Electronic equipment

Abstract

The invention discloses electronic equipment which comprises a power device and a moving part, the power device is at least used for providing first driving force for movement of the moving part, the power device has a first state and a second state which can be switched mutually, and under the condition that the electronic equipment is in a first mode, the power device has the first state; enabling the moving part to move under the action of a second driving force so as to change the posture of the electronic equipment, wherein the second driving force is a force which is provided by a foreign object except the electronic equipment and does not exceed a target threshold value; and when the electronic equipment is in the second mode, the power device has a second state, so that the moving part cannot move under the action of the second driving force.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electronic devices, in particular to an electronic device. BACKGROUND

[0002] Electronic devices such as robotic dogs adjust their postures by driving moving parts with their power devices, but in some scenarios, users want to easily adjust the postures of electronic devices with their hands, and current electronic devices cannot well meet this demand. SUMMARY

[0003] The present application provides the following technical solutions:

[0004] An electronic device comprises a power device and a moving part, the power device is used at least for providing a first driving force for the movement of the moving part, and the power device has a first state and a second state which can be switched to each other;

[0005] When the electronic device is in a first mode, the power device has the first state, so that the moving part can move under the action of a second driving force to change the posture of the electronic device, the second driving force being a force provided by an external object other than the electronic device and not exceeding a target threshold value;

[0006] When the electronic device is in a second mode, the power device has the second state, so that the moving part cannot move under the action of the second driving force.

[0007] Optionally, in the above electronic device, the power device comprises a motor, the motor comprises a rotor and an output shaft in transmission connection with the moving part;

[0008] The output shaft and the rotor are decoupled to be able to rotate relatively independently, so that the power device has the first state;

[0009] The output shaft and the rotor are combined to be able to rotate synchronously, so that the power device has the second state;

[0010] In any state, the output shaft and the moving part remain in transmission connection.

[0011] Optionally, in the above electronic device, the rotor has a mounting hole for mounting the output shaft, an inner wall of the mounting hole is provided with a clamping structure, the output shaft has a connecting part rotatably connected to the mounting hole, and the connecting part is provided with a movable clamping piece;

[0012] The clamping member is switchable with the connecting portion between a first positional relationship and a second positional relationship by movement, in the first positional relationship, the clamping member protrudes from the outer surface of the connecting portion and forms a circumferential clamping with the clamping structure, the power device has the second state, in the second positional relationship, the circumferential clamping is released, and the power device has the first state.

[0013] Optionally, in the electronic device, the clamping member has a clamping portion for forming the circumferential clamping with the clamping structure, the clamping member is rotationally connected with the connecting portion, and a distance between the clamping portion and the axis of the rotor gradually increases during switching from the second positional relationship to the first positional relationship.

[0014] Optionally, in the electronic device, the connecting portion is provided with a receiving cavity, the receiving cavity is provided with a movable body, the clamping member has a first pushed portion, the first pushed portion protrudes from an inner wall of the receiving cavity in the second positional relationship, and the movable body moves along the inner wall of the receiving cavity and pushes the first pushed portion during switching from the second positional relationship to the first positional relationship.

[0015] Optionally, in the electronic device, the connecting portion is provided with a receiving cavity, the receiving cavity is provided with a movable body, the clamping member has a second pushed portion, the second pushed portion protrudes from an inner wall of the receiving cavity in the first positional relationship, and the movable body moves along the inner wall of the receiving cavity and pushes the second pushed portion during switching from the first positional relationship to the second positional relationship.

[0016] Optionally, in the electronic device, the connecting portion is provided with a receiving cavity, the receiving cavity is provided with a movable body, the clamping member has a second pushed portion, the second pushed portion protrudes from an inner wall of the receiving cavity in the first positional relationship, and the movable body moves along the inner wall of the receiving cavity and pushes the second pushed portion during switching from the first positional relationship to the second positional relationship.

[0017] The electronic device is powered on, and the movable body is driven to move along the inner wall of the receiving cavity and push the first pushed portion in the second mode.

[0018] Optionally, in the electronic device, the connecting portion is provided with a receiving cavity, the receiving cavity is provided with a movable body, the clamping member has a second pushed portion, the second pushed portion protrudes from an inner wall of the receiving cavity in the first positional relationship, and the movable body moves along the inner wall of the receiving cavity and pushes the second pushed portion during switching from the first positional relationship to the second positional relationship.

[0019] The first magnetic member is fixed to the movable body.

[0020] The coil is fixed to the stator of the motor, an axis of the coil is parallel to an axis of the rotor, and the coil is electrified when the electronic device is powered on, and a magnetic force between the coil and the first magnetic member drives the movable body to move along the inner wall of the receiving cavity.

[0021] Optionally, in the electronic device, a metal tube fixed to the stator is included, and the coil is fixed to an inner wall of the metal tube, and the metal tube is used to reduce magnetic field interference of the coil on windings of the stator; and / or,

[0022] The clamping structure is provided as an inner spline, and the number of teeth of the inner spline and the number of teeth and slots of the stator of the motor satisfy an integral multiple relationship.

[0023] Optionally, in the electronic device, further comprising:

[0024] The elastic member is located in the accommodating cavity and is connected to the movable body and the connecting portion.

[0025] When the electronic device is powered off, the movable body is driven by the elastic restoring force of the elastic member to move along the inner wall of the accommodating cavity and push the second push portion. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on the provided drawings.

[0027] Figure 1 is a schematic diagram of an electronic device according to an embodiment of the present application;

[0028] Figure 2 is a schematic diagram of a power device of an electronic device according to an embodiment of the present application;

[0029] Figure 3 is a schematic diagram of a power device according to an embodiment of the present application; Figure 2 is a schematic diagram of a power device according to an embodiment of the present application;

[0030] Figure 4 is a schematic diagram of a power device according to an embodiment of the present application; Figure 2 is a schematic diagram of a power device according to an embodiment of the present application;

[0031] Figure 5 is a schematic diagram of a power device according to an embodiment of the present application; Figure 2 is a schematic diagram of a power device according to an embodiment of the present application;

[0032] Figure 6 is a schematic diagram of a power device according to an embodiment of the present application; Figure 2 is a schematic diagram of a power device according to an embodiment of the present application;

[0033] Figure 7 is a schematic diagram of a power device according to an embodiment of the present application; Figure 2 is a schematic diagram of a power device according to an embodiment of the present application;

[0034] Figure 8 isFigure 2 a partial enlarged view of the structure shown in Fig. 1;

[0035] Figure 9 is a sectional view along the line C-C in Fig. 1; Figure 2 is a front view of the power device shown in Fig. 1 in a second state;

[0036] Figure 10 is a sectional view along the line D-D in Fig. 1; Figure 9

[0037] Figure 11 is a sectional view along the line D-D in Fig. 1; Figure 9

[0038] Figure 12 is a front view of the power device shown in Fig. 1 in a second state; Figure 9 a partial enlarged view of the structure shown in Fig. 1;

[0039] indicated in the figure:

[0040] 100, power device; 200, transmission device; 300, moving part;

[0041] 110, stator; 120, rotor; 121, clamping structure; 122, magnet mounting groove; 130, output shaft; 140, metal tube; 141, coil; 150, clamping member; 151, first pushed part; 152, second pushed part; 153, clamping part;

[0042] 160, second magnetic member; 161, metal shell; 170, elastic member; 180, movable body; 190, first magnetic member. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0044] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "an example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0045] ​​In the description of the specification, the relative terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0046] Referring to Figures 1-12 The embodiments of the present application provide an electronic device, comprising a power device 100 and a moving component 300, wherein the power device 100 is used at least for providing a first driving force for the movement of the moving component 300, and the power device 100 has a first state and a second state which can be switched with each other. When the electronic device is in a first mode, the power device 100 has the first state, so that the moving component 300 can move under the action of a second driving force to change the posture of the electronic device, and the second driving force is a force provided by an external object other than the electronic device and does not exceed a target threshold value; when the electronic device is in a second mode, the power device 100 has the second state, so that the moving component 300 cannot move under the action of the second driving force.

[0047] The electronic device can be various types such as an industrial robot arm, a robot dog, etc., and the present application does not limit the electronic device. The moving part 300 of the electronic device refers to a part that can receive a driving force to move, for example, the moving part 300 can be a leg of a robot dog, and for another example, in some embodiments, the electronic device can be an electric curtain, and the moving part 300 can be a rotating shaft for winding a curtain rope. The movement of the moving part 300 changes the posture of the electronic device. By providing the power device 100 with the first state and the second state that can be switched to each other, different modes of the electronic device correspond to different driving modes, so that the moving part 300 can move under the first driving force provided by the power device 100 or the second driving force provided by an external object other than the electronic device, and the second driving force does not exceed the target threshold. In some scenarios, the external object other than the electronic device can be the user's hand, so in the first mode of the electronic device, the user is allowed to drive the moving part 300 with the hand without exceeding the target threshold, which meets the user's demand for easily adjusting the posture of the electronic device with the hand. It should be understood that in the second mode of the electronic device, the moving part 300 cannot move under the action of the second driving force, and the movement of the moving part 300 can be realized by the first driving force provided by the power device 100.

[0048] In some embodiments, the power device 100 can include a motor, and the motor can include a rotor 120 and an output shaft 130 in transmission connection with the moving part 300. The electronic device can be configured to: decouple the output shaft 130 from the rotor 120 to be able to rotate relatively independently, so that the power device 100 has the first state; and combine the output shaft 130 with the rotor 120 to be able to rotate synchronously, so that the power device 100 has the second state; in any state, the output shaft 130 remains in transmission connection with the moving part 300.

[0049] The output shaft 130 of the motor and the moving part 300 can be directly connected or indirectly connected, and the present application does not limit the same. For example, in some embodiments, the output shaft 130 of the motor and the moving part 300 can be directly connected, and for another example, in some embodiments, the output shaft 130 of the motor and the moving part 300 can be indirectly connected. Figure 1 and Figure 2In the embodiment shown by way of example, the output shaft 130 of the motor can be indirectly connected to the moving part 300 through a transmission device 200 (for example, a speed reducer), and in other embodiments, the transmission device 200 can be omitted and the moving part 300 can be directly connected to the output shaft 130 of the motor. The output shaft 130 of the motor and the rotor 120 are arranged in a decouplable connection, that is, the output shaft 130 and the rotor 120 can be combined and decoupled. It should be understood that when the output shaft 130 and the rotor 120 are combined, the movements of the two will be synchronized, and when the output shaft 130 and the rotor 120 are decoupled, the movements of the two will be independent of each other. In this way, by combining and decoupling the output shaft 130 and the rotor 120, the power device 100 can have different states, thereby realizing different driving modes of the electronic device in different modes.

[0050] When the power device 100 has the first state, since the movements of the output shaft 130 and the rotor 120 are independent of each other, the rotor 120 rotates without driving the output shaft 130 to rotate, and the power device 100 does not provide the first driving force to the moving part 300. It is easy to understand that when the user provides the second driving force to the moving part 300 with his hand to make the moving part 300 move, the moving part 300 will not be resisted by the rotor 120, and thus the user can adjust the posture of the electronic device more easily. When the power device 100 has the second state, since the movements of the output shaft 130 and the rotor 120 are synchronized, the rotor 120 rotates to drive the output shaft 130 to rotate, and the moving part 300 moves under the action of the first driving force provided by the power device 100, thereby adjusting the posture of the electronic device.

[0051] On the basis of the decouplable connection between the output shaft 130 of the motor and the rotor 120, in any state, the output shaft 130 and the moving part 300 are always in transmission connection, that is, whether the power device 100 has the first state or the second state, or in the process of switching the first state and the second state of the power device 100, the output shaft 130 and the moving part 300 are always in transmission connection. In this way, the output shaft 130 always moves with the moving part 300, so when a position sensor such as an encoder is arranged on the output shaft 130 to record position information, even in the non-enabled state of the motor (that is, the rotor 120 does not drive the moving part 300 to rotate), the forced rotation of the motor will also be recorded by the sensor, and the position information of the moving part 300 will not be lost.

[0052] Of course, in other embodiments, the electronic device can be configured to give the power unit 100 different states in other ways. For example, the output shaft 130 of the motor and the transmission device 200 can be decoupled. After the output shaft 130 is decoupled from the transmission device 200, the power unit 100 cannot provide the first driving force to the moving part 300 to make the moving part 300 move. As another example, when the moving part 300 is directly connected to the output shaft 130 of the motor, the output shaft 130 of the motor and the moving part 300 can be decoupled.

[0053] See Figures 2-4 In some embodiments, the motor type of the power unit 100 can be a permanent magnet synchronous motor, and the rotor 120 is provided with a magnet mounting slot 122 for mounting permanent magnets. It should be noted that the permanent magnets on the rotor 120 and the windings on the stator 110 are omitted from the figures. Furthermore, in Figures 2-4 In the exemplary embodiment shown, the permanent magnet synchronous motor is an external rotor 120 motor. In other embodiments, the permanent magnet synchronous motor can be configured as an internal rotor 120 motor, and this application does not limit this. The working principle of the permanent magnet synchronous motor determines the existence of cogging torque and reluctance torque. By setting the output shaft 130 of the motor to a decoupled connection with the rotor 120, the influence of cogging torque / reluctance torque on the forced motion of the output shaft 130 can be eliminated after the output shaft 130 and the rotor 120 are decoupled.

[0054] To achieve a decoupled connection between the motor's output shaft 130 and the rotor 120, in some embodiments, the electronic device may be configured such that: the rotor 120 has a mounting hole for mounting the output shaft 130, the inner wall of the mounting hole is provided with a snap-fit ​​structure 121, the output shaft 130 has a connecting portion rotatably connected to the mounting hole, the connecting portion is provided with a movable snap-fit ​​member 150, the snap-fit ​​member 150 can switch between a first position relationship and a second position relationship with the connecting portion by movement, in the first position relationship, the snap-fit ​​member 150 protrudes from the outer surface of the connecting portion and forms a circumferential snap-fit ​​with the snap-fit ​​structure 121, the power device 100 has a second state, in the second position relationship, the above-mentioned circumferential snap-fit ​​is released, the power device 100 has a first state.

[0055] The mounting hole is a part of the connecting portion of the rotor 120 accommodating the output shaft 130, and it should be understood that the center line of the mounting hole coincides with the rotation center line (i.e., the axis) of the rotor 120. In some embodiments, the mounting hole can be provided as a through hole located at the center of the rotor 120, and the connecting portion of the output shaft 130 can be provided in a cylindrical shape. By providing a movable clamping piece 150 on the connecting portion of the output shaft 130, the relative rotation of the output shaft 130 and the rotor 120 can be limited by the clamping between the clamping piece 150 and the clamping structure 121 on the inner wall of the mounting hole, i.e., when the clamping piece 150 and the clamping structure 121 form a circumferential clamping, the output shaft 130 and the rotor 120 are combined together and can rotate synchronously. It is easy to understand that after the clamping between the clamping piece 150 and the clamping structure 121 is released, the output shaft 130 and the rotor 120 are decoupled and can rotate independently of each other. Of course, in other embodiments, the decouplable connection between the output shaft 130 and the rotor 120 can also be achieved by providing a movable component on the rotor 120 and a clamping structure 121 on the output shaft 130.

[0056] In some embodiments, the clamping piece 150 can be provided in multiple numbers and uniformly distributed around the axis of the output shaft 130. For example, the clamping piece 150 can be provided in three, four, etc. The connection form of the clamping piece 150 and the output shaft 130 can have multiple choices, for example, the clamping piece 150 and the connecting portion can be provided in a rotary connection or a sliding connection. In some embodiments, the clamping piece 150 can be configured such that the clamping piece 150 has a clamping portion 153 for cooperating with the clamping structure 121 on the rotor 120 to form a circumferential clamping, the clamping piece 150 is in rotary connection with the connecting portion, and the distance between the clamping portion 153 and the axis of the rotor 120 gradually increases during the switching from the second position relationship to the first position relationship. In this structure, the clamping piece 150 is hinged to the output shaft 130, and the clamping piece 150 can realize the extension and retraction of the clamping portion 153 by rotating relative to the output shaft 130, and the clamping portion 153 protrudes from the outer surface of the output shaft 130 after extension, thereby cooperating with the clamping structure 121 on the rotor 120 to form a circumferential clamping. The reverse rotation of the clamping piece 150 can make the clamping portion 153 retract, thereby disengaging from the clamping structure 121 on the rotor 120.

[0057] On the basis of the rotation connection between the clamping piece 150 and the connecting portion, the hinge axis of the clamping piece 150 and the connecting portion can be arranged to satisfy the perpendicular condition with the axis of the rotor 120, or can be arranged to satisfy the parallel condition with the axis of the rotor 120, which is not limited in the present application. In some embodiments, the electronic device can be configured that the connecting portion of the output shaft 130 is provided with a receiving cavity, the receiving cavity is provided with a movable body 180, the clamping piece 150 is provided with a first pushed portion 151, in the second positional relationship between the clamping piece 150 and the connecting portion, the first pushed portion 151 protrudes from the inner wall of the receiving cavity, in the process of switching from the second positional relationship to the first positional relationship, the movable body 180 moves along the inner wall of the receiving cavity and pushes the first pushed portion 151. Referring to Figure 7 and Figure 10 , in the case that the hinge axis of the clamping piece 150 and the connecting portion satisfies the perpendicular condition with the axis of the rotor 120, the movable body 180 moves along the axial direction of the rotor 120 in the receiving cavity to push the first pushed portion 151 protruding from the inner wall of the receiving cavity, so that the clamping piece 150 rotates relative to the output shaft 130, and then the clamping portion 153 of the clamping piece 150 extends out of the output shaft 130. Of course, in other embodiments, the rotation of the clamping piece 150 to extend the clamping portion 153 can be driven to be realized by other components, for example, a torsional spring can be arranged at the hinge between the clamping piece 150 and the output shaft 130, and the torsional spring is used to drive the clamping piece 150 to rotate to extend the clamping portion 153.

[0058] In some embodiments, the electronic device can be configured that the connecting portion is provided with a receiving cavity, the receiving cavity is provided with a movable body 180, the clamping piece 150 is provided with a second pushed portion 152, in the first positional relationship, the second pushed portion 152 protrudes from the inner wall of the receiving cavity, in the process of switching from the first positional relationship to the second positional relationship, the movable body 180 moves along the inner wall of the receiving cavity and pushes the second pushed portion 152. Referring to Figure 11 and Figure 6 , in the case that the hinge axis of the clamping piece 150 and the connecting portion satisfies the perpendicular condition with the axis of the rotor 120, the movable body 180 moves along the axial direction of the rotor 120 in the receiving cavity to push the second pushed portion 152 protruding from the inner wall of the receiving cavity, so that the clamping piece 150 rotates relative to the output shaft 130, and then the clamping portion 153 of the clamping piece 150 is retracted into the output shaft 130. Of course, in other embodiments, the rotation of the clamping piece 150 to retract the clamping portion 153 can be driven to be realized by other components, for example, a torsional spring can be arranged at the hinge between the clamping piece 150 and the output shaft 130, and the torsional spring is used to drive the clamping piece 150 to rotate to retract the clamping portion 153.

[0059] Referring to Figure 7 and Figure 10In some embodiments, the clamping member 150 has both the first pushed part 151 and the second pushed part 152. In different modes, the movable body 180 has different pushing objects (i.e. the first pushed part 151 and the second pushed part 152). When the movable body 180 moves in the first direction in the accommodating cavity, which is parallel to the axial direction of the rotor 120, the movable body 180 pushes the first pushed part 151. Then, when the movable body 180 moves in the second direction in the accommodating cavity, which is opposite to the first direction, the movable body 180 pushes the second pushed part 152. That is, the reciprocating linear motion of the movable body 180 pushes different parts of the clamping member 150, so that the clamping member 150 rotates in the opposite direction relative to the output shaft 130, thereby achieving the extension and retraction of the clamping part 153. See Figure 3 and Figure 8 In some embodiments, the movable body 180 can be assembled in a non-circular cross-section accommodating cavity. For example, the movable body 180 can be provided in a prismatic shape and assembled in a polygonal cross-section accommodating cavity. In this way, the movable body 180 does not rotate relative to the output shaft 130 when moving in the accommodating cavity, thereby making the movement of the movable body 180 more stable and reliable.

[0060] In some embodiments, the electronic device can be configured to: when the electronic device is powered on, the electronic device is in the second mode, and the movable body 180 is driven to move along the inner wall of the accommodating cavity of the output shaft 130 and push the first pushed part 151 of the clamping member 150. That is, the power-on of the electronic device enables the rotor 120 and the output shaft 130 to rotate synchronously. That is, the power-on of the electronic device causes the electronic device to enter the second mode. Taking the electronic device as a robot as an example, in the embodiment, when the power of the robot is turned on, i.e. the robot is working, the limbs of the robot cannot be controlled to change the posture by external force, so as to avoid burning the motor. When the power of the robot is turned off, i.e. the robot is not working, the limbs of the robot can be controlled to change the posture by external force, for example, when the robot is not used, the user can use hands to store the limbs of the robot in a posture that is easy to place. Of course, in other embodiments, the electronic device can also be configured to enter the second mode by other actions other than power-on.

[0061] On the basis that the electronic device is configured to enter the second mode by power-on, the electronic device can further include: a first magnetic member 190 fixed to the movable body 180; and a coil 141 fixed to the stator 110 of the motor, the axis of the coil 141 being parallel to the axis of the rotor 120. When the electronic device is powered on, the coil 141 is energized, and a magnetic force between the coil 141 and the first magnetic member 190 is generated to drive the movable body 180 to move along the inner wall of the accommodating cavity. See Figure 3 and Figure 6The first magnetic member 190 can be embedded in the interior of the movable body 180, and the coil 141 is fixed on the stator 110 and arranged around the part of the connecting output shaft 130 of the rotor 120. The coil 141 can generate a magnetic field after being electrified, so that the first magnetic member 190 located in the magnetic field is subjected to a magnetic force. Under the action of the magnetic force, the movable body 180 is driven to move along the axial direction of the rotor 120.

[0062] In some embodiments, the electronic device can include a metal tube 140 fixed to the stator 110, and the coil 141 is fixed to the inner wall of the metal tube 140. The metal tube 140 is used to reduce the magnetic field interference of the coil 141 to the winding of the stator 110. It is easy to understand that the winding of the stator 110 is used to generate the magnetic field of the stator 110 to drive the rotor 120 to rotate. The magnetic field generated by the coil 141 is used to drive the first magnetic member 190 to move with the movable body 180. The coil 141 and the winding of the stator 110 are respectively used to generate magnetic fields with different functions. By fixing the coil 141 on the inner wall of the metal tube 140, the metal tube 140 can be used to reduce the influence of the magnetic field of the coil 141 on the winding of the stator 110 after being electrified. The material of the metal tube 140 can be high permeability iron-nickel alloy, such as permalloy, etc., so as to better suppress the mutual influence between the magnetic field generated by the coil 141 and other magnetic fields around it.

[0063] In some embodiments, the electronic device can include an elastic member 170 located in the accommodation cavity and connected to the movable body 180 and the connecting portion. When the electronic device is powered off, the movable body 180 moves along the inner wall of the accommodation cavity and pushes the second pushing portion 152 under the elastic restoring force of the elastic member 170. That is, the power-off (or power-off shutdown) of the electronic device causes the rotor 120 and the output shaft 130 to decouple and rotate independently of each other. That is, the power-off of the electronic device causes the electronic device to enter the first mode. Of course, in other embodiments, the electronic device can also be configured to enter the first mode by other actions other than power-off. See Figure 6 and Figure 11 In some embodiments, the elastic member 170 can be a spring, and the movable body 180 needs to overcome the elastic force of the spring when moving to make the clamping portion 153 of the clamping member 150 extend out of the output shaft 130. When the electronic device is powered off, the elastic force of the spring becomes the driving force to make the movable body 180 move to make the clamping portion 153 of the clamping member 150 retract.

[0064] See Figure 11Under the combined action of the magnetic force generated by the coil 141 and the elastic force of the elastic member 170, the movable body 180 can be clamped at a position where the clamping portion 153 of the clamping member 150 is kept in an extended state, i.e., the movable body 180 can be kept stationary in the accommodating cavity under the above-mentioned combined action, so as to keep abutting against the first push-receiving portion 151 of the clamping member 150, and the clamping member 150 cannot rotate to retract the clamping portion 153. When the coil 141 is powered off, under the action of the elastic restoring force of the elastic member 170, the movable body 180 automatically moves along the axial direction of the rotor 120, and the clamping member 150 is retracted by pushing the second push-receiving portion 152, so as to rotate the clamping portion 153 and release the clamping between the clamping member 150 and the clamping structure 121. In some embodiments, in order to better overcome the friction between the clamping member 150 and the clamping structure 121 of the rotor 120 and smoothly complete the release of the clamping between the clamping member 150 and the clamping structure 121, a reverse current can be supplied to the coil 141, so as to generate a magnetic force opposite to the previous one on the first magnetic member 190, and force the clamping member 150 to rotate to retract the clamping portion 153.

[0065] In some embodiments, the clamping structure 121 on the rotor 120 for clamping cooperation with the clamping member 150 can be provided as an internal spline, and the number of teeth of the internal spline can be set to satisfy an integral multiple relationship with the number of teeth and slots of the stator 110 of the motor. Since the magnetic force line always closes along the magnetic path with the smallest magnetic resistance, i.e., the "magnetic path magnetic resistance minimum principle", the circumferential torque generated by the interaction between the permanent magnet on the rotor 120 and the teeth and slots of the stator 110 makes the rotor 120 tend to be positioned at a certain position. By setting the number of teeth of the internal spline to satisfy an integral multiple relationship with the number of teeth and slots of the stator 110 of the motor, the clamping member 150 can be beneficially stopped at the position with the smallest magnetic resistance along with the rotor 120, and aligned with the teeth and slots of the internal spline. If the clamping portion 153 of the clamping member 150 is misaligned with the teeth and slots of the internal spline when it is extended due to external load or other reasons, the clamping portion 153 of the clamping member 150 can be quickly clamped into the teeth and slots of the internal spline by rotating more than 360 / N (N is the number of teeth of the internal spline) to complete the rotational locking of the rotor 120 and the output shaft 130.

[0066] In some embodiments, the electronic device can include a second magnetic element 160 disposed on the output shaft 130, which is configured to cooperate with an inductive element (e.g., a magnetic inductive chip) disposed on the stator 110 to detect the position information of the output shaft 130 relative to the stator 110. It should be noted that the working principle of detecting the position information of the output shaft 130 by using the second magnetic element 160 can refer to the working principle of a conventional magnetic encoder, which will not be described herein. In order to reduce the magnetic field coupling effect between the second magnetic element 160 and other magnetic fields (e.g., the magnetic field generated by the first magnetic element 190, the magnetic field generated by the winding of the stator 110, etc.) around each other, a metal shell 161 for accommodating the second magnetic element 160 can be disposed on the output shaft 130. The local part of the second magnetic element 160 is surrounded by the metal shell 161, so as to reduce the magnetic field coupling effect with other magnetic fields around. The material of the metal shell 161 can be high permeability iron-nickel alloy, such as permalloy, etc., so as to better suppress the mutual influence between the magnetic field generated by the second magnetic element 160 and other magnetic fields around.

[0067] The various embodiments described in this specification are presented by way of example, and each embodiment is not necessarily composed of all features described with respect to other embodiments. Each embodiment can be implemented in a variety of ways.

[0068] The above description of disclosed embodiments allows a person skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An electronic device comprising a power device and a moving component, the power device being configured to provide at least a first driving force for movement of the moving component, the power device having a first state and a second state which are switchable relative to each other; in a first mode of the electronic device, the power device has the first state, such that the moving component is movable under a second driving force to change a posture of the electronic device, the second driving force being a force provided by an external object other than the electronic device and not exceeding a target threshold; in a second mode of the electronic device, the power device has the second state, such that the moving component is not movable under the second driving force.

2. The electronic device of claim 1, the power device comprising an electric motor having a rotor and an output shaft in driving connection with the moving component; in the first state of the power device, the output shaft is decoupled from the rotor to be able to rotate relatively independently; in the second state of the power device, the output shaft is coupled with the rotor to be able to rotate synchronously; in either state, the output shaft remains in driving connection with the moving component.

3. The electronic device of claim 2, the rotor having a mounting hole for mounting the output shaft, an inner wall of the mounting hole being provided with a clamping structure, the output shaft having a connecting portion rotatably connected to the mounting hole, the connecting portion being provided with a movable clamping member; the clamping member being switchable between a first positional relationship and a second positional relationship with the connecting portion, in the first positional relationship, the clamping member protrudes from an outer surface of the connecting portion and forms a circumferential clamping with the clamping structure, the power device having the second state, in the second positional relationship, the circumferential clamping is released, the power device having the first state.

4. The electronic device of claim 3, the clamping member having a clamping portion for forming the circumferential clamping with the clamping structure, the clamping member being rotatably connected to the connecting portion, in a process of switching from the second positional relationship to the first positional relationship, a distance between the clamping portion and an axial centerline of the rotor gradually increases.

5. The electronic device of claim 4, the connecting portion being provided with a receiving cavity, the receiving cavity being provided with a movable body, the clamping member having a first pushed portion, in the second positional relationship, the first pushed portion protrudes from an inner wall of the receiving cavity, in the process of switching from the second positional relationship to the first positional relationship, the movable body moves along the inner wall of the receiving cavity and pushes the first pushed portion.

6. The electronic device of claim 4, the connecting portion being provided with a receiving cavity, the receiving cavity being provided with a movable body, the clamping member having a second pushed portion, in the first positional relationship, the second pushed portion protrudes from an inner wall of the receiving cavity, in the process of switching from the first positional relationship to the second positional relationship, the movable body moves along the inner wall of the receiving cavity and pushes the second pushed portion. 7.The electronic device of claim 5, comprising: when the electronic device is powered on, the second mode, the movable body is driven to move along the inner wall of the accommodating cavity and push the first pushed part. 8.The electronic device of claim 7, further comprising: a first magnetic member fixed to the movable body; a coil fixed to the stator of the motor, the axis of the coil and the axis of the rotor satisfy the parallel condition, the coil is energized when the electronic device is powered on, and the magnetic force between the coil and the first magnetic member is used to drive the movable body to move along the inner wall of the accommodating cavity. 9.The electronic device of claim 8, comprising a metal tube fixed to the stator, the coil is fixed to the inner wall of the metal tube, the metal tube is used to reduce the magnetic field interference of the coil to the winding of the stator; and / or, the clamping structure is provided as an internal spline, the number of teeth of the internal spline and the number of teeth and slots of the stator of the motor satisfy the integral multiple relationship. 10.The electronic device of claim 6, further comprising: a resilient member located in the accommodating cavity, connecting the movable body and the connecting part; when the electronic device is powered off, the first mode, the movable body is driven to move along the inner wall of the accommodating cavity and push the second pushed part under the elastic restoring force of the resilient member.

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