Motor driving device, gimbal stabilization system and control method

Abstract

A motor driving device (100) comprises a motor (10), a locking member (20), a first memory alloy wire (30) and a reset member (40); the locking member (20) is used for locking a rotor component (12) of the motor (10) to prevent the rotor component (12) from rotating relative to a stator component (11) of the motor (10); the first memory alloy wire (30) is mechanically coupled with the locking member (20); when the first memory alloy wire (30) is energized, the length of the first memory alloy wire (30) is shortened to drive the locking member (20) to slide from a first position to a second position; the reset member (40) is mechanically coupled with the locking member (20), and the reset member (40) can move the locking member (20) from the second position to the first position; in a power-off state of the motor (10), the locking member (20) can lock the rotor component (12) at a preset angular position, and the preset angular position is outside a preset working angular range of the rotor component (12). The application also relates to a gimbal stabilization system (1000) and a control method.

Description

Technical Field

[0001] This application relates to the field of motor technology, and in particular to a motor drive device, a gimbal stabilization system and control method. Background Technology

[0002] When not in operation, motors are typically secured in place using locking mechanisms for easy storage or transport. Traditional locking mechanisms usually require manual operation to lock the motor. However, due to miniaturization requirements, the size of miniaturized devices, including motors, is generally smaller than standard sizes, making it difficult to manually operate the locking mechanisms of these miniaturized devices by hand or fingers. Summary of the Invention

[0003] This application provides a motor drive device, a gimbal stabilization system, and a control method to lock the motor when it is not in operation, which facilitates the storage and transportation of the motor drive device or its parent device.

[0004] In a first aspect, embodiments of this application provide a motor drive device, including:

[0005] An electric motor, including a stator assembly and a rotor assembly that rotates relative to the stator assembly;

[0006] A locking element is used to lock the rotor component to prevent the rotor component from rotating relative to the stator component;

[0007] A first shape memory alloy wire is mechanically coupled to the locking member; when energized, the length of the first shape memory alloy wire shortens, thereby causing the locking member to slide from a first position to a second position along a first direction of movement; and

[0008] A reset member, mechanically coupled to the locking member, is used to drive the locking member to move along a second direction of motion; the reset member is capable of moving the locking member from the second position to the first position.

[0009] When the motor is powered off, the locking member can lock the rotor component at a preset angle position, which is outside the preset working angle range of the rotor component.

[0010] Secondly, embodiments of this application provide a motor drive device, including:

[0011] An electric motor, including a stator assembly and a rotor assembly that rotates relative to the stator assembly;

[0012] A locking element is used to lock the rotor component to prevent the rotor component from rotating relative to the stator component;

[0013] A first shape memory alloy wire is mechanically coupled to the locking member; when the first shape memory alloy wire is heated, its length changes to drive the locking member to slide from a first position to a second position along a first direction of movement; and

[0014] A reset member, mechanically coupled to the locking member, is used to drive the locking member to move along a second direction of motion; the reset member is capable of moving the locking member from the second position to the first position.

[0015] When the motor is powered off, the locking member can lock the rotor component at a preset angle position, which is outside the preset working angle range of the rotor component.

[0016] Thirdly, embodiments of this application provide a control method for a gimbal stabilization system, the control method comprising:

[0017] The rotor component of the control motor rotates within a preset working angle range to stabilize the load of the gimbal stabilization system;

[0018] Power is supplied to the first memory alloy wire of the motor drive device of the gimbal stabilization system so that the length of the first memory alloy wire is shortened, thereby driving the locking member of the motor drive device to slide from the first position to the second position along the first movement direction;

[0019] When the rotor component of the motor rotates to a preset angle position, the power supply to the first memory alloy wire is stopped, so that the reset member drives the locking member to move from the second position to the first position along the second movement direction, so as to lock the rotor component at the preset angle position, the preset angle being outside the preset working angle range.

[0020] This application provides a motor drive device, a gimbal stabilization system, and a control method. Under the action of a first memory alloy wire or a reset member, the locking member of the motor drive device can lock the rotor component of the motor, thereby preventing the rotor component from rotating relative to the stator component in a non-working state, avoiding random swinging during storage or transportation, and facilitating the storage and transportation of the motor drive device or the parent device including the motor drive device.

[0021] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this application. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of a motor drive device provided in an embodiment of this application;

[0024] Figure 2 This is a schematic diagram of the structure of a motor drive device provided in an embodiment of this application;

[0025] Figure 3 This is a schematic diagram of the structure of a first terminal or a second terminal provided in an embodiment of this application;

[0026] Figure 4 yes Figure 2 A magnified view of a portion at point A;

[0027] Figure 5 This is a schematic diagram of the structure of a locking component provided in an embodiment of this application;

[0028] Figure 6 This is a schematic diagram of the structure of a fixing frame provided in an embodiment of this application;

[0029] Figure 7 This is a schematic diagram of the structure of a motor drive device provided in an embodiment of this application;

[0030] Figure 8 This is a schematic diagram of the structure of a reset component provided in an embodiment of this application;

[0031] Figure 9 yes Figure 7 A magnified view of the area at point B;

[0032] Figure 10 This is a schematic diagram of the structure of a gimbal stabilization system provided in an embodiment of this application;

[0033] Figure 11 This is a schematic diagram of a control method for a gimbal stabilization system provided in an embodiment of this application.

[0034] Explanation of reference numerals in the attached figures:

[0035] 100. Motor drive unit;

[0036] 10. Motor; 11. Stator assembly; 111. Second mating part; 12. Rotor assembly; 121. Fixing frame; 122. Rotor; 123. First mating part; 1231. Protrusion; 1232. Second inclined surface;

[0037] 20. Locking component; 21. Coupling part; 22. First positioning part; 221. First inclined surface; 23. Third positioning part;

[0038] 30. First shape memory alloy wire; 31. Fixed end; 32. Bending portion; 301. First terminal; 302. Second terminal; 303. First connecting portion; 304. Second connecting portion; 305. Fourth mating portion;

[0039] 40. Reset component; 41. Fixing body; 411. Fourth positioning part; 42. Elastic body; 421. Deformation part; 422. Second positioning part; 4221. First positioning sub-part; 4222. Second positioning sub-part; 4223. Third mating part;

[0040] 50. Circuit board;

[0041] 1000, Gimbal Stabilization System; 1001, Pitch Axis Mechanism; 1002, Translation Axis Mechanism; 1003, Roll Axis Mechanism; 200, Support; 300, Load. Detailed Implementation

[0042] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0043] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0044] It should also be understood that the terminology used in this application specification is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this application specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0045] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0046] The inventors of this application have discovered that a three-axis gimbal typically includes a pitch axis motor for controlling pitch movement, a yaw axis motor for controlling translation movement, and a roll axis motor for controlling roll movement. Typically, a three-axis gimbal has specific working angle ranges for the pitch, yaw, and roll axes. For example, a gimbal might have a working angle range of -45° to +135° for the pitch axis, -330° to +330° for the yaw axis, and -45° to +45° for the roll axis. However, traditional three-axis gimbals, when not in use, lack a fixed position or require manual operation to restrict rotation around the pitch, yaw, and / or roll axes when not in use, which is detrimental to the storage and transportation of the three-axis gimbal.

[0047] Therefore, this application provides a motor drive device, a gimbal stabilization system and a control method, which locks the motor when it is not in operation, facilitating the storage, transportation and use of the motor drive device or its parent device, as well as the user's carrying and use.

[0048] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0049] Please see Figure 1This application provides a motor drive device 100, including a motor 10, a locking member 20, a first shape memory alloy wire 30, and a reset member 40. The motor 10 includes a stator component 11 and a rotor component 12 that rotates relative to the stator component 11. The locking member 20 is used to lock the rotor component 12 to prevent the rotor component 12 from rotating relative to the stator component 11. The first shape memory alloy wire 30 is mechanically coupled to the locking member 20. When energized, the length of the first shape memory alloy wire 30 shortens, causing the locking member 20 to slide from a first position to a second position along a first movement direction. The reset member 40 is mechanically coupled to the locking member 20 and is used to move the locking member 20 along a second movement direction. The reset member 40 can move the locking member 20 from the second position to the first position. When the motor 10 is de-energized, the locking member 20 can lock the rotor component 12 at a preset angle position, which is outside the preset working angle range of the rotor component 12.

[0050] In the above embodiment, under the action of the first memory alloy wire 30 or the reset member 40, the locking member 20 can lock the rotor component 12 of the motor 10, thereby preventing the rotor component 12 from rotating relative to the stator component 11 in a non-working state, avoiding random swinging during storage or transportation, and facilitating the storage, transportation, and carrying and use of the motor drive device 100 or its parent device including the motor drive device 100.

[0051] Furthermore, during the sliding motion of the locking member 20 from the first position to the second position, the first shape memory alloy wire 30 serves as the driving source for the locking member 20; during the sliding motion of the locking member 20 from the second position to the first position, the reset member 40 serves as the driving source for the locking member 20, thereby achieving automatic locking or unlocking of the rotor component 12, improving the control precision of the motor drive device 100, eliminating the need for manual control of the locking member 20 to slide from the first position to the second position, reducing the number of components that the user needs to operate in the motor drive device 100, and reducing operational complexity. The first shape memory alloy wire 30 and the reset member 40 occupy little space, and the overall space required for the motor drive device 100 is small, which is beneficial for the miniaturization design of the parent device corresponding to the motor drive device 100. In addition, the overall length of the first shape memory alloy wire 30 is well controllable, making it convenient to adjust the connection position and / or angle between the first shape memory alloy wire 30 and the locking member 20, improving the operability of the motor drive device 100.

[0052] In some embodiments, the motor drive 100 is applied to a parent device. The parent device may be a vehicle, aircraft, robot, ship, or gimbal stabilization system 1000 (see [link to documentation]). Figure 10(e.g., ...). For example, the parent device includes a housing. Motor 10 is connected to the housing. For instance, motor 10 may be a motor of the gimbal stabilization system 1000, and the housing may be part of the gimbal stabilization system 1000, such as the housing including... Figure 10 The bracket 200 is included. For example, motor 10 can be a motor connected to the aircraft's power assembly, and the fuselage can include the aircraft's arms. The aircraft's power assembly provides flight power to the aircraft and may include a propeller and motor 10 according to any embodiment of this application.

[0053] For example, the rotor component 12 of the motor 10 is rotatable relative to the stator component 11 about a rotational axis. The operating angle range of the rotor component 12 rotating relative to the stator component 11 about the rotational axis is -45° (i.e., 45 degrees counterclockwise) to +45° (i.e., 45 degrees clockwise). When the locking member 20 locks the rotor component 12 in the non-operating state, the rotor component 12 rotates about the rotational axis to an angle of -90° (i.e., 90 degrees counterclockwise).

[0054] For example, the rotor component 12 of the motor 10 is rotatable relative to the stator component 11 about a rotational axis. The operating angle range of the rotor component 12 rotating relative to the stator component 11 about the rotational axis is -135° (i.e., 135 degrees counterclockwise) to +45° (i.e., 45 degrees clockwise). When the locking member 20 locks the rotor component 12 in the non-operating state, the rotor component 12 rotates about the rotational axis to an angle of +90° (i.e., 90 degrees clockwise).

[0055] For example, motor 10 may be a linear motor or a rotary motor.

[0056] For example, when the rotor component 12 is in a non-operating state, and the locking member 20 is in the first position, the locking member 20 locks the rotor component 12 at a preset angle position. When the motor 10 is in an operating state, the rotor component 12 of the motor 10 can rotate within its operating angle range (e.g., -135° to +45° in the above embodiment).

[0057] In some embodiments, when the locking member 20 moves to the first position, the locking member 20 can mechanically couple with the rotor component 12 to lock the rotor component 12 at a preset angle position, thereby preventing the rotor component 12 from rotating relative to the stator component 11 in scenarios where the rotor component 12 does not need to rotate (such as in a non-working state).

[0058] When the locking member 20 slides to the second position, the locking member 20 can separate from the rotor component 12 to unlock the rotor component 12 and allow the rotor component 12 to move freely. At this time, the rotor component 12 can rotate relative to the stator component 11 from a preset angle position to a preset working angle range of the rotor component 12.

[0059] In some embodiments, when the locking member 20 moves to the second position, the locking member 20 can mechanically couple with the rotor component 12 so that when the rotor component 12 is in a non-working state, the locking member 20 locks the rotor component 12 at a preset angle position, thereby preventing the rotor component 12 from rotating relative to the stator component 11.

[0060] When the locking member 20 moves to the first position, the locking member 20 can separate from the rotor component 12, thereby unlocking the locking member 20 and the rotor component 12 and allowing the rotor component 12 to move freely. At this time, the rotor component 12 can rotate relative to the stator component 11 from a preset angular position to a preset working angle range of the rotor component 12.

[0061] For example, the number of first positions may include at least one, such as one, two, three, four, or more. The number of second positions may include at least one, such as one, two, three, four, or more.

[0062] For example, at least one first position can be one or more ranges, and not just one or more discrete positions. In other embodiments, at least one first position can be one or more discrete positions. The same applies to at least one second position, which will not be described further here.

[0063] Please see Figure 2 In some embodiments, the first shape memory alloy wire 30 includes two fixed ends 31, each of which is electrically connected to a power source.

[0064] For example, each fixed end 31 of the first shape memory alloy wire 30 can be mechanically coupled to a connection structure on the motor 10. This connection structure is connected to a power source, enabling the power source to supply power to the first shape memory alloy wire 30. The mechanical coupling between each fixed end 31 of the first shape memory alloy wire 30 and the connection structure can be any suitable method, such as at least one of welding, snap-fit ​​connection, or adhesive connection. The power source can be a circuit, a power supply device for a parent device such as an aircraft or a gimbal stabilization system 1000.

[0065] For example, please see Figure 2 The two fixed ends 31 of the first shape memory alloy wire 30 are mechanically coupled to the first terminal 301 and the second terminal 302, respectively, thereby making the first shape memory alloy wire 30 electrically connected to the power supply. In this way, the first shape memory alloy wire 30 is conveniently electrically connected.

[0066] Please see Figure 3In some embodiments, the first terminal 301 and / or the second terminal 302 include a first connecting portion 303 and a second connecting portion 304. The first connecting portion 303 is used for electrical connection to a power source. The second connecting portion 304 is mechanically and electrically connected to the first connecting portion 303, and is also mechanically and electrically connected to the fixed end 31.

[0067] Please see Figure 1 and Figure 3 In some embodiments, the first terminal 301 and the second terminal 302 are mechanically coupled to the circuit board 50.

[0068] For example, the circuit board 50 is disposed on the stator component 11 of the motor 10.

[0069] For example, circuit board 50 may be the circuit board of motor 10. Circuit board 50 may also be a separate physical entity from the circuit board of motor 10, and circuit board 50 is used to electrically connect the first connection part 303 and the power supply.

[0070] For example, the first connecting portion 303 is mechanically coupled to the circuit board 50. The circuit board 50 is electrically connected to a power source. The mechanical coupling method between the first connecting portion 303 and the circuit board 50 may include at least one of welding, adhesive bonding, and snap-fit ​​bonding. The shape of the first connecting portion 303 can be designed into any suitable shape according to actual needs, and is not limited herein.

[0071] For example, the fixed end 31 can be mechanically coupled to the second connecting part 304 by at least one of the following methods: welding, adhesive bonding, wrapping, snap-fit ​​connection, riveting, etc.

[0072] The second connecting part 304 can be designed into any suitable structure according to actual needs, such as at least one of the following: protruding structure, through hole structure, and groove structure.

[0073] For example, the second connecting portion 304 includes a second protrusion, and the fixed end 31 is mechanically coupled to the second protrusion.

[0074] For example, the second connecting portion 304 includes a second through hole or a second slot, and the fixed end 31 passes through the second through hole or the second slot. For instance, the fixed end 31 passes through the second through hole or the second slot and is mechanically coupled to the wall of the second through hole or the wall of the second slot.

[0075] In some embodiments, the first shape memory alloy wire 30 can extend from the upper surface of the stator component 11 to the lower surface of the stator component 11. For example, a portion of the first shape memory alloy wire 30 passes through a hole structure on the stator component 11, and another portion of the first shape memory alloy wire 30 is located on the upper surface of the stator component 11. The first shape memory alloy wire 30 located on the upper surface of the stator component 11 is coupled to a locking member 20 to drive the locking member 20 to slide from a first position to a second position. In this way, additional length can be provided for the first shape memory alloy wire 30, thereby providing additional displacement or travel.

[0076] For example, the first shape memory alloy wire 30 is made of at least one of suitable materials including nickel titanium (or Nitinol), nickel titanium alloys, copper-aluminum alloys, copper-zinc alloys, and iron alloys. Due to the temperature characteristics of the first shape memory alloy wire 30, or by controlling the on / off state of the first shape memory alloy wire 30, the shape and length of the shape memory alloy wire can be changed. Therefore, by controlling the heating or power supply of the first shape memory alloy wire 30, the position and movement (e.g., direction of movement) of the locking member 20 can be controlled, thereby locking or unlocking the rotor component 12 of the motor 10. The operation of the motor drive device 100 is convenient and requires no manual operation.

[0077] For example, when the first shape memory alloy wire 30 is energized, the length of the first shape memory alloy wire 30 will shorten, thereby pulling the locking member 20 to the second position.

[0078] For example, when the first shape memory alloy wire 30 is energized, it can push or otherwise actuate the locking member 20 to the second position.

[0079] For example, during the sliding motion of the locking member 20 from the first position to the second position, the first shape memory alloy wire 30 may be continuously energized. For example, during the sliding motion of the locking member 20 from the first position to the second position, the first shape memory alloy wire 30 may not be continuously energized, such as being intermittently energized.

[0080] For example, the first direction of motion is opposite to the second direction of motion.

[0081] For example, the first direction of movement is arranged radially inward along the rotor component 12, close to the axis of the motor 10. The second direction of movement is arranged radially outward along the rotor component 12, away from the axis of the motor 10.

[0082] For example, the first direction of motion is arranged radially outward from the axis of the motor 10 along the rotor component 12. The second direction of motion is arranged radially inward from the axis of the motor 10 along the rotor component 12.

[0083] For example, the motor 10 can be an internal rotor motor or an external rotor motor. For instance, if the motor 10 is an internal rotor motor, the first direction of movement is radially inward toward the axis of the motor 10, and the second direction of movement is radially outward. Alternatively, if the stator component 11 of the motor 10 is located in the middle and the rotor component 12 of the motor 10 is located on the outer periphery, the first direction of movement can be radially outward toward the axis of the motor 10, and the second direction of movement can be radially inward away from the axis of the motor 10.

[0084] Please see Figure 4 and Figure 5 In some embodiments, the locking member 20 includes a coupling portion 21, through which the first shape memory alloy wire 30 drives the locking member 20 to move. When energized, the first shape memory alloy wire 30 can apply a force to the coupling portion 21, thereby driving the locking member 20 to move.

[0085] The number of coupling parts 21 can be designed according to actual needs, such as one, two, three, four or more.

[0086] For example, when the first shape memory alloy wire 30 is energized, it can contact the coupling portion 21, thereby applying a force to the coupling portion 21 to drive the locking member 20 to move.

[0087] The coupling part 21 can be designed into any suitable structure according to actual needs, such as at least one of the following: protruding structure, through hole structure, or groove structure.

[0088] In some embodiments, the coupling portion 21 can be coupled to the end of the first memory alloy wire 30, and the first memory alloy wire 30 can be linearly contracted in a straight direction, thereby driving the locking member 20 to move from the first position to the second position.

[0089] Please see Figure 4 and Figure 5 In some embodiments, the coupling portion 21 includes a first protrusion, and the first shape memory alloy wire 30 contacts the first protrusion. When the first shape memory alloy wire 30 is energized, the length of the first shape memory alloy wire 30 shortens, the first shape memory alloy wire 30 contacts the first protrusion and applies a force to the first protrusion, thereby driving the locking member 20 to slide from the first position to the second position.

[0090] In other embodiments, the coupling portion 21 includes a first through hole or a first slot through which the first shape memory alloy wire 30 passes. For example, the coupling portion 21 includes a first through hole. When the first shape memory alloy wire 30 is energized, the length of the first shape memory alloy wire 30 shortens, the first shape memory alloy wire 30 contacts the wall of the first through hole, and applies a force to the wall of the first through hole, thereby causing the locking member 20 to slide from the first position to the second position.

[0091] Understandably, the shape of the first shape memory alloy wire 30 includes at least one of the following: W-shaped, V-shaped, pentagonal arrow-shaped, straight, coil-shaped, etc.

[0092] Please see Figure 2 In some embodiments, the first shape memory alloy wire 30 includes at least one bend 32, such as one, two, three, or more. The first shape memory alloy wire 30 drives the locking member 20 to slide through the bend 32.

[0093] At least one curved portion 32 together forms a W-shape, V-shape, pentagonal arrow shape or other curved shape to make full use of space, which is beneficial for the application of the motor drive device 100 to miniaturized parent devices (such as aircraft or gimbal stabilization system 1000, etc.) and can ensure sufficient driving force and responsiveness.

[0094] Please see Figure 2 In some embodiments, the first shape memory alloy wire 30 has a V-shaped shape, with the middle of the V-shape contacting the locking member 20, and two fixed ends 31 located at the two ends of the V-shape, respectively. Exemplarily, when the locking member 20 is in the first position, the first shape memory alloy wire 30 is V-shaped.

[0095] For example, the first shape memory alloy wire 30 has a movable middle portion that contacts the coupling portion 21, thereby forming a V-shape. The movable middle portion is located at the center of the V-shape. For example, only the movable middle portion of the V-shape is movable. Thus, when the first shape memory alloy wire 30 contracts and is transmitted to the movable middle portion, the V-shaped first shape memory alloy wire 30 can maximize the displacement or travel of the movable middle portion, thereby enabling the movable middle portion to drive the coupling portion 21 to move within a limited space, so as to slide the locking member 20 from the first position to the second position. Therefore, the first shape memory alloy wire 30 adopts a V-shaped design, and the structure of the motor drive device 100 is compact and occupies little space. Even when the space of the motor drive device 100 or its parent device is limited, it can ensure that the locking member 20 moves from the first position to the second position under the drive of the first shape memory alloy wire 30.

[0096] For example, the V-shaped first shape memory alloy wire 30 can maximize the displacement or travel of the movable middle part, thereby amplifying the displacement or travel of the locking member 20 along the first direction of movement.

[0097] For example, the first direction of movement extends from the tip of the V-shape to the opening end of the V-shape.

[0098] For example, the direction of movement of the movable middle portion of the first shape memory alloy wire 30 can be along the radial direction of the motor 10.

[0099] For example, the direction of movement of the movable middle portion of the first shape memory alloy wire 30 may not be along the radial direction of the motor 10. For instance, by providing a transmission mechanism that allows the direction of movement of the movable middle portion to have a tangential or axial component, the transmission mechanism can change the direction of the driving force output by the movable middle portion.

[0100] Please see Figure 4 , Figure 5 and Figure 6 In some embodiments, the locking member 20 includes a first positioning part 22, and the rotor component 12 is provided with a first mating part 123. The first positioning part 22 and the first mating part 123 cooperate so that when the rotor component 12 is in a non-working state, the locking member 20 can lock the rotor component 12 at a preset angle position.

[0101] For example, when the locking member 20 moves to the first position, the first positioning part 22 engages or couples with the first mating part 123 to restrict the rotation of the rotor component 12 relative to the stator component 11, thereby locking the rotor component 12 in a preset angular position when it is not in operation. When the locking member 20 moves to the second position, the first positioning part 22 disengages from the first mating part 123, and the rotor component 12 can rotate freely relative to the stator component 11.

[0102] Please see Figure 1 and Figure 6 In some embodiments, the rotor component 12 includes a mounting frame 121 and a rotor 122. A first mating portion 123 is formed on the mounting frame 121. The rotor 122 is mechanically coupled to the mounting frame 121. Exemplarily, the mounting frame 121 is used to fix the magnets of the rotor 122. As the rotor 122 rotates relative to the stator component 11, the mounting frame 121 also rotates with the rotor 122.

[0103] The mounting bracket 121 can be designed into any suitable shape according to actual needs, such as a ring.

[0104] The mechanical coupling method between the rotor 122 and the fixed frame 121 includes at least one of welding, riveting, hot melting, snap-fit ​​connection, adhesive connection, and screw fastening.

[0105] For example, the first mating part 123 can be integrally formed with the fixing frame 121. The first mating part 123 and the fixing frame 121 can also be separately provided, and the two are mechanically coupled by means of adhesive bonding, riveting, heat fusion or other methods.

[0106] In other embodiments, the fixing frame 121 may be omitted, and the first mating part 123 is formed on the rotor 122.

[0107] The structures of the first positioning part 22 and the first mating part 123 can be designed in any suitable manner. For example, one of the first positioning part 22 and the first mating part 123 includes a first groove, and the other includes a first protrusion that mates with the first groove. When the locking member 20 moves to the first position, the first protrusion is engaged with the first groove, thereby locking the rotor component 12 at a preset angle position when the motor 10 is not in operation.

[0108] For example, the first positioning part 22 includes a first groove, and the first mating part 123 includes a first protrusion that mates with the first groove. (See also...) Figure 1 , Figure 5 and Figure 6 For example, the first positioning part 22 includes a first protrusion, and the first mating part 123 includes a first groove that mates with the first protrusion.

[0109] For example, when the locking member 20 moves to the first position, the first protrusion and the first groove are tightly engaged, at which time the rotor component 12 cannot rotate relative to the stator component 11 at any angle.

[0110] For example, when the locking member 20 moves to the first position, the first protrusion engages with the first groove, and the first groove allows the rotor component 12 to translate and / or rotate relative to the stator component 11 within a limited space. For instance, the width of the first groove is greater than the width of the first positioning portion 22, so that the rotor component 12 can rotate relative to the stator component 11 by a certain angle when the locking member 20 is in the first position.

[0111] Please see Figure 5 and Figure 6 In some embodiments, the first positioning portion 22 includes a first protrusion. The first mating portion 123 includes two protrusions 1231. The two protrusions 1231 are spaced apart to form a first groove that mates with the first protrusion. In this way, while ensuring that the first positioning portion 22 and the first mating portion 123 are coupled to lock the rotor component 12, the amount of material used in the rotor component 12 can be reduced, the weight of the motor 10 can be lightened, and it is beneficial to achieve a lightweight motor drive device 100. Exemplarily, the two protrusions 1231 are spaced apart along the circumference of the motor 10.

[0112] Please see Figure 4 and Figure 5In some embodiments, the first positioning part 22 has a first inclined surface 221, and the first mating part 123 has a second inclined surface 1232. The first inclined surface 221 and the second inclined surface 1232 engage. When the locking member 20 is in the second position and the rotor component 12 is locked, if the rotor component 12 forcibly rotates relative to the stator component 11, the rotor component 12 can apply a force to the first inclined surface 221 through the second inclined surface 1232. The component of the force on the first inclined surface 221 can cause the locking member 20 to retract, thereby disengaging the first positioning part 22 from the first mating part 123, and unlocking the rotor component 12. Therefore, in the event of a sudden impact or collision to the rotor component 12, the first positioning part 22 of the locking member 20 can disengage from the first mating part 123 of the rotor component 12, avoiding damage to the locking member 20 and / or the rotor component 12.

[0113] For example, the first inclined plane 221 is parallel or substantially parallel to the second inclined plane 1232. For example, the first inclined plane 221 may also intersect with the second inclined plane 1232.

[0114] For example, the shapes of the first inclined surface 221 and the second inclined surface 1232 can both be planar or curved.

[0115] For example, the structure used to protect the locking member 20 and / or the rotor component 12 can also be any other suitable structure, not limited to the first inclined surface 221 and the second inclined surface 1232 described above.

[0116] Please see Figure 1 and Figure 7 In some embodiments, the reset member 40 includes an elastic member. The elastic member is capable of elastic deformation to move the locking member 20 from the second position to the first position.

[0117] For example, when the first shape memory alloy wire 30 is energized, its length shortens to cause the locking member 20 to slide from the first position to the second position, and the elastic member is compressed under the action of the locking member 20. When the locking member 20 moves to the second position and the energization of the first shape memory alloy wire 30 stops, the locking member 20 returns to the first position under the force of the elastic member.

[0118] For example, when the first shape memory alloy wire 30 is energized, its length shortens to cause the locking member 20 to slide from the first position to the second position, and the elastic member is stretched under the action of the locking member 20. When the locking member 20 moves to the second position and the energization of the first shape memory alloy wire 30 stops, the locking member 20 returns to the first position under the force of the elastic member.

[0119] For example, the elastic element includes at least one elastic structure selected from elastic supports, springs, etc. The spring may include sheet metal springs, etc.

[0120] Please see Figure 8 In some embodiments, the elastic element is an elastic support. The elastic support includes a fixed body 41 and an elastic body 42. The fixed body 41 is used to fix it to the stator component 11, thereby fixing the elastic element. The elastic body 42 is capable of elastic deformation. The elastic body 42 is connected to the fixed body 41.

[0121] For example, during the movement of the locking member 20 between the first position and the second position, the elastic body 42 can undergo elastic deformation. The mechanical coupling method between the fixing body 41 and the stator component 11 includes at least one of the following: dispensing, hot melting, riveting, snap-fitting, etc. For example, the lower end of the fixing body 41 is mechanically coupled to the stator component 11.

[0122] In some embodiments, when the first shape memory alloy wire 30 is energized, the locking member 20 can slide from a first position to a second position, and the elastic body 42 is stretched and deformed under the action of the locking member 20. When the first shape memory alloy wire 30 is de-energized, the locking member 20 moves from the second position to the first position under the elastic restoring force of the elastic body 42.

[0123] In some embodiments, when the first shape memory alloy wire 30 is energized, the locking member 20 can slide from a first position to a second position, and the elastic body 42 is compressed and deformed under the action of the locking member 20. When the first shape memory alloy wire 30 is de-energized, the locking member 20 moves from the second position to the first position under the elastic restoring force of the elastic body 42.

[0124] Please see Figure 1 and Figure 8 In some embodiments, the elastic body 42 includes a deformable portion 421 and a second positioning portion 422. One end of the deformable portion 421 is connected to the fixed body 41. The deformable portion 421 is capable of deformation. The second positioning portion 422 is connected to the deformable portion 421. The locking member 20 is connected to the deformable portion 421 and / or the second positioning portion 422. The second positioning portion 422 is used to engage with a second mating portion 111 on the stator component 11 to restrict the movement of the second positioning portion 422, thereby positioning the locking member 20 in a first position.

[0125] For example, the second positioning part 422 is coupled to the second mating part 111 on the stator component 11, which can restrict the second positioning part 422 from moving around the motor 10, thereby restricting the locking member 20 coupled with the second positioning part 422 from moving around the motor 10, thereby ensuring that the locking member 20 can be accurately positioned to the first position to lock the rotor component 12.

[0126] Understandably, the locking member 20 is mechanically coupled to the second positioning part 422. When the first shape memory alloy wire 30 is energized, the locking member 20 moves from the first position to the second position, causing the second positioning part 422 to move. The deformation part 421 undergoes elastic deformation as the second positioning part 422 moves. When the locking member 20 moves to the second position and the first shape memory alloy wire 30 is de-energized, the locking member 20 returns to the first position from the second position under the elastic restoring force of the deformation part 421.

[0127] The shape of the deformable part 421 can be designed according to actual needs. For example, the shape of the deformable part 421 includes at least one of the following: curved, sheet-like, etc. For example, the shape of the deformable part 421 includes at least one of the following: S-shaped, bent, arc-shaped, wavy, etc.

[0128] For example, the shape of the deformation part 421 includes a wave shape, so that the deformation part 421 can generate sufficient elastic deformation in a limited space to ensure sufficient driving force of the reset member 40.

[0129] For example, the deformable part 421 is provided to extend generally along the circumference of the motor 10.

[0130] Please see Figure 8 In some embodiments, there are two deformable portions 421 and two fixed bodies 41. Each deformable portion 421 is connected to a second positioning portion 422 and a fixed body 41 at both ends. One end of each of the two deformable portions 421 is mechanically coupled to the same second positioning portion 422. In this way, the reset member 40 can be guaranteed to have sufficient driving force, and the second positioning portion 422 can be guaranteed to move stably and accurately along a preset movement direction (such as the second movement direction), thereby ensuring that the locking member 20 can reliably and accurately move to the first position to lock the rotor component 12.

[0131] In some embodiments, the two deformable portions 421 are symmetrically arranged with respect to the second positioning portion 422. In other embodiments, the two deformable portions 421 may also be asymmetrically arranged.

[0132] For example, the deformable part 421 can be integrally formed with the fixed body 41. For example, the deformable part 421 can also be mechanically coupled to the fixed body 41 by means of adhesive bonding, riveting, snap-fit ​​connection, etc.

[0133] The structures of the second positioning part 422 and the second mating part 111 can be designed in any suitable manner. For example, one of the second positioning part 422 and the second mating part 111 includes a second groove, and the other includes a second protrusion that mates with the second groove, the second protrusion being able to be embedded in the second groove. For instance, the second positioning part 422 includes a second groove, and the second mating part 111 includes a second protrusion that mates with the second groove. See also... Figure 1 and Figure 8 For example, the second mating part 111 includes a second groove, and the second positioning part 422 includes a second protrusion that mates with the second groove.

[0134] For example, when the locking member 20 moves to the first position, the second positioning part 422 is coupled with the second mating part 111, and the first positioning part 22 of the locking member 20 is coupled with the first mating part 123 of the rotor component 12, thereby locking the rotor component 12.

[0135] When the locking member 20 moves from the first position to the second position, the second positioning part 422 is at least partially disengaged from the second mating part 111, the first positioning part 22 of the locking member 20 is decoupled from the first mating part 123 of the rotor component 12, the rotor component 12 is unlocked, and the rotor component 12 can rotate freely relative to the stator component 11.

[0136] For example, the surface in the second positioning part 422 that is used to mate with the second mating part 111 includes a smooth transition surface or a non-smooth transition surface.

[0137] For example, the surface of the second positioning part 422 that is used to mate with the second mating part 111 includes an arc-shaped surface.

[0138] Please see Figure 8 In some embodiments, the second positioning portion 422 includes a first positioning sub-portion 4221 and a second positioning sub-portion 4222. The first positioning sub-portion 4221 is connected to the deformable portion 421. The second positioning sub-portion 4222 is connected to one end of the first positioning sub-portion 4221. The extension dimension of the second positioning sub-portion 4222 along the circumferential direction of the motor 10 is greater than the extension dimension of the first positioning sub-portion 4221 along the circumferential direction of the motor 10. The shape of the second mating portion 111 is adapted to the shape of the second positioning portion 422.

[0139] For example, the first positioning sub-part 4221 and the second positioning sub-part 4222 cooperate to form an inverted T shape, and the inverted T-shaped second positioning part 422 is coupled with the inverted T-shaped second mating part 111. This can prevent the reset member 40 from moving upward relative to the stator component 11 in the axial direction of the motor 10, thus providing a guarantee for reliable and stable locking of the rotor component 12.

[0140] For example, the first positioning sub-part 4221 and the second positioning sub-part 4222 are integrally formed.

[0141] Please see Figure 5 , Figure 8 and Figure 9In some embodiments, the second positioning portion 422 has a third mating portion 4223, and the locking member 20 has a third positioning portion 23 that mates with the third mating portion 4223 to position the locking member 20. Thus, when the locking member 20 slides from the first position to the second position under the action of the first shape memory alloy wire 30, the locking member 20 can drive the second positioning portion 422 to move, thereby causing the deformation portion 421 to undergo elastic deformation. When the locking member 20 is in the second position and the first shape memory alloy wire 30 is de-energized, the second positioning portion 422, under the elastic force of the deformation portion 421, drives the locking member 20 to move from the second position to the first position.

[0142] Please see Figure 8 and Figure 9 In some embodiments, one of the third mating portion 4223 and the third positioning portion 23 includes a third groove, and the other includes a third protrusion that mates with the third groove, the third protrusion being embedded within the third groove. For example, please refer to... Figure 9 The third mating part 4223 includes a third groove, and the third positioning part 23 includes a third protrusion that mates with the third groove. Alternatively, the third positioning part 23 may include a third groove, and the third mating part 4223 may include a third protrusion that mates with the third groove.

[0143] Please see Figure 3 and Figure 8 In some embodiments, a fourth positioning portion 411 is also formed on the fixing body 41. The fourth positioning portion 411 is positioned and engaged with the fourth mating portion 305 of the first terminal 301 or the second terminal 302, thereby indirectly fixing the first shape memory alloy wire 30 to the stator component 11. Exemplarily, the fourth positioning portion 411 and the fourth mating portion 305 are mechanically coupled, for example, by at least one of the following methods: dispensing, hot melting, riveting, etc., thereby achieving their positioning and fixing.

[0144] For example, one of the fourth mating portion 305 and the fourth positioning portion 411 includes a hole or a fourth groove, and the other includes a fourth protrusion, which is fitted into the hole or the fourth groove. For instance, the fourth mating portion 305 includes a hole or a fourth groove, and the fourth positioning portion 411 includes a fourth protrusion. Or, for example, the fourth positioning portion 411 includes a hole or a fourth groove, and the fourth mating portion 305 includes a fourth protrusion.

[0145] In some embodiments, the reset member 40 includes a second shape memory alloy wire. When the second shape memory alloy wire is energized, its length shortens to move the locking member 20 from the second position to the first position. The first shape memory alloy wire 30 and the second shape memory alloy wire serve as a driving source, driving the locking member 20 to move between the first position and the second position. The first shape memory alloy wire 30 and the second shape memory alloy wire occupy little space, and the overall space required for the motor drive device 100 is small, which is beneficial for the miniaturization design of the parent device corresponding to the motor drive device 100. It can also improve the control accuracy and operability of the motor drive device 100, eliminating the need for manual control of the locking member 20 to move between the first position and the second position, reducing the number of parts of the motor drive device 100 that the user needs to manually operate, and reducing operational complexity.

[0146] Understandably, by controlling the on / off state of the first memory alloy wire 30 and the second memory alloy wire, the position and movement (such as the direction of movement) of the locking member 20 can be controlled, thereby automatically locking or unlocking the rotor component 12 of the motor 10. The motor drive device 100 is easy to operate and does not require manual operation.

[0147] For example, the structural design, materials, principles, etc. of the second shape memory alloy wire can be referred to the first shape memory alloy wire 30 of any embodiment of this application, and will not be repeated here.

[0148] In some embodiments, the motor drive device 100 further includes a processor (not shown) for controlling the on / off state of the first shape memory alloy wire 30.

[0149] The number of processors can include one or more, such as one, two or more.

[0150] For example, one or more processors are used to control the operating state of the motor 10 and the on / off state of the first shape memory alloy wire 30.

[0151] For example, one or more processors include a first controller and a second controller. The first controller is used to control the operating state of the motor 10. The second controller is used to control the on / off state of the first shape memory alloy wire 30. In other embodiments, one or more processors may include only one controller that can control both the operating state of the motor 10 and the on / off state of the first shape memory alloy wire 30; that is, the controller controlling the operating state of the motor 10 and the controller controlling the on / off state of the first shape memory alloy wire 30 are the same controller.

[0152] For example, the processor is electrically connected to the first memory alloy wire 30 and / or the second memory alloy wire.

[0153] For example, the processor or the second controller can control the energization and / or current magnitude of the first memory alloy wire 30, thereby causing the first memory alloy wire 30 to drive the locking member 20 to move to the second position, so as to lock the rotor component of the motor 10 at a preset angle position or unlock the rotor component.

[0154] For example, the processor or second controller may be a remote control. For example, the processor or second controller may also be a circuit structure, such as a circuit board, located on the parent device.

[0155] Understandably, the user can simply operate the processor or the second controller to switch the motor drive 100 from the first position to the second position, thereby electrically controlling the locking member 20 to move to the second position, without having to manually find and press any button to mechanically lock or unlock the rotor component of the motor 10.

[0156] For example, when the motor 10 is in a power-on standby state, the locking member 20 locks the rotor component 12 of the motor 10.

[0157] In some embodiments, the stator component 11 is provided with a position detection element for detecting the position information of the locking member 20. The position information is used to control the power supply or de-energization of the first shape memory alloy wire 30. Exemplarily, the position detection element is signal-connected to a processor. The position detection element detects the position information of the locking member 20 and sends the position information to the processor. After receiving the position information, the processor controls the power supply or de-energization of the first shape memory alloy wire 30, thereby controlling the movement of the locking member 20. The provision of the position detection element enables the locking or unlocking of the rotor component 12 under closed control and provides more precise control over the movement of the locking member 20.

[0158] For example, the position detection element includes at least one of a photoelectric switch, a position sensor, etc.

[0159] In some embodiments, the rotor component 12 forms a limiting channel (not shown), and the first positioning portion 22 of the locking member 20 can move along the limiting channel, thereby restricting the movement of the locking member 20 along a preset path. This preset path can be designed according to actual needs, such as a straight path or a curved path.

[0160] The following example illustrates in detail the process of locking or unlocking the rotor component 12 of the motor 10.

[0161] When the motor 10 is in operation, the rotor component 12 can rotate relative to the stator component 11 within a preset working angle range.

[0162] When the motor 10 is not in use, the locking member 20 in the first position interferes with the rotation of the rotor component 12, making it difficult for the rotor component 12 to rotate relative to the stator component 11 to a preset angular position (outside the preset working angle range). Therefore, when the motor 10 is not in operation, power is supplied to the first shape memory alloy wire 30, causing the length of the first shape memory alloy wire 30 to shorten. This applies a force to the locking member 20, causing it to slide from the first position to the second position along the first direction of movement. The reset member 40 is compressed or stretched under the action of the locking member 20, resulting in elastic deformation. At this time, the rotor component 12, in the non-operating state, can rotate relative to the stator component 11 to the preset angular position, and the locking member 20 in the second position will not interfere with the rotation of the rotor component 12.

[0163] When the motor 10 is in a non-operating state and the locking member 20 moves to the second position, the rotor component 12 is rotated relative to the stator component 11 in a preset direction to a preset angle position (such as the +90° position in the above embodiment). After the rotor component 12 rotates to the preset angle position, the power supply to the first shape memory alloy wire 30 is stopped. At this time, the reset member 40 extends or compresses, and the locking member 20 moves from the second position to the first position in the second movement direction under the action of the reset member 40. The first positioning part 22 of the locking member 20 is coupled with the first mating part 123 of the stator component 11, and the rotor component 12 is locked in the preset angle position.

[0164] In some embodiments, after the locking member 20 moves to the second position, the rotor component 12 is controlled to rotate relative to the stator component 11 to a preset angle position. Thus, when the locking member 20 moves to the first position under the action of the reset member 40, the locking member 20 can couple with the rotor component 12, providing a guarantee for locking the rotor component 12.

[0165] In some embodiments, when the rotor component 12 needs to switch from a non-operating state to an operating state, power is supplied to the first shape memory alloy wire 30, causing the length of the first shape memory alloy wire 30 to shorten, thereby driving the locking member 20 to slide from a first position to a second position along a first movement direction. At this time, the locking member 20 is discoupled from the rotor component 12, the rotor component 12 is unlocked, and the rotor component 12 can rotate relative to the stator component 11 from a preset angle position to any suitable angle within a preset operating angle range, and can rotate within its operating angle range.

[0166] Please see Figure 1This application also provides a motor drive device 100, including a motor 10, a locking member 20, a first shape memory alloy wire 30, and a reset member 40. The motor 10 includes a stator component 11 and a rotor component 12 that rotates relative to the stator component 11. The locking member 20 is used to lock the rotor component 12 to prevent the rotor component 12 from rotating relative to the stator component 11. The first shape memory alloy wire 30 is mechanically coupled to the locking member 20. When the first shape memory alloy wire 30 is heated, its length changes to drive the locking member 20 to slide from a first position to a second position along a first movement direction. The reset member 40 is mechanically coupled to the locking member 20 and is used to drive the locking member 20 to move along a second movement direction. The reset member 40 can move the locking member 20 from the second position to the first position. When the motor 10 is de-energized, the locking member 20 can lock the rotor component 12 at a preset angle position. The preset angle position is outside the preset working angle range of the rotor component 12.

[0167] For example, when the first shape memory alloy wire 30 is heated, the length of the first shape memory alloy wire 30 will shorten, so as to drive the locking member 20 to slide from the first position to the second position.

[0168] For example, the first shape memory alloy wire 30 can be heated by a heater. For example, the first shape memory alloy wire 30 can be heated by energizing it.

[0169] Please see Figures 1 to 9 For example, the specific structure of the motor drive device 100 refers to the motor drive device 100 of any of the above embodiments.

[0170] In the above embodiment, under the action of the first memory alloy wire 30 or the reset member 40, the locking member 20 can lock the rotor component 12 of the motor 10, thereby preventing the rotor component 12 from rotating relative to the stator component 11 in a non-working state, avoiding random swinging during storage or transportation, and facilitating the storage, transportation, and carrying and use of the motor drive device 100 or its parent device including the motor drive device 100.

[0171] Furthermore, during the sliding motion of the locking member 20 from the first position to the second position, the first shape memory alloy wire 30 serves as the driving source for the locking member 20; during the sliding motion of the locking member 20 from the second position to the first position, the reset member 40 serves as the driving source for the locking member 20, thereby achieving automatic locking or unlocking of the rotor component 12, improving the control precision of the motor drive device 100, eliminating the need for manual control of the locking member 20 to slide from the first position to the second position, reducing the number of components that the user needs to operate in the motor drive device 100, and reducing operational complexity. The first shape memory alloy wire 30 and the reset member 40 occupy little space, and the overall space required for the motor drive device 100 is small, which is beneficial for the miniaturization design of the parent device corresponding to the motor drive device 100. In addition, the overall length of the first shape memory alloy wire 30 is well controllable, making it convenient to adjust the connection position and / or angle between the first shape memory alloy wire 30 and the locking member 20, improving the operability of the motor drive device 100.

[0172] Please see Figure 10 This application provides a gimbal stabilization system 1000, including one or more rotating shaft mechanisms for adjusting the attitude angle of the load 300 of the gimbal stabilization system 1000. The rotating shaft mechanism includes a bracket 200 and a motor drive device 100 from any of the above embodiments. The bracket 200 drives the load 300 to rotate. The bracket 200 is coupled to a rotor component 12 and rotates together with the rotor component 12.

[0173] In the above embodiment of the gimbal stabilization system 1000, when the gimbal stabilization system 1000 is not in operation, the locking member 20 can lock the rotor component 12 of the motor of the rotating shaft mechanism, such as the rotor component of the pitch axis motor, translation axis motor or roll axis motor, to prevent random swinging during storage or transportation, and to facilitate the storage, transportation and use of the gimbal stabilization system 1000 by the user.

[0174] Furthermore, during the sliding motion of the locking member 20 from the first position to the second position, the first shape memory alloy wire 30 serves as the driving source for the locking member 20; during the movement of the locking member 20 from the second position to the first position, the reset member 40 serves as the driving source for the locking member 20. This achieves automatic locking or unlocking of the rotor component 12 without increasing the overall size of the motor 10, improving the control accuracy of the gimbal stabilization system 1000. It eliminates the need for manual control of the locking member 20 sliding from the first position to the second position, reducing the number of components the user needs to operate in the gimbal stabilization system 1000 and lowering operational complexity. The first shape memory alloy wire 30 and the reset member 40 occupy little space, resulting in a smaller overall space requirement for the gimbal stabilization system 1000, which is beneficial for its miniaturized design. In addition, the overall length of the first shape memory alloy wire 30 is highly controllable, facilitating adjustment of the connection position and / or angle between the first shape memory alloy wire 30 and the locking member 20, thus improving the operability of the gimbal stabilization system 1000.

[0175] Please see Figure 10 In some embodiments, the pivot mechanism is a pitch axis mechanism 1001, a translation axis mechanism 1002, or a roll axis mechanism 1003.

[0176] For example, the translation axis mechanism 1002 includes a bracket 200 and a corresponding motor drive device 100. The translation axis can be locked when the gimbal stabilization system 1000 is not in operation, that is, the rotation of the gimbal stabilization system 1000 around the translation axis can be restricted when it is not in operation.

[0177] Please see Figure 10 In some embodiments, the gimbal stabilization system 1000 includes a pitch axis mechanism 1001, a translation axis mechanism 1002, and a roll axis mechanism 1003. Each of the pitch axis mechanism 1001, translation axis mechanism 1002, and roll axis mechanism 1003 includes a bracket 200 and a corresponding motor drive 100, and a locking member 20 of at least one of the pitch axis mechanism 1001, translation axis mechanism 1002, and roll axis mechanism 1003 locks the rotor component 12 of the motor 10 when the motor 10 is de-energized.

[0178] For example, the gimbal stabilization system 1000 is a three-axis gimbal stabilization system. The pitch axis mechanism 1001 can be used to mount the load 300. The motor 10 within the pitch axis mechanism 1001 drives the load 300 to perform pitch motion around the pitch axis. The pitch axis mechanism 1001 is mounted on the roll axis mechanism 1003. The motor 10 within the roll axis mechanism 1003 drives the load 300 to perform roll motion around the roll axis. The roll axis mechanism 1003 is mounted on the translation axis mechanism 1002. The motor 10 within the translation axis mechanism 1002 controls the load 300 to perform translation motion around the translation axis. It is understood that in other embodiments, the mechanical coupling between the pitch axis mechanism 1001, the translation axis mechanism 1002, and the roll axis mechanism 1003 may also be in other ways, and is not limited here.

[0179] In some embodiments, one of the pitch axis mechanism 1001, translation axis mechanism 1002, and roll axis mechanism 1003 in the three-axis gimbal stabilization system includes a bracket 200 and a corresponding motor drive device 100. For example, the translation axis mechanism 1002 includes a bracket 200 and a corresponding motor drive device 100.

[0180] In some embodiments, two of the pitch axis mechanism 1001, translation axis mechanism 1002, and roll axis mechanism 1003 in the three-axis gimbal stabilization system include a bracket 200 and a corresponding motor drive device 100. For example, each of the pitch axis mechanism 1001 and the translation axis mechanism 1002 includes a bracket 200 and a corresponding motor drive device 100.

[0181] It should be noted that although the figure shows a three-axis gimbal stabilization system, the solution provided in this application is also applicable to other axis gimbal stabilization systems, such as single-axis gimbal stabilization systems and two-axis gimbal stabilization systems. For example, at least one of the two rotating axis mechanisms in a two-axis gimbal stabilization system includes a bracket 200 and a corresponding motor drive device 100. For instance, the translation axis mechanism 1002 of the two-axis gimbal stabilization system includes a bracket 200 and a corresponding motor drive device 100, through which the translation axis can be locked when the two-axis gimbal stabilization system is not in operation.

[0182] For example, the working angle range of the pitch axis mechanism 1001 about the roll axis is -45° (i.e., rotated counterclockwise to 45 degrees) to +45° (i.e., rotated clockwise to 45 degrees). When the rotor component 12 of the roll axis mechanism 1003 is locked in the non-operating state of the gimbal stabilization system 1000, the pitch axis mechanism 1001 rotates to an angle of -90° (i.e., rotated counterclockwise to 90 degrees) about the roll axis.

[0183] For example, the working angle range of the load 300 about the pitch axis is -135° (i.e., rotated counterclockwise to 135 degrees) to +45° (i.e., rotated clockwise to 45 degrees). When the rotor component 12 of the pitch axis mechanism 1001 is locked in the non-operating state of the gimbal stabilization system 1000, the angle to which the load 300 rotates about the pitch axis is +90° (i.e., rotated clockwise to 90 degrees).

[0184] For example, when the gimbal stabilization system 1000 executes certain user commands or tasks in certain operating modes, the locking member 20 can move to a first position or a second position under the action of the reset member 40 or the first shape memory alloy wire 30. For instance, when the user turns off the gimbal stabilization system 1000, the locking member 20 can move to the first position under the action of the reset member 40, thereby preventing the support 200 from rotating and damaging people or objects in the environment.

[0185] For example, the motor drive device 100 can be used to reduce the degrees of freedom of the load 300 or the gimbal stabilization system 1000. For instance, a user can selectively lock the motor 10 connected between the two supports 200 to prevent relative rotation between the two supports 200. In this case, the two locked supports 200 can act as a rigid support, thereby reducing one or more degrees of freedom.

[0186] For example, the support 200 can be omitted from the shaft mechanism connected to the load 300, and the load 300 can be directly mounted on the rotor component 12 of the motor 10 of the corresponding shaft mechanism.

[0187] The following example illustrates in detail the process by which the gimbal stabilization system 1000 locks the rotor component 12 of a motor 10 in a certain rotating shaft mechanism.

[0188] When the gimbal stabilization system 1000 is in operation, the rotor component 12 of the motor 10 can rotate within its working angle range (e.g., -135° to +45° in the above embodiment), thereby stabilizing the load 300 of the gimbal stabilization system 1000.

[0189] When the gimbal stabilization system 1000 is not in use, the locking member 20 in the first position interferes with the rotation of the rotor component 12, making it difficult for the rotor component 12 to rotate relative to the stator component 11 to a preset angular position (outside the preset working angle range). Therefore, when the gimbal stabilization system 1000 is in a non-operating state, power is supplied to the first shape memory alloy wire 30, causing the length of the first shape memory alloy wire 30 to shorten. This applies a force to the locking member 20, causing it to slide from the first position to the second position along the first movement direction. The reset member 40 is compressed or stretched under the action of the locking member 20, resulting in elastic deformation. At this time, the rotor component 12, in a non-operating state, can rotate relative to the stator component 11 to the preset angular position, and the locking member 20 in the second position will not interfere with the rotation of the rotor component 12.

[0190] When the gimbal stabilization system 1000 is in a non-operating state and the locking member 20 moves to the second position, the rotor component 12 is rotated relative to the stator component 11 in a preset direction to a preset angle position (such as the +90° position in the above embodiment). After the rotor component 12 rotates to the preset angle position, the power supply to the first shape memory alloy wire 30 is stopped. At this time, the reset member 40 extends or compresses, and the locking member 20 moves from the second position to the first position in the second movement direction under the action of the reset member 40. The first positioning part 22 of the locking member 20 is coupled with the first mating part 123 of the stator component 11, and the rotor component 12 is locked at the preset angle position.

[0191] In some embodiments, after the locking member 20 moves to the second position, the rotor component 12 is controlled to rotate relative to the stator component 11 to a preset angle position. Thus, when the locking member 20 moves to the first position under the action of the reset member 40, the locking member 20 can couple with the rotor component 12, providing a guarantee for locking the rotor component 12.

[0192] In some embodiments, when the gimbal stabilization system 1000 needs to switch from a non-working state to a working state, power is supplied to the first shape memory alloy wire 30, causing the length of the first shape memory alloy wire 30 to shorten, thereby driving the locking member 20 to slide from a first position to a second position along a first movement direction. At this time, the locking member 20 is discoupled from the rotor component 12, the rotor component 12 is unlocked, and the rotor component 12 can rotate relative to the stator component 11 from a preset angle position to any suitable angle within a preset working angle range, and can rotate within its working angle range.

[0193] Please see Figure 11 This application also provides a control method for a gimbal stabilization system 1000, which includes steps S101 to S103.

[0194] For example, the gimbal stabilization system 1000 includes the gimbal stabilization system 1000 of any of the above embodiments.

[0195] S101, control the rotor component 12 of the motor 10 to rotate within a preset working angle range to stabilize the load 300 of the gimbal stabilization system 1000.

[0196] S102. Power is supplied to the first memory alloy wire 30 of the motor drive device 100 of the gimbal stabilization system 1000 so that the length of the first memory alloy wire 30 is shortened, thereby driving the locking member 20 of the motor drive device 100 to slide from the first position to the second position along the first movement direction.

[0197] S103. When the rotor component 12 of the motor 10 rotates to the preset angle position, the power supply to the first memory alloy wire 30 is stopped, so that the reset member 40 drives the locking member 20 to move from the second position to the first position along the second movement direction, so as to lock the rotor component 12 at the preset angle position, the preset angle being outside the preset working angle range.

[0198] In the control method of the above embodiment, when the gimbal stabilization system 1000 is in a non-working state, the locking member 20 can lock the rotor component 12 of the motor of the rotating shaft mechanism, such as the rotor component of the pitch axis motor, translation axis motor or roll axis motor, to prevent random swinging during storage or transportation, and to facilitate the storage, transportation and use of the gimbal stabilization system 1000 by the user.

[0199] Furthermore, during the sliding motion of the locking member 20 from the first position to the second position, the first shape memory alloy wire 30 serves as the driving source for the locking member 20; during the movement of the locking member 20 from the second position to the first position, the reset member 40 serves as the driving source for the locking member 20. This achieves automatic locking or unlocking of the rotor component 12 without increasing the overall size of the motor 10, improving the control accuracy of the gimbal stabilization system 1000. It eliminates the need for manual control of the locking member 20 sliding from the first position to the second position, reducing the number of components the user needs to operate in the gimbal stabilization system 1000 and lowering operational complexity. The first shape memory alloy wire 30 and the reset member 40 occupy little space, resulting in a smaller overall space requirement for the gimbal stabilization system 1000, which is beneficial for its miniaturized design. In addition, the overall length of the first shape memory alloy wire 30 is highly controllable, facilitating adjustment of the connection position and / or angle between the first shape memory alloy wire 30 and the locking member 20, thus improving the operability of the gimbal stabilization system 1000.

[0200] In some embodiments, the control method further includes:

[0201] Power is supplied to the first memory alloy wire 30 so that the length of the first memory alloy wire 30 is shortened, thereby driving the locking member 20 to slide from the first position to the second position along the first movement direction, thereby unlocking the rotor component 12.

[0202] In some embodiments, the control method further includes:

[0203] After the locking member 20 moves to the second position, the control rotor component 12 rotates to a preset angle position.

[0204] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0205] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0206] The foregoing disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described above. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0207] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific method step, feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific method steps, features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0208] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A motor drive device, characterized in that, include: An electric motor, including a stator assembly and a rotor assembly that rotates relative to the stator assembly; A locking element is used to lock the rotor component to prevent the rotor component from rotating relative to the stator component; A first shape memory alloy wire is mechanically coupled to the locking member; when the first shape memory alloy wire is energized, the length of the first shape memory alloy wire will shorten, so as to drive the locking member to slide from the first position to the second position along the first movement direction; as well as A reset member, mechanically coupled to the locking member, is used to drive the locking member to move along a second direction of motion; the reset member is capable of moving the locking member from the second position to the first position. When the motor is in a power-off state, the locking member can lock the rotor component at a preset angle position, which is outside the preset working angle range of the rotor component; The first shape memory alloy wire includes two fixed ends, and the coupling portion of the first shape memory alloy that is coupled with the locking member is located between the two fixed ends.

2. The motor drive device according to claim 1, characterized in that, When the locking member moves to the first position, the locking member can mechanically couple with the rotor component to lock the rotor component at the preset angle position; When the locking member slides to the second position, the locking member can separate from the rotor component to unlock the rotor component and allow the rotor component to move freely.

3. The motor drive device according to claim 1, characterized in that, When the locking member moves to the second position, the locking member can mechanically couple with the rotor component to lock the rotor component at the preset angle position when the rotor component is in a non-working state. When the locking member moves to the first position, the locking member can separate from the rotor component to unlock the locking member from the rotor component, allowing the rotor component to move freely.

4. The motor drive device according to claim 1, characterized in that, Each of the aforementioned fixed terminals is electrically connected to a power source.

5. The motor drive device according to claim 4, characterized in that, The two fixed ends are mechanically coupled to a first terminal and a second terminal, respectively, wherein the first terminal and / or the second terminal includes: The first connecting part is used for electrical connection with the power source; The second connecting part is mechanically and electrically connected to the first connecting part, and is also mechanically and electrically connected to the fixed end.

6. The motor drive device according to claim 5, characterized in that, The second connecting portion includes a second protrusion, and the fixed end is mechanically coupled to the second protrusion; and / or, The second connecting part includes a second through hole or a second slot, and the fixed end passes through the second through hole or the second slot.

7. The motor drive device according to claim 4, characterized in that, The locking component includes a coupling portion, through which the first shape memory alloy wire drives the locking component to move.

8. The motor drive device according to claim 7, characterized in that, The coupling portion includes a first protrusion, and the first shape memory alloy wire contacts the first protrusion.

9. The motor drive device according to claim 7, characterized in that, The coupling portion includes a first through hole or a first slot, through which the first shape memory alloy wire passes.

10. The motor drive device according to claim 4, characterized in that, The first shape memory alloy wire includes at least one bent portion, and the first shape memory alloy wire drives the locking member to slide through the bent portion.

11. The motor drive device according to claim 4, characterized in that, The two fixed ends are mechanically coupled to the first terminal and the second terminal, respectively.

12. The motor drive device according to claim 4, characterized in that, The shape of the first shape memory alloy wire includes at least one of the following: W-shaped, V-shaped, pentagonal arrow-shaped, straight, and coil-shaped.

13. The motor drive device according to claim 4, characterized in that, The first shape memory alloy wire has a V-shape, with the middle of the V-shape in contact with the locking member, and the two fixed ends located at the two ends of the V-shape respectively.

14. The motor drive device according to claim 13, characterized in that, The first direction of movement extends from the tip of the V-shape to the opening end of the V-shape.

15. The motor drive device according to claim 4, characterized in that, The locking member includes a first positioning part, and the rotor component is provided with a first mating part. The first positioning part and the first mating part cooperate to lock the rotor component at the preset angle position when the rotor component is in a non-working state.

16. The motor drive device according to claim 15, characterized in that, One of the first positioning part and the first mating part includes a first groove, and the other includes a first protrusion that mates with the first groove.

17. The motor drive device according to claim 15, characterized in that, The first positioning part has a first inclined surface, and the first mating part has a second inclined surface, and the first inclined surface and the second inclined surface mate together.

18. The motor drive device according to claim 15, characterized in that, The first positioning part includes a first protrusion, and the first mating part includes: Two protrusions are spaced apart to form a first groove that mates with the first protrusion.

19. The motor drive device according to claim 1, characterized in that, The first direction of motion is opposite to the second direction of motion.

20. The motor drive device according to any one of claims 1-19, characterized in that, The reset component includes: An elastic element is provided, which is capable of elastic deformation to move the locking element from the second position to the first position.

21. The motor drive device according to claim 20, characterized in that, The elastic element includes at least one of an elastic support, a spring, and a spring.

22. The motor drive device according to claim 20, characterized in that, The elastic element is an elastic support, and the elastic support includes: A fixing body, used for fixed connection with stator components; An elastomer, connected to the fixed body and the locking member, is capable of elastic deformation.

23. The motor drive device according to claim 22, characterized in that, When the first shape memory alloy wire is energized, the locking member can slide from the first position to the second position, and the elastic body is stretched and deformed under the action of the locking member; When the first shape memory alloy wire is de-energized, the locking member moves from the second position to the first position under the elastic restoring force of the elastic body.

24. The motor drive device according to claim 22, characterized in that, When the first shape memory alloy wire is energized, the locking member can slide from the first position to the second position, and the elastic body is compressed and deformed under the action of the locking member; When the first shape memory alloy wire is de-energized, the locking member moves from the second position to the first position under the elastic restoring force of the elastic body.

25. The motor drive device according to claim 22, characterized in that, The elastomer includes: The deformable part is connected to the fixed body at one end and is capable of deformation. The second positioning part is connected to the deformation part, and the locking member is connected to the deformation part and / or the second positioning part. The second positioning part is used to cooperate with the second mating part on the stator component to restrict the movement of the second positioning part, thereby positioning the locking member in the first position.

26. The motor drive device according to claim 25, characterized in that, The shape of the deformable part may be curved or sheet-like.

27. The motor drive device according to claim 25, characterized in that, The shape of the deformable part includes a wavy shape.

28. The motor drive device according to claim 25, characterized in that, The number of the deformable part and the fixed body are both two, and each of the deformable parts is connected to the second positioning part and the fixed body at both ends.

29. The motor drive device according to claim 28, characterized in that, The two deformable portions are symmetrically arranged about the second positioning portion.

30. The motor drive device according to claim 25, characterized in that, One of the second positioning part and the second mating part includes a second groove, and the other includes a second protrusion that mates with the second groove.

31. The motor drive device according to claim 25, characterized in that, The second positioning unit includes: The first positioning sub-part is connected to the deformable part; The second positioning sub-part is connected to one end of the first positioning sub-part, and the extension dimension of the second positioning sub-part along the circumference of the motor is greater than the extension dimension of the first positioning sub-part along the circumference of the motor.

32. The motor drive device according to claim 25, characterized in that, The second positioning part has a third mating part, and the locking member has a third positioning part that mates with the third mating part to position the locking member.

33. The motor drive device according to claim 32, characterized in that, One of the third mating part and the third positioning part includes a third groove, and the other includes a third protrusion that mates with the third groove.

34. The motor drive device according to claim 22, characterized in that, The fixing body also has a fourth positioning part, which is positioned and engaged with the fourth mating part of the first terminal or the second terminal.

35. The motor drive device according to claim 34, characterized in that, One of the fourth mating part and the fourth positioning part includes a hole or a fourth groove, and the other includes a fourth protrusion.

36. The motor drive device according to any one of claims 1-19, characterized in that, The reset component includes: When the second shape memory alloy wire is energized, the length of the second shape memory alloy wire will shorten, thereby driving the locking member to move from the second position to the first position.

37. The motor drive device according to any one of claims 1-19, characterized in that, The stator component is provided with a position detection element for detecting the position information of the locking member. The position information is used to control the power supply or power cut-off of the first shape memory alloy wire.

38. The motor drive device according to claim 37, characterized in that, The position detection element includes at least one of a photoelectric switch and a position sensor.

39. The motor drive device according to any one of claims 1-19, characterized in that, The rotor component includes: A fixing frame, wherein the fixing frame is provided with a first mating part that mates with the first positioning part of the locking member; The rotor is mechanically coupled to the fixed frame.

40. The motor drive device according to any one of claims 1-19, characterized in that, When the motor is in the power-on standby state, the locking member can lock the rotor component.

41. A motor drive device, characterized in that, include: An electric motor, including a stator assembly and a rotor assembly that rotates relative to the stator assembly; A locking element is used to lock the rotor component to prevent the rotor component from rotating relative to the stator component; The first shape memory alloy wire is mechanically coupled to the locking member; when the first shape memory alloy wire is heated, the length of the first shape memory alloy wire will change, so as to drive the locking member to slide from the first position to the second position along the first movement direction; as well as A reset member, mechanically coupled to the locking member, is used to drive the locking member to move along a second direction of motion; the reset member is capable of moving the locking member from the second position to the first position. When the motor is in a power-off state, the locking member can lock the rotor component at a preset angle position, which is outside the preset working angle range of the rotor component; The first shape memory alloy wire includes two fixed ends, and the coupling portion of the first shape memory alloy that is coupled with the locking member is located between the two fixed ends.

42. The motor drive device according to claim 41, characterized in that, When the first shape memory alloy wire is heated, its length will shorten, thereby causing the locking member to slide from the first position to the second position.

43. A gimbal stabilization system, characterized in that, include: One or more pivot mechanisms are used to adjust the attitude angle of the load of the gimbal stabilization system, wherein the pivot mechanism includes: A support bracket for rotating the load; and The motor drive device according to any one of claims 1-42, wherein the bracket is coupled to the rotor component and rotates together with the rotor component.

44. The gimbal stabilization system according to claim 43, characterized in that, The rotating shaft mechanism is a pitch axis mechanism, a translation axis mechanism, or a roll axis mechanism.

45. The gimbal stabilization system according to claim 43, characterized in that, The stabilization system includes a pitch axis mechanism, a translation axis mechanism, and a roll axis mechanism. Each of the pitch axis mechanism, translation axis mechanism, and roll axis mechanism includes the bracket and the corresponding motor drive device. Furthermore, at least one of the pitch axis mechanism, translation axis mechanism, and roll axis mechanism has a locking element that locks the rotor portion of the motor when the motor is in a power-off state.

46. ​​A control method for a gimbal stabilization system, characterized in that, The control method includes: The rotor component of the control motor rotates within a preset working angle range to stabilize the load of the gimbal stabilization system; Power is supplied to the first memory alloy wire of the motor drive device of the gimbal stabilization system so that the length of the first memory alloy wire is shortened, thereby driving the locking member of the motor drive device to slide from the first position to the second position along the first movement direction; wherein, the first memory alloy wire includes two fixed ends, and the coupling part of the first memory alloy coupled with the locking member is located between the two fixed ends. When the rotor component of the motor rotates to a preset angle position, the power supply to the first memory alloy wire is stopped, so that the reset component drives the locking component to move from the second position to the first position along the second movement direction, so as to lock the rotor component at the preset angle position, the preset angle being outside the preset working angle range.

47. The control method according to claim 46, characterized in that, The control method further includes: Power is supplied to the first shape memory alloy wire to shorten its length, thereby causing the locking member to slide from the first position to the second position along the first movement direction, thereby unlocking the rotor component.

48. The control method according to claim 46, characterized in that, The control method further includes: After the locking member moves to the second position, the rotor component is controlled to rotate to the preset angle position.

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