central axis of the motor 102, and the second direction can be radially outward away from the central axis of the motor 102. The first direction may be opposite to the second direction. In some other embodiments, the motor 102 can have one or more peripheral components in the top view of the locking system 100, which rotate with the motor rotor at the central axis of the motor 102, such as the housing 250. The structure on the motor 102 for engaging the sliding block 120 in the locked position can be located on the housing 250. The sliding block 120 can therefore move radially outward to the locked position.

[0056] In some other embodiments, the motor 102 may not be centered. For example, the motor 102 may be at the periphery of the top view of the locking system 100, with the motor stator at the center. Thus, the first direction leading to the locked position may be radially outward to the exterior of the motor 102, while the second direction leading to the unlocked position may be radially inward. In some other embodiments, the first direction leading to the locked position may still be radially inward to the motor stator.

[0057] In some other embodiments, the first direction and / or the second direction in which the sliding block 120 moves may not be radial. For example, the first direction may have a tangential or axial component. In some other embodiments, the displacement at the movable midpoint of the first memory alloy wire 130 or the second memory alloy wire 140 may not be in the radial direction. For example, a transmission mechanism may be present in the locking system 100, so that when the movable midpoint of the first memory alloy wire 130 moves with the tangential or axial component, the transmission mechanism changes the direction of the output drive force from the movable midpoint to the radial direction, and drives the sliding member 120 to move radially to reach the locked position.

[0058] In some embodiments, the sensing device can monitor whether the locking or unlocking of the motor 120 is achieved. The sensing device can be any suitable sensor that can measure whether one or more components of the locking system 100 are in a state corresponding to a locked or unlocked position, such as whether the motor 102 is locked / unlocked, or whether the slide 120 is in a locked / unlocked position. For example, the sensing device can be a photoelectric sensor for measuring whether the slide 120 is in a locked / unlocked position. As another example, since the resistance of the memory alloy wire varies with length, the sensing device can be a resistance sensor for measuring the resistance of the first memory alloy wire 130 and / or the second memory alloy wire 140, thereby determining the corresponding displacement of the first protrusion 113 and / or the second protrusion 114.

[0059] Figure 3 Another view of the locking system 100 according to an embodiment of the present disclosure is shown. Figure 3 As shown, the cover 160 may include a first channel 313 for limiting the movement of the first protrusion 113, thereby limiting the movement of the slider 120 along the channel 313. Figure 3 As shown, the cover 160 may include a second channel 314 that limits the movement of the second protrusion 114, thereby limiting the movement of the slider 120 along the second channel 314. In some embodiments, the first channel 313 and the second channel 314 may be straight channels. In some further embodiments, the first channel 313 and the second channel 314 may move in a radial direction so that the slider 120 may move toward or away from the motor 102. The first channel 313 may have an open end because the slider 120 is limited by position limiting factors (e.g., the second channel 314, the motor 102, and the position limiting structure 105).

[0060] In some other embodiments, one or more channels on the cover 160 may not be linear or radial. For example, one or more channels on the cover 160 may have a sufficient width to allow the protrusion of the slider 120 to move tangentially at a certain radial position, thereby enabling different actuations of the memory alloy wire and the slider 120. In some other embodiments, the path limiting structure that limits the movement of the slider 120 may be of different structures and may be located at different positions relative to the slider 120.

[0061] The cover 160 can be disposed on or above the slider 120. One end of the cover 160 can be connected to the base 112 or the body 110 so that users and engineers can open the cover 160 to perform specific operations on the components below. The cover 160 can be connected to the base 112 or the body 110 in any suitable manner, such as by welding, or by snap fit, friction fit, screw fit, buckle, bayonet, latch, lock or other secure connection. In addition to the path restriction function described above, the cover 160 can also shield components of the locking system 100, such as certain portions of the slider 120, the first memory alloy wire 130 and the second memory alloy wire 140, from contamination, damage and unintentional touch.

[0062] Figure 4 An exemplary application of the locking system 100 according to an embodiment of the present disclosure is shown. An exemplary application of the locking system 100 may be a stabilizing system 400 or a device including a stabilizing system 400. The stabilizing system 400 may include one or more devices configured to hold a payload 440 and / or allow the payload 440 to be adjusted relative to up to six degrees of freedom (e.g., three translation directions along its coordinate axes and three rotation directions around its coordinate axes). For example, the stabilizing system 400 may be configured as a pan / tilt to adjust the posture of the payload 440. The payload 440 may be cargo, an optical device (e.g., a camera, a camcorder, etc.), a sensing device, or other types of payloads. The stabilizing system 400 may be configured to allow the payload 440 to rotate around one or more axes. In some embodiments, the stabilizing system 400 may be configured to allow 360° rotation around each axis to allow for better control of the foreground of the payload 440. In other embodiments, the stabilization system 400 may limit the range of rotation of the payload 440 about one or more of its axes to less than 360° (e.g., ≤270°, ≤210°, ≤120°, ≤90°, ≤45°, ≤15°, etc.).

[0063] The locking system 100 may be applied to at least one of the one or more axes of the stabilization system 400. Figure 4In the exemplary application of the locking system 100 shown, the locking system 100 can be applied to one or more rotating joints of the stabilization system 400. In some embodiments, the stabilization system 400 includes a yaw axis locking system 410, a roll axis locking system 420, and a pitch axis locking system 430. The yaw axis locking system 410 includes a motor 412 configured to rotate around the yaw axis of the stabilization system 400. In some embodiments, the yaw axis locking system 410 is configured to lock the rotation of the motor 412 in the same manner as the locking system 100 described above. The roll axis locking system 420 includes a motor 422 configured to rotate around the roll axis of the stabilization system 400. In some embodiments, the roll axis locking system 420 is configured to lock the rotation of the motor 422 in the same manner as the locking system 100 described above. The pitch axis locking system 430 includes a motor 432 configured to rotate around the pitch axis of the stabilization system 400. In some embodiments, the pitch axis locking system 430 is configured to lock the rotation of the motor 432 in the same manner as the locking system 100 described above.

[0064] In some other embodiments, part or all of the yaw axis locking system 410, the roll axis locking system 420, and the pitch axis locking system 430 apply a locking system similar to the locking system 100 but having some different configurations, such as the following reference Figure 8-10 An exemplary embodiment of a locking system described in detail Example

[0065] In some embodiments, the stabilization system 400 can automatically lock some or all of its motors when power is removed from its motors. For example, in such an embodiment, the stabilization system 400 is configured to move a slide in the yaw axis locking system 410 to a locked position (or to maintain the slide in a locked position) when power is removed from the motor 412. This can be accomplished through system control without requiring additional user input, such that a user of the stabilization system 400 does not need to provide additional user commands after shutting down the motors of the stabilization system 400. This can also be useful in emergency situations where a user command may not be able to lock the rotation of the rotary joint in a timely manner.

[0066] In some embodiments, the stabilization system 400 can automatically lock some or all of its motors when its motors are in standby mode. For example, in these embodiments, the stabilization system 400 is configured to apply a force to move a slider in the roll axis locking system 420 to a locked position (or to maintain the slider in a locked position) when the motor 422 is in standby mode, wherein when the motor 422 is in standby mode, the motor 422 is connected to power and ready to rotate, but will not rotate until a rotation command is received. This can be achieved through system control without user input, so that the user of the stabilization system 400 does not need to remember to provide a user command to prevent one or more rotary joints from accidentally rotating when the motors of the stabilization system 400 are in standby mode.

[0067] With the locking system 100 applied, the user does not need to manually find and press any buttons to mechanically lock the rotary joint. Instead, the user can simply click the remote control to enable the locking system 100 to switch between the locked and unlocked positions, which is electrically controlled by manipulating the slider 120 to the locked and unlocked positions. In some embodiments, when the stabilization system 400 executes other user commands or performs various tasks in certain operating modes, the switching between the locked and unlocked positions can be automatically achieved. For example, when the user turns off the stabilization system 400, all rotary joints applying the locking system 100 can be switched to the locked position after a certain predetermined time period, thereby allowing the user to adjust the arm configuration within a predetermined time and preventing the rotational movement of the arm from possibly hitting objects in the environment. As another example, the locking system 100 can be applied to a brake of a movable device driven by one or more rotor blade assemblies, such as Fig.11 The helicopter or multi-rotor drone 500 shown. The locking system 100 can be applied to lock one or more rotor blade assemblies of a mobile device, thereby immediately reducing the rotational speed of one or more rotors of the rotor blade assembly to zero. This can prevent the rotating rotor blade assembly from damaging other objects, such as a parachute released from a mobile device in an emergency. In some environments, the locking system 100 can be used as a means to reduce the degrees of freedom of the stabilization system 400. For example, a user can choose to lock a specific joint between two arms to prevent the two arms from making any relative movement (e.g., rotational and / or translational movement). The two arms can then be treated as one rigid arm, thereby reducing one or more degrees of freedom.

[0068] In other embodiments, the stabilization system 400 may be configured to allow 360° rotation about an axis when the corresponding locking system is in the unlocked position, but the rotation range of the payload 440 may be limited to less than 360° when the corresponding locking system is in the locked position. Figure 2, the motor slot 202 may be wider than a corresponding portion of the slider 120 so that the motor 102 may rotate to a certain angle when the slider 120 is in the locked position.

[0069] In some embodiments, the locking system 100 can be configured to lock the rotating motor at a specific angle. For example, this can be achieved by having a groove 202 at a specific angular position of the rotor of the motor 102, so that when the slider 120 is in the locked position and the slider 102 is installed in the groove 202, the rotor can be at a specific angle.

[0070] Figure 5 Another side view of the locking system 100 is shown in accordance with an embodiment of the present disclosure. Figure 5 and Figure 1 Similar to Figure 1 Like symbols used in FIG. 1 represent like components of the locking system 100 . Figure 5 FIG. 1 shows a state of the locking system 100 where the slide 120 is in the unlocked position and the motor 102 is unlocked. Figure 1 The slide 120 is shown in the locked position and the motor 102 is in Figure 1 The state of the locking system 100 that is locked to prevent movement is different.

[0071] Figure 5 1 shows the difference between the state of the locking system 100 when the slide 120 is in the unlocked position and the state of the locking system 100 when the slide 120 is in the locked position, as shown in FIG. Figure 1 Therefore, Figure 5 Not shown Figure 1 In the examples, each symbol or component has been shown, and there is no need to show the differences between them.

[0072] Figure 5 Also with Figure 1 The difference is that the mounting portion (protrusion) of the spring 150 is received in the groove 124, thereby holding the slide in the unlocked position. Figure 1 In the embodiment of the present invention, the mounting portion (protrusion) of the spring 150 is received in the groove 123, thereby holding the slide in the locked position.

[0073] Figure 6 Another top view of the locking system 100 according to an embodiment of the present invention is shown. Figure 6 Similar to Figure 2 , where Figure 2 Like symbols used in FIG. 1 represent like parts of the locking system 100 . Figure 6 FIG. 1 shows a state of the locking system 100 with the slide 120 in the unlocked position and the motor 102 unlocked. Figure 2 The slide 120 is shown in the locked position and the motor 102 is in Figure 2 The state of the locking system 100 that is locked to prevent movement is different.

[0074] Figure 6 1 shows the difference between the state of the locking system 100 when the slide 120 is in the unlocked position and the state of the locking system 100 when the slide 120 is in the locked position, as shown in FIG. Figure 2 Therefore, Figure 6 Not shown Figure 2 Each symbol or component has been shown in, and it is not necessary to show these differences.

[0075] Figure 6 Also different from Figure 2 , because the position of the sliding member 120 is far away from the groove 202 of the motor 102, that is, it is not received or matched by the groove 202 of the motor 102. Figure 2 As shown, the slider 120 cooperates with the groove 202 to lock the motor 102. The groove 202 receives a corresponding portion of the slider 120, which is mounted in the motor groove 202 so that when the slider 120 is in the locked position, the motor 102 cannot rotate. Figure 6 As shown, the groove 202 does not receive any portion of the slider 120 , and the motor 102 can rotate without any hindrance from the slider 120 .

[0076] Figure 7 An exemplary plunger 700 to be used in an exemplary locking system 100 according to an embodiment of the present disclosure is shown. In some embodiments, the plunger 700 includes a plunger housing 730. The plunger 700 also includes an elastic portion 710 and a positioning portion 720. The elastic portion 710 may include a coil spring, a spring, a rubber column or other suitable device, or a combination thereof. The elastic portion 710 is configured to move the positioning portion 720 by the elastic force of the elastic portion. For example, Figure 7 As shown, the elastic part 710 includes a spring, a first end 711 of the spring contacts the positioning part 720, and a second end 712 of the spring contacts the plunger housing 730. The elastic part 710 applies elastic force in a direction 715 and is configured to move the positioning part 720 in the direction 715.

[0077] The positioning portion 720 is configured to cooperate with a part or component of the sliding member 120 and provide a position limiting function for the sliding member 120. The positioning portion 720 includes a first end 721 that contacts the elastic portion 710 and a second end 722 that is configured to hold the sliding member 120. For example, the position limiting structure 105 may include a plunger 700 instead of the plunger 700. Figure 1The spring plate 150 shown is provided to hold the slider 120 in the locked position when the slider 120 is in the locked position. The positioning portion 720 may include a positioning protrusion at the second end 722 to match the matching portion 122 of the slider 120 at the groove 124 or the groove 123. Since the elastic portion 710 applies elastic force in the direction 715 regardless of the position of the slider 120, when the positioning portion 720 matches the groove 123 or the groove 124, the elastic force moves the positioning portion 720 into the groove 123 or the groove 124. Therefore, when the slider 120 moves to the locked position, the positioning portion 720 moves by the elastic portion 710 and the positioning protrusion is received in the groove 123, thereby holding the slider 120 in the locked position. Similarly, when the slider 120 is moved to the unlocked position, the positioning portion 720 moves by the elastic portion 710 and the positioning protrusion is received in the groove 124, thereby holding the slider 120 in the unlocked position.

[0078] In some embodiments, the positioning portion 720 includes a plunger ball, and the slider 120 includes a matching groove corresponding to the plunger ball, so that the plunger ball can be matched with the matching groove to hold the slider 120. The housing 730 includes an opening 732 to allow at least a portion of the positioning portion 720 to be positioned outside the housing 730. In some embodiments, the positioning portion 720 includes a plunger ball and the width of the opening 732 is smaller than the diameter of the plunger ball so that the plunger ball is fixed in the housing 730.

[0079] Figure 8 FIG. 8 is a top view of a second exemplary locking system 800 according to an embodiment of the present disclosure. Locking system 800 is similar to locking system 100. Figure 8 and Figure 2 Similar to Figure 1 and Figure 2 The same symbols are used in the figure to represent the same components of the locking system 100. Figure 8 As shown, the configuration of the locking system 800 is similar to Figure 2 The configuration of the locking system 100 shown is different, mainly with respect to the position limiting structure 105 and one or more mating parts at the slide 120. Figure 8 In the embodiment, the position limiting structure 105 includes at least one positioning portion, the positioning portion includes a plunger 700, and Figure 1 and 2 Compared with the spring piece 150 of the positioning part in the embodiment shown, the plunger 700 can fix the sliding member 120 in the locked and unlocked positions. The locking system 800 is also different from the locking system 100 in that: Figure 8 The first memory alloy wire 130 is located farther away from the central axis of the motor 102 in the radial direction than the second memory alloy wire 140 .

[0080] Figure 8The structural differences between locking system 800 and locking system 100 are shown. Figure 8 Not shown Figure 1 and Figure 2 Each symbol or component has been shown in the drawings, and there is no need to explain the differences.

[0081] like Figure 8 As shown, the slide 120 includes a side 821 and a side 822. In some embodiments, the position limiting structure 105 includes a first positioning portion located at the side 821 and a second positioning portion located at the side 822. The slide 120 includes a first mating portion and a second mating portion at the side 821. In some embodiments, the position limiting structure 105 includes a plunger 700, as shown in FIG. Figure 7 As shown, on the side 821. The first positioning portion includes a first plunger ball of the plunger 700, which is configured to cooperate with the first matching portion when the sliding member 120 moves to the locked position, thereby fixing the sliding member 120 in the locked position. The first plunger ball is further configured to cooperate with the second matching portion when the sliding member 120 moves to the unlocked position, thereby fixing the sliding member 120 in the unlocked position. Similarly, the sliding member 120 includes a third matching portion and a fourth matching portion on the side 822. The position limiting structure 105 includes another plunger 700 on the side 822, and the second positioning portion includes a second plunger ball of the other plunger 700, which is configured to cooperate with the third matching portion when the sliding member 120 moves to the locked position, thereby holding the sliding member 120 in the locked position. The second plunger ball is further configured to engage the fourth matching portion when the sliding member 120 moves to the unlocked position, thereby holding the sliding member 120 in the unlocked position.

[0082] In other embodiments, the position limiting structure 105 includes only one positioning portion, such as the plunger ball of the plunger 700. The positioning portion and the corresponding matching portion on the same side of the sliding member 120 are configured in the same manner as the first positioning portion or the second positioning portion.

[0083] Fig. 9 FIG. 8 is a top view of a third exemplary locking system 900 according to an embodiment of the present disclosure. Locking system 900 is similar to locking system 100. Fig. 9 and Figure 2 Similar to Figure 1 and Figure 2 The same symbols are used in the figures to represent the same components of the locking system 100. For example, the restoration member 170 includes a first memory alloy wire 130 configured to apply a first force to move the slider 120 to the locked position, which is the same for both the locking systems 100 and 900.

[0084] like Fig. 9 As shown, regarding the recovery member 180, the locking system 900 has Figure 2The locking system 100 is shown in different configurations. In particular, Fig. 9 The recovery component 180 does not include Figure 2 Instead of the second memory alloy wire 140, the invention includes a spring 940 configured to apply a second force to move the slide 120 in the second direction to the unlocking position.

[0085] and Figure 2 Compared with the locking system 100 shown in FIG. 1 , the sliding member 120 in the locking system 900 is slightly different, except that the protrusion 114 wrapped by the second memory alloy wire 140 is slightly different due to the different embodiments of the recovery member 180. Figure 2 does not exist in . Fig. 9 In the exemplary embodiment shown, slider 120 includes any suitable structure or portion configured to allow restoration member 180 to apply a second force to move slider 120 , such as surface 914 that contacts an end of spring 940 .

[0086] In some embodiments, when the slider 120 is not in the unlocked position, the spring 940 applies a pulling force to the slider 120 in the second direction to the unlocked position. The pulling force of the spring 940 is sufficient to overcome any position limiting structure of the locking system 900 and move the slider away from the locked position. Therefore, it may be necessary to continuously apply electrical energy to the first memory alloy wire 130 to keep the slider 120 in the locked position to resist the pulling force of the spring 940.

[0087] Fig. 9 The configuration differences between locking system 900 and locking system 100 are shown. Fig. 9 Not shown Figure 1 and Figure 2 Each symbol or component has been shown, and there is no need to explain the differences between them.

[0088] Fig.10 FIG. 1 shows a top view of a fourth exemplary locking system 1000 according to an embodiment of the present disclosure. Locking system 1000 is similar to locking system 100, Fig.10 and Figure 2 Similar to Figure 1 and Figure 2 The symbols used in the same way represent the same components of the locking system 100. For example, the restoration member 180 includes a second memory alloy wire 140 configured to apply a second force to move the slider 120 to the unlocked position, which is the same for the locking systems 100 and 1000.

[0089] like Fig.10 As shown, the locking system 1000 has Figure 2 The locking system 100 is shown with respect to different configurations of the recovery member 170. In particular, Fig.10The recovery component 170 does not include Figure 2 Instead of the first memory alloy wire 130, the spring 1030 is configured to apply a first force to move the sliding member 120 to the locking position along the first direction.

[0090] In some embodiments, when the slider 120 is not in the locked position, the spring 1030 applies a thrust to the slider 120 in the first direction to the locked position. The thrust from the spring 1030 is sufficient to overcome any position limiting structure of the locking system 1000 to move the slider away from the unlocked position. Therefore, it may be necessary to continuously apply electrical energy to the second memory alloy wire 140 to keep the slider 120 in the unlocked position to counteract the thrust from the spring 1030.

[0091] and Figure 2 Compared with the locking system 100 shown in FIG. 1 , the slider 120 is slightly different in the locking system 1000, only due to the different embodiment of the recovery member 170, that is, the protrusion 113 wrapped with the first memory alloy wire 130 is not in the same manner as in FIG. Figure 2 exists in the same way. Fig.10 In the exemplary embodiment shown, the slider 120 includes any suitable structure or portion configured to allow the return member 170 to apply a first force to move the slider 120 , such as a surface 1014 connected to an end of a spring 1030 .

[0092] Fig.10 The configuration differences between locking system 1000 and locking system 100 are shown. Fig.10 No description Figure 1 and Figure 2 Each symbol or component has been shown, and there is no need to explain the key differences.

[0093] It should be understood that the disclosed embodiments are not necessarily limited in application to the details of the configuration and the arrangement of components as described above and / or shown in the drawings and / or embodiments. The disclosed embodiments are capable of variation or practice or implementation in various ways.

[0094] It will be apparent to those skilled in the art that various modifications and variations may be made to the disclosed devices and systems. Other embodiments will be apparent to those skilled in the art from consideration of the specifications and practice of the disclosed devices and systems. It is intended that the specification and examples be considered exemplary only, with the true scope being indicated by the claims and their equivalents.

Claims

1. A locking device, comprising: Slides; a first memory alloy wire, the first memory alloy wire being configured to cooperate with the sliding member, and being used to apply a first force to move the sliding member to a locking position along a first sliding direction when electric energy is applied to the first memory alloy wire, wherein the applied electric energy causes the length of the first memory alloy wire to change, and the length change applies the first force to move the sliding member along the first sliding direction through the cooperation between the first memory alloy wire and the sliding member; a second memory alloy wire, the second memory alloy wire being configured to cooperate with the sliding member, and being used to apply a second force to move the sliding member along a second sliding direction to an unlocked position when electric energy is applied to the second memory alloy wire, wherein the applied electric energy causes the second memory alloy wire to change in length, and the change in length applies the second force to move the sliding member along a second sliding direction through the cooperation between the second memory alloy wire and the sliding member, and the first sliding direction is different from the second sliding direction; A position constraint structure where: When the slide member moves to the locked position, the position limiting structure holds the slide member in the locked position; and When the sliding member moves to the unlocking position, the position limiting structure holds the sliding member in the unlocking position; The first memory alloy wire includes two first fixed ends and a first mating end that cooperates with the sliding part, the first mating end is located between the two first fixed ends, and the line connecting the two first fixed ends and the first mating end forms a first angle, the second memory alloy wire includes two second fixed ends and a second mating end that cooperates with the sliding part, the second mating end is located between the two second fixed ends, and the line connecting the two second fixed ends and the second mating end forms a second angle, and the first angle and the second angle have the same direction.

2. The locking device according to claim 1, wherein: The first memory alloy wire and the second memory alloy wire each have two fixed ends, and the fixed ends can be connected to a power source.

3. The locking device according to claim 2, wherein: The sliding member includes a first coupling portion and a second coupling portion; The first memory alloy wire cooperates with the sliding member through the first coupling portion to move the sliding member; The second memory alloy wire cooperates with the sliding member through the second coupling portion to move the sliding member.

4. The locking device according to claim 3, wherein: The first coupling portion includes a first protrusion; The second coupling portion includes a second protrusion; The first memory alloy wire applies the first force to move the sliding member by contacting the first protrusion; and The second memory alloy wire applies the second force to move the slider by contacting the second protrusion.

5. The locking device according to claim 3, wherein: The first coupling portion includes a first channel; The second coupling portion includes a second channel; The first memory alloy wire passes through the first channel; and The second memory alloy wire passes through the second channel.

6. The locking device according to claim 3, wherein: The first memory alloy wire comprises one or more turning points; and The first memory alloy wire moves the sliding member through the one or more turning points.

7. The locking device according to claim 6, wherein: One or more turning points and two fixed ends of the first memory alloy wire form a W-shape, a V-shape or a pentagonal arrow shape.

8. The locking device according to claim 3, wherein: The second memory alloy wire comprises one or more turning points; and The second memory alloy wire moves the sliding member through the one or more turning points.

9. The locking device according to claim 8, wherein: One or more turning points and two fixed ends of the second memory alloy wire form a W-shape, a V-shape or a pentagonal arrow shape.

10. The locking device according to claim 4, wherein: The first memory alloy wire is configured into a pentagonal arrow shape, and the pentagonal arrow shape includes: a contact portion that contacts the first protrusion of the sliding member, serving as a tip of the pentagonal arrow; and The two fixed ends of the first memory alloy wire are respectively located at the rear ends of the pentagonal arrow.

11. The locking device according to claim 10, wherein: The first sliding direction extends from the tip of the pentagonal arrow to the rear end of the pentagonal arrow.

12. The locking device according to claim 4, wherein: The second memory alloy wire includes one or more turning points; The second memory alloy wire is configured into a W shape, and the W shape includes: a contact portion that contacts the second protrusion of the sliding member, serving as a middle top portion of the W-shape; Two turning points of the one or more turning points serve as two bottoms of the W-shape; and The two fixed ends of the second memory alloy wire are respectively located at the side ends of the W shape.

13. The locking device according to claim 12, wherein: The second sliding direction extends from the middle top to the bottom of the W-shape.

14. The locking device according to claim 1, wherein: When electrical energy is applied, each of the first memory alloy wire and the second memory alloy wire shortens; In response to the application of the electrical energy, the first memory alloy wire applies the first force to move the slide to the locking position; In response to the application of the electrical energy, the second memory alloy wire applies the second force to move the slider to the unlocking position.

15. The locking device according to claim 1, wherein: The first sliding direction is opposite to the second sliding direction.

16. The locking device according to claim 1, wherein: The sliding member includes a first matching portion and a second matching portion; The position limiting structure includes a positioning portion, and the positioning portion is configured to selectively cooperate with the first matching portion or the second matching portion; When the sliding member moves to the locking position, the position limiting structure cooperates with the first matching portion through the positioning portion to keep the sliding member at the locking position; and When the sliding member moves to the unlocking position, the position limiting structure cooperates with the second matching portion through the positioning portion to keep the sliding member at the unlocking position.

17. The locking device according to claim 16, wherein: The first matching portion is a first groove located on the sliding member; The second matching portion is a second groove located on the sliding member; and The positioning portion includes a protrusion configured to selectively cooperate with the first groove or the second groove.

18. The locking device according to claim 16, wherein: The first matching portion is a first matching protrusion located on the sliding member; The second matching portion is a second matching protrusion located on the sliding member; The positioning portion includes a groove configured to selectively cooperate with the first mating protrusion or the second mating protrusion.

19. The locking device according to claim 16, wherein: The positioning portion includes an elastic portion.

20. The locking device according to claim 19, wherein: The elastic part is a spring sheet.

21. The locking device according to claim 1, wherein: The sliding member includes a mating portion; The position limiting structure includes a first positioning portion configured to cooperate with the matching portion; The position limiting structure includes a second positioning portion configured to cooperate with the matching portion; When the sliding member moves to the locking position, the position limiting structure cooperates with the matching portion through the first positioning portion to keep the sliding member at the locking position; and When the sliding member moves to the unlocking position, the position limiting structure cooperates with the matching portion through the second positioning portion to keep the sliding member at the unlocking position.

22. The locking device according to claim 21, wherein: The matching portion is a groove located on the sliding member; The first positioning portion includes a first positioning protrusion, and the first positioning protrusion is configured to match the groove; and The second positioning portion includes a second positioning protrusion, and the second positioning protrusion is configured to match the groove.

23. The locking device according to claim 21, wherein: The matching portion is a matching protrusion located on the sliding member; The first positioning portion includes a first groove, and the first groove is configured to cooperate with the matching protrusion; as well as The second positioning portion includes a second groove configured to cooperate with the cooperation protrusion.

24. The locking device according to claim 21, wherein: The position limiting structure includes a positioning portion configured to cooperate with the matching portion to hold the sliding block; The position limiting structure includes an elastic portion configured to move the positioning portion by an elastic force of the elastic portion; When the sliding member moves to the locking position, the elastic portion moves the positioning portion to cooperate with the sliding member to keep the sliding member at the locking position; as well as When the sliding member moves to the unlocking position, the elastic portion moves the positioning portion to cooperate with the sliding member to keep the sliding member at the unlocking position.

25. The locking device according to claim 24, wherein: The sliding member includes a first groove and a second groove; The positioning portion includes a positioning protrusion, and the positioning protrusion is configured to selectively cooperate with the first groove or the second groove; When the sliding member moves to the locking position, the positioning protrusion cooperates with the first groove to keep the sliding member at the locking position; and When the sliding member moves to the unlocking position, the positioning protrusion cooperates with the second groove to keep the sliding member at the unlocking position.

26. The locking device according to claim 24, wherein: The elastic portion includes a spring; and The positioning portion includes a first end and a second end, the first end being in contact with the spring and the second end being configured to hold the slider.

27. The locking device according to claim 24, wherein: The positioning portion includes a plunger ball; and The slider includes one or more grooves configured to receive the plunger ball of the detent.

28. The locking device according to claim 24, wherein: The elastic part is a coil spring, a rubber column or a spring sheet.

29. The locking device according to claim 24, wherein: The positioning portion is a first positioning portion; The position limiting structure further includes a second positioning portion; The first positioning portion and the second positioning portion are located at two different sides of the sliding member; The elastic portion is a first elastic portion configured to move the first positioning portion by an elastic force of the first elastic portion; and The position limiting structure further includes a second elastic portion configured to move the second positioning portion by an elastic force of the second elastic portion.

30. A motor locking system for locking and unlocking a motor, comprising: A motor, including a locking mating structure; Slides; a first memory alloy wire, the first memory alloy wire being configured to cooperate with the sliding member, and being used to apply a first force to move the sliding member along a first sliding direction to a locking position when electric energy is applied to the first memory alloy wire, wherein in the locking position, the sliding member can cooperate with the locking cooperation structure to lock the motor, and the applied electric energy causes the length of the first memory alloy wire to change, and the length change applies the first force to move the sliding member through the cooperation between the first memory alloy wire and the sliding member; A second memory alloy wire, the second memory alloy wire is configured to cooperate with the sliding member, and is used to apply a second force to move the sliding member along the second sliding direction to an unlocking position when electric energy is applied to the second memory alloy wire, wherein, in the unlocking position, the sliding member can be disengaged from the locking cooperation structure to unlock the motor, and the applied electric energy causes the length of the second memory alloy wire to change, and the length change applies the second force to move the sliding member through the cooperation of the second memory alloy wire and the sliding member; wherein, the first memory alloy wire and / or the second memory alloy wire includes one or more turning points, and the sliding member cooperates with one of the turning points to move through the movement of the turning point along the first sliding direction or the second sliding direction.

31. The motor locking system of claim 30, further comprising a path limiting structure for limiting movement of the slide member along a path between the locking position and the unlocking position.

32. The motor locking system of claim 31, wherein: The path limiting structure further includes a linear channel, the linear channel being used to receive the first protrusion or the second protrusion of the sliding member and limiting the first protrusion or the second protrusion to move along the linear channel; The first sliding direction is toward the central axis of the motor; as well as The second sliding direction is away from a central axis of the motor.

33. The motor locking system of claim 30, wherein: The rotor of the motor includes motor slots; When the slide is in the locking position, a portion of the slide fits into the motor slot, thereby preventing the motor from rotating; as well as When the sliding member is in the unlocking position, the sliding member withdraws from the motor slot.

34. The motor locking system of claim 33, wherein: The portion of the slider fits into the motor slot via a ramp that protects the slider from damage by allowing the slider to exit the motor slot under a force that causes displacement between the slider and the motor.

35. The motor locking system of claim 30, wherein: The first memory alloy wire and the second memory alloy wire each have two fixed ends, and the fixed ends can be connected to a power source.

36. The motor locking system of claim 35, wherein: The sliding member includes a first protrusion and a second protrusion; The first memory alloy wire applies the first force to move the sliding member by contacting the first protrusion of the sliding member; as well as The second memory alloy wire applies the second force to move the slider by contacting the second protrusion of the slider.

37. The motor locking system of claim 36, wherein: The first memory alloy wire is configured into a pentagonal arrow shape, and the pentagonal arrow shape includes: a contact portion that contacts the first protrusion of the sliding member, serving as a tip of the pentagonal arrow; and The two fixed ends of the first memory alloy wire are respectively located at the rear ends of the pentagonal arrow.

38. The motor locking system of claim 37, wherein: The first sliding direction extends from the tip of the pentagonal arrow to the rear end of the pentagonal arrow.

39. The motor locking system of claim 36, wherein: The second memory alloy wire includes one or more turning points; The second memory alloy wire is configured into a W shape, and the W shape includes: a contact portion that contacts the second protrusion of the sliding member, as the middle of the W-shape; Two turning points of the one or more turning points serve as two bottoms of the W-shape; and The two fixed ends of the second memory alloy wire are respectively located at the side ends of the W shape.

40. The motor locking system of claim 39, wherein: The second sliding direction extends from the middle top to the bottom of the W-shape.

41. The motor locking system of claim 30, wherein: When electrical energy is applied, each of the first memory alloy wire and the second memory alloy wire shortens; In response to the application of the electrical energy, the first memory alloy wire applies the first force to move the slide to the locking position; as well as In response to the application of the electrical energy, the second memory alloy wire applies the second force to move the slider to the unlocking position.

42. The motor locking system of claim 41, further comprising: A position constraint structure where: When the slide member moves to the locked position, the position limiting structure holds the slide member in the locked position; and When the slide member moves to the unlocked position, the position limiting structure holds the slide member at the unlocked position.

43. The motor locking system of claim 42, wherein: The sliding member includes a first groove and a second groove; The position limiting structure includes a spring sheet having a protruding portion; When the sliding member moves to the locking position, the position limiting structure cooperates with the first groove through the protrusion of the elastic sheet to keep the sliding member in the locking position; When the sliding member moves to the unlocking position, the position limiting structure cooperates with the second groove through the protrusion of the elastic sheet to keep the sliding member at the unlocking position.

44. A locking device comprising: a sliding member configured to lock an external movable device, the movable device comprising a locking mating structure, the sliding member being adapted to engage with the locking mating structure; a memory alloy wire configured to cooperate with the sliding member to apply a first force when electrical energy is applied to the memory alloy wire, thereby moving the sliding member from a first position to a second position along a first sliding direction, wherein the applied electrical energy causes the memory alloy wire to shorten, and the shortening applies the first force to move the sliding member through the cooperation of the memory alloy wire and the sliding member; a restoring member configured to cooperate with the sliding member to apply a second force to move the sliding member from the second position to the first position along a second sliding direction, In the first position, the sliding member can be disengaged from the locking matching structure to unlock the movable device; in the second position, the sliding member can be matched with the locking matching structure to lock the movable device; or, In the first position, the sliding member can cooperate with the locking cooperation structure to lock the movable device; in the second position, the sliding member can disengage from the locking cooperation structure to unlock the movable device; Wherein, the memory alloy wire includes one or more turning points, and the sliding member cooperates with one of the turning points to move through the movement of the turning point along the first sliding direction or the second sliding direction.

45. The locking device of claim 44, wherein: When the sliding member is in the first position, the sliding member cooperates with the external movable device to lock the external movable device, thereby preventing the external movable device from moving; and When the slide member is in the second position, the slide member is disengaged from the external movable device to unlock the external movable device, thereby allowing the external movable device to move.

46. ​​The locking device of claim 44, wherein: When the sliding member is in the second position, the sliding member cooperates with the external movable device to lock the external movable device, thereby preventing the external movable device from moving; and When the sliding member is in the first position, the sliding member is disengaged from the external movable device to unlock the external movable device, thereby allowing the external movable device to move.

47. The locking device according to claim 44, wherein the memory alloy wire is a first memory alloy wire, wherein: The recovery member includes a second memory alloy wire; The second memory alloy wire is configured to cooperate with the sliding member to apply a first force when electrical energy is applied to the second memory alloy wire, thereby moving the sliding member from the second position to the first position along a second sliding direction, wherein the applied electrical energy causes the second memory alloy wire to shorten, and the shortening applies the first force to move the sliding member through the cooperation between the second memory alloy wire and the sliding member.

48. The locking device of claim 44, wherein: The restoration member includes an elastic member; and The elastic member is configured to cooperate with the sliding member to apply the second force so as to move the sliding member from the second position to the first position along the second sliding direction.

49. A motor locking system, comprising: an electric machine including a stator and a rotor, the rotor being configured to rotate relative to the stator; a sliding member configured to lock the rotor, the rotor comprising a locking mating structure, the sliding member being adapted to engage with the locking mating structure; a memory alloy wire configured to cooperate with the sliding member to apply a first force when electrical energy is applied to the memory alloy wire, thereby moving the sliding member from a first position to a second position along a first sliding direction, wherein the applied electrical energy causes the memory alloy wire to shorten, and the shortening applies the first force to move the sliding member through the cooperation of the memory alloy wire and the sliding member; a restoring member configured to cooperate with the sliding member to apply a second force so as to move the sliding member from the second position to the first position along a second sliding direction, In the first position, the sliding member can be disengaged from the locking mating structure to unlock the rotor; in the second position, the sliding member can be engaged with the locking mating structure to lock the rotor; or, In the first position, the sliding member can cooperate with the locking cooperation structure to lock the rotor; in the second position, the sliding member can disengage from the locking cooperation structure to unlock the rotor; Wherein, the memory alloy wire includes one or more turning points, and the sliding member cooperates with one of the turning points to move through the movement of the turning point along the first sliding direction or the second sliding direction.

50. A stabilization system comprising: Carrying objects; One or more locking systems, each of the one or more locking systems comprising: A motor, the motor is configured to adjust the posture of the carried object, the motor includes a stator and a rotor, the rotor is configured to rotate relative to the stator, and the rotor includes a locking matching structure; a sliding member capable of cooperating with the rotor to lock the rotor; a memory alloy wire configured to cooperate with the sliding member to apply a first force when electrical energy is applied to the memory alloy wire, thereby moving the sliding member from a first position to a second position along a first sliding direction, wherein the applied electrical energy causes the memory alloy wire to shorten, and the shortening applies the first force to move the sliding member through the cooperation of the memory alloy wire and the sliding member; and a restoring member configured to cooperate with the sliding member to apply a second force so as to move the sliding member from the second position to the first position along a second sliding direction, In the first position, the sliding member can cooperate with the locking cooperation structure to unlock the rotor; in the second position, the sliding member can cooperate with the locking cooperation structure to lock the rotor; or In the first position, the sliding member can cooperate with the locking cooperation structure to lock the rotor; in the second position, the sliding member can cooperate with the locking cooperation structure to unlock the rotor; Wherein, the memory alloy wire includes one or more turning points, and the sliding member cooperates with one of the turning points to move through the movement of the turning point along the first sliding direction or the second sliding direction.

51. The stabilization system of claim 50, wherein: When the motor is de-energized, the slider is configured to cooperate with the rotor to lock the rotor.

52. The stabilization system of claim 50, wherein: When the motor is in a standby mode, the slider is configured to cooperate with the rotor to lock the rotor.

53. The stabilization system of claim 50, wherein: The stabilization system also includes a yaw axis, a roll axis, and a pitch axis; and The motors of the one or more locking systems are configured to rotate about one of the yaw axis, the roll axis, or the pitch axis.

54. The stabilization system of claim 51 , wherein: The stabilization system also includes a yaw axis, a roll axis, and a pitch axis; and The at least one locking system comprises: a first locking system, wherein the motor of the first locking system is configured to rotate about the yaw axis, a second locking system, wherein the motor of the second locking system is configured to rotate about the rolling axis, and A third locking system, wherein the motor of the third locking system is configured to rotate about the pitch axis.

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