Locking mechanism, motor system and gimbal

Abstract

The application discloses a locking mechanism, a motor system and a holder. The locking mechanism comprises a transmission member, a driving member, a reset member and a locking member. The driving member is in transmission connection with the transmission member, and the driving member can drive the transmission member to rotate in a first direction. The reset member is in transmission connection with the transmission member, and the reset member can drive the transmission member to rotate in a second direction opposite to the first direction. The locking member is connected with the transmission member and can move along with the rotation of the transmission member. When the transmission member rotates in the first direction, the locking member can be moved to a locking position. When the transmission member rotates in the second direction, the locking member can be moved to an unlocking position. Alternatively, when the transmission member rotates in the first direction, the locking member can be moved to the unlocking position. When the transmission member rotates in the second direction, the locking member can be moved to the locking position. Thus, the locking mechanism requires a small installation space, which is beneficial to the design requirement of miniaturization of the holder.

Description

Technical Field

[0001] This application relates to the field of gimbals, and more particularly to a locking mechanism, a motor system, and a gimbal. Background Technology

[0002] For example, handheld gimbals are typically equipped with locking devices to lock the gimbal structure when the device is not in use, preventing unnecessary movement and damage during transport. With the increasing demand for miniaturization of handheld gimbals, higher requirements have been placed on the size of these locking devices. Utility Model Content

[0003] To overcome the problems existing in related technologies, this application provides a locking mechanism, a motor system, and a gimbal.

[0004] According to a first aspect of this application, a locking mechanism is provided, the locking mechanism comprising: a transmission member; a driving member, pulsatorically connected to the transmission member, the driving member capable of driving the transmission member to rotate in a first direction; a reset member, pulsatorically connected to the transmission member, the reset member capable of driving the transmission member to rotate in a second direction, the second direction being opposite to the first direction; and a locking member, connected to the transmission member and capable of moving following the rotation of the transmission member; wherein, when the transmission member rotates in the first direction, it can drive the locking member to move to a locked position, and when the transmission member rotates in the second direction, it can drive the locking member to move to an unlocked position; or, when the transmission member rotates in the first direction, it can drive the locking member to move to an unlocked position, and when the transmission member rotates in the second direction, it can drive the locking member to move to a locked position.

[0005] According to a second aspect of this application, a motor system is provided, the motor system comprising: a motor including a stator and a rotor, the rotor being configured to rotate relative to the stator; a locking mechanism as described in the first aspect, disposed on one of the stator and the rotor, and having a mating portion disposed on the other of the stator and the rotor, the locking portion of the locking mechanism engaging with the mating portion to lock the rotor in a locked state.

[0006] According to a third aspect of this disclosure, a gimbal is provided, the gimbal including at least one pivot structure, the at least one pivot structure including a locking mechanism as described in the first aspect, or a motor system as described in the second aspect, wherein when the gimbal is switched from an on state to a retracted state, the locking member moves to a locked position to lock at least one pivot structure; and when the gimbal is switched from the retracted state to the on state, the locking member moves to an unlocked position to release the lock on at least one pivot structure.

[0007] The technical solutions provided by the embodiments of this application may include the following beneficial effects:

[0008] The locking mechanism provided in this application locks the motor by driving the transmission component to rotate in a first direction via a driving component, which moves the locking component to the locked position. A reset component then drives the transmission component to rotate in a second direction, moving the locking component to the unlocked position. Alternatively, the driving component can drive the transmission component to rotate in the first direction, moving the locking component to the unlocked position, and the reset component then drives the transmission component to rotate in the second direction, moving the locking component to the locked position. This design minimizes the installation space required for the locking structure, which is beneficial for miniaturizing the gimbal.

[0009] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0010] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0011] Figure 1 This illustration shows a schematic diagram of the locking mechanism in the unlocked state according to an embodiment of this application;

[0012] Figure 2 This illustration shows a schematic diagram of the locking mechanism in a locked state according to an embodiment of this application;

[0013] Figure 3 A schematic diagram of the locking mechanism provided in another embodiment of this application is shown;

[0014] Figure 4 An exploded schematic diagram of a locking mechanism provided in another embodiment of this application is shown;

[0015] Figure 5 This illustration shows a schematic diagram of the locking mechanism in the unlocked state according to another embodiment of this application;

[0016] Figure 6 A schematic diagram of the locking mechanism in a locked state according to another embodiment of this application is shown.

[0017] Figure 7 A schematic diagram of the structure of a handheld gimbal provided in an embodiment of this application is shown.

[0018] In the picture:

[0019] 1-Motor system; 11-Rotor; 111-Housing; 112-Groove structure; 12-Stator; 13-Transmission component; 131-First groove; 132-Second groove; 133-First side surface; 14-Drive component; 141-First shape memory alloy wire; 142-First mounting plate; 15-Reset component; 151-Second shape memory alloy wire; 152-Second mounting plate; 16-Locking component; 161-Locking part; 162-Sliding part; 163-Fixing part; 164-Elastic element; 17-Sliding element; 171-Sliding plate; 1711-First mating part; 1712-Second mating part; 172-First support part; 173-Second support part; 18-Base; 181-Limiting groove; 182-Mounting hole; 183-First surface; 184-Second side surface; 19-Cover plate; 191-First hollow structure; 192-Second hollow structure; 193-Limiting groove;

[0020] 2-Handheld gimbal; 21-Handheld mechanism; 211-Power button;

[0021] 3-Filming device. Detailed Implementation

[0022] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0023] A gimbal, generally speaking, refers to a support device used to mount or fix a load. As a carrier of the load, the gimbal can be used to adjust the load's attitude to stabilize it, and / or to sense the load at different angles and directions. The gimbal can be handheld or airborne, mounted on a mobile platform, including but not limited to drones, unmanned vehicles, and unmanned boats.

[0024] The aforementioned load can be one of the following: an imaging device, a mobile terminal, or a sensor. The imaging device can be an image acquisition device such as a camera, ultrasonic imaging device, infrared imaging device, or imaging lens. The mobile terminal can be a mobile phone, tablet computer, etc. The sensor can include attitude sensors, such as angle sensors and accelerometers. It is understood that the imaging device can also include certain mobile terminals, for example, an imaging device that is a mobile phone or tablet computer with video recording and photo taking functions.

[0025] A gimbal can be a single-axis, two-axis, or three-axis gimbal, etc. Each axis of the gimbal includes a motor and an arm. When the gimbal is in a non-working state, such as during storage, carrying, or transportation, a locking device is usually required to lock the motor to prevent the arm from swinging erratically and causing an impact. However, the locking devices in related technologies are relatively large, which is not conducive to the miniaturization design requirements of gimbals.

[0026] To address the aforementioned technical problems, this application provides a locking mechanism. A driving component drives a transmission component to rotate in a first direction, moving a locking component to a locked position to lock the motor. A reset component then drives the transmission component to rotate in a second direction, moving the locking component to an unlocked position to unlock the motor. Alternatively, the driving component drives the transmission component to rotate in the first direction, moving the locking component to an unlocked position to unlock the motor. The reset component then drives the transmission component to rotate in the second direction, moving the locking component to a locked position to lock the motor. This locking structure requires less installation space, which is beneficial for miniaturizing the gimbal.

[0027] An exemplary embodiment of this application provides a locking mechanism, such as... Figure 1 and Figure 2 As shown, the locking mechanism includes a transmission member 13, a driving member 14, a reset member 15, and a locking member 16. The driving member 14 is drively connected to the transmission member 13, and the driving member 14 can drive the transmission member 13 in a first direction (e.g., Figure 1 Rotation (in the F1 direction shown). Exemplarily, the drive element 14 can be a component that drives the transmission element 13 through the cooperation of a motor, gears, connecting rods, or other parts; or it can be a component that drives the transmission element 13 by its own deformation, such as a shape memory alloy wire or a spring. No specific limitation is made in this regard. It is understood that shape memory alloys (SMA) are alloy materials that undergo elastic deformation within a certain temperature range and eliminate elastic deformation within another temperature range.

[0028] The reset member 15 is connected to the transmission member 13, and the reset member 15 can drive the transmission member 13 to the second direction (e.g., Figure 1 The first direction (F2 direction) is the direction of rotation shown in the diagram, and the second direction is opposite to the first direction. For example, the reset member 15 may also be a component that drives the transmission member 13 to rotate by the cooperation of a motor, gears, connecting rods, etc., or a component that drives the transmission member 13 to rotate by its own deformation, such as a shape memory alloy wire or a spring. There is no specific limitation on this.

[0029] The locking member 16 is connected to the transmission member 13 and can move as the transmission member 13 rotates. For example, the locking member 16 and the transmission member 13 may abut against each other, so that when the transmission member 13 rotates, it can drive the locking member 16 to move. Alternatively, the locking member 16 and the transmission member 13 may be connected via a linkage, toothed joint, or the like, so that the locking member 16 can move under the rotation of the transmission member 13.

[0030] The locking mechanism in this embodiment can unlock and lock the motor, so as to... Figure 3 For example, the locking mechanism can be installed on the stator 12 of the motor, and the motor can be locked by intervening in the rotation of the rotor 11. Of course, the locking mechanism can also be installed on the rotor 11 of the motor, and the motor can be locked by cooperating with the stator 12. Here, the specific location of the locking mechanism is not specifically limited.

[0031] When the transmission component 13 moves in the first direction (e.g.) Figure 1 When the transmission member 13 rotates in the F1 direction (as shown in the diagram), it can move the locking member 16 to the locked position, thereby locking the motor rotor. When the transmission member 13 rotates in the second direction (e.g., in the F1 direction), it can move the locking member 16 to the locked position, thereby locking the motor rotor. Figure 1 When rotated in the F2 direction shown in the figure, the locking member 16 can be moved in a straight line to the unlock position, thereby unlocking the motor rotor.

[0032] Or when the transmission component 13 is in the first direction (e.g.) Figure 1 When the transmission member 13 rotates in the F1 direction (as shown in the diagram), it can drive the locking member 16 to move in a straight line to the unlocked position, thereby unlocking the motor rotor. When the transmission member 13 rotates in the second direction (e.g., in the F1 direction), it can drive the locking member 16 to move in a straight line to the unlocked position, thereby unlocking the motor rotor. Figure 1 When rotated in the F2 direction shown in the figure, the locking member 16 can be moved in a straight line to the locking position, thereby locking the motor rotor.

[0033] It should be noted that the locking position refers to the position where the locking member 16 cooperates with the rotor 11 or stator 12 to restrict the rotation of the rotor 11, thereby locking the rotor 11. For example, a groove is provided on the rotor 11 or stator 12, and part of the structure of the locking member 16 in the locking position is located in the groove to restrict the rotation of the rotor 11.

[0034] The unlocked position refers to the position where the locking member 16 is away from the rotor 11 or stator 12 to avoid interference between them. This position does not affect the rotation of the rotor 11, thus unlocking the rotor 11. For example, in the unlocked position, the locking member 16 is retracted into the rotor or stator 12 to disengage from the groove on the rotor or stator 12, thereby avoiding interference with the rotation of the rotor 11.

[0035] In designing the relevant gimbal structure, the inventors discovered that the locking mechanisms of existing gimbals are typically located outside the gimbal's working angle. Taking a three-axis gimbal as an example, a certain three-axis gimbal has a working angle range of -55 degrees to +145 degrees on the pitch axis, -300 degrees to +300 degrees on the translation axis, and -55 degrees to +55 degrees on the roll axis. This is because existing locking structures usually interfere with the rotor, so it is necessary to place the locking structure outside the working angle. Therefore, the inventors further provide a solution where the locking mechanism can be arbitrarily set within any rotation range of the gimbal.

[0036] For ease of understanding, exemplarily, combined with Figure 1 and Figure 2 Taking an external rotor motor as an example, the locking mechanism is set on the stator 12 of the motor and locks the rotor 11 of the motor through the locking mechanism. The driving component 14 includes a first memory alloy wire 141, and the reset component 15 includes a second memory alloy wire 151. The first memory alloy wire 141 and the second memory alloy wire 151 are respectively connected to the transmission component 13 for transmission.

[0037] When the first shape memory alloy wire 141 is in an excited state (e.g., energized), it undergoes contraction deformation, thereby driving the transmission component 13 in a first direction (e.g., Figure 1 and Figure 2 Rotation of the transmission member 13 in the first direction (as shown in F1 direction) can push the locking member 16 in a third direction (e.g., the direction of rotation of the transmission member 13 in the first direction). Figure 1 and Figure 2 The motor moves in the direction of F4 shown in the figure until it reaches the locking position. At this time, part of the structure of the locking member 16 is located in the groove on the rotor 11 to restrict the rotation of the rotor 11, thereby locking the motor.

[0038] When the second shape memory alloy wire 151 is in an excited state (e.g., energized), it undergoes contraction deformation, thereby driving the transmission member 13 in the second direction (e.g., Figure 1 and Figure 2 When rotated in the F2 direction shown in the diagram, it will cause the locking member 16 to rotate in the fourth direction (e.g., Figure 1 and Figure 2 Move the motor in the direction of F3 shown in the figure until it reaches the unlock position. At this time, the locking member 16 is located on the stator 12 and disengages from the groove on the rotor 11 to avoid interfering with the rotation of the rotor 11, thereby unlocking the motor.

[0039] For example, the third direction refers to the direction radially outward from the rotation center of the transmission member 13, such as... Figure 1-2 In the F4 direction, the fourth direction is the radial inward direction along the rotation center of the transmission component 13, for example... Figure 1-2In the F3 direction, the rotational motion of the transmission component 13 can be converted into the linear motion of the locking component 16, causing the locking component 16 to reciprocate linearly under the drive of the transmission component 13. It is understandable that the third direction could also be the F3 direction in the diagram, and the fourth direction could also be the F4 direction.

[0040] It should be noted that the above description takes locking the outer rotor as an example. When the motor adopts an inner rotor structure (i.e., the rotor is located at the center of the stator), the locking element 16 is in a third direction ( Figure 1-2 When moving to the F4 direction, you will reach the unlock position, moving to the fourth direction ( Figure 1-2 When moving in the F3 direction, it will reach the locked position.

[0041] This configuration allows the motor's rotation range to be unrestricted by the locking mechanism's position. It can be set within either the motor's working angle range or its non-working angle range without affecting the motor's rotation. This expands the motor's rotatable angle range, meeting users' needs for a larger gimbal rotation angle and ultimately improving the user experience.

[0042] It is understood that the above example uses a locking mechanism that engages with both the stator and rotor to unlock or lock the motor. This locking mechanism can also be installed on the rotor to engage with the stator for the same purpose. Furthermore, while the above embodiment uses radial rotor locking as an example, the locking structure can also lock the rotor via axial movement; this embodiment does not limit this aspect.

[0043] In some embodiments of this application, the locking position includes one of a first position and a second position, and the unlocking position includes the other of the first position and the second position. For example, when the first position is the locking position, the second position is the unlocking position, and vice versa.

[0044] When the transmission component 13 moves in the first direction (e.g.) Figure 1 and Figure 2 When the locking member 16 rotates in the direction of F1 shown in the figure, it can rotate in a third direction (e.g., the direction of F1 shown in the figure). Figure 1 and Figure 2 The transmission member 13 moves from the first position to the second position in the F4 direction shown in the diagram. Figure 1 and Figure 2 When the locking member 16 rotates in the F2 direction shown in the figure, it can rotate in the fourth direction (e.g., the direction of F2). Figure 1 and Figure 2 The F3 direction shown in the figure moves from the second position to the first position, and the fourth direction is opposite to the third direction.

[0045] For example, an external rotor motor will be used as an example for illustration. (Combined with...) Figure 1 and Figure 2 In an external rotor motor, the locking mechanism is located on the internal stator, and the locking element 16 is along a third direction (e.g., Figure 1 and Figure 2 The movement in the F4 direction (as shown in the diagram) can lock the outer rotor. At this time, the first position is the unlocked position, and the second position is the locked position.

[0046] When the transmission component 13 moves in the first direction (e.g.) Figure 1 and Figure 2 When rotated in the F1 direction shown in the figure, the locking member 16 is pushed along a third direction (e.g., Figure 1 and Figure 2 The motor moves in a straight line (in the F4 direction shown) until it reaches the locking position. The locking member 16 in the locking position can restrict the rotation of the outer rotor of the motor. For example, part of the structure of the locking member 16 extends into the groove on the outer rotor, thereby locking the motor.

[0047] When the transmission component 13 moves in the second direction (e.g.) Figure 1 and Figure 2 When rotated in the F2 direction shown, the locking member 16 can be driven to rotate in the fourth direction (e.g., in the F2 direction shown). Figure 1 and Figure 2 The motor moves in a straight line (in the direction of F3 shown) until it reaches the unlock position. In the unlock position, the locking member 16 is away from the outer rotor of the motor and will not interfere with the rotation of the outer rotor of the motor, thereby unlocking the motor.

[0048] When the motor type is an internal rotor motor, the locking element 16 moves along the fourth direction (e.g., ...). Figure 1 and Figure 2 The movement in the F3 direction (as shown in the diagram) can lock the inner rotor. At this time, the first position is the locked position, and the second position is the unlocked position.

[0049] When the transmission component 13 moves in the first direction (e.g.) Figure 1 and Figure 2 When rotated in the F1 direction shown in the figure, the locking member 16 is pushed along a third direction (e.g., Figure 1 and Figure 2 The motor moves in a straight line (in the F4 direction shown) until it reaches the unlock position. In the unlock position, the locking member 16 is away from the inner rotor of the motor, so it will not interfere with the rotation of the inner rotor of the motor, thereby unlocking the motor.

[0050] When the transmission component 13 moves in the second direction (e.g.) Figure 1 and Figure 2 When rotated in the F2 direction shown, the locking member 16 can be driven to rotate in the fourth direction (e.g., in the F2 direction shown). Figure 1 and Figure 2The motor moves linearly in the direction of F3 (as shown in the diagram) until it reaches the locking position. The locking member 16 in the locking position can restrict the rotation of the inner rotor of the motor. For example, part of the structure of the locking member 16 extends into the groove on the inner rotor, thereby locking the motor.

[0051] This design allows for a simpler and more compact locking mechanism, thereby reducing the space occupied inside the gimbal.

[0052] In designing the relevant gimbal structure, the inventors discovered that existing locking mechanisms driven by shape memory alloys require continuous power to the shape memory alloy during unlocking or locking to maintain the locking mechanism in the locked or unlocked position, thus consuming a significant amount of electrical energy. Therefore, the inventors further provide a solution where the locking mechanism can be held in the locked or unlocked position via a limiting mechanism. This solution only requires power to the shape memory alloy once during locking and unlocking, eliminating the need for continuous power supply while the gimbal is in either the unlocked or locked state. Figure 1 and Figure 2 as well as Figure 3 and Figure 4 In some embodiments of this application, the transmission member 13 is a plate-like structure, including a first side surface 133. Along the rotation direction of the transmission member 13, a first limiting portion and a second limiting portion are adjacently disposed on the first side surface 133. Exemplarily, the first limiting portion can be a slot structure, a limiting baffle, or other structure capable of limiting movement; the second limiting portion can also be a slot structure, a limiting baffle, or other structure capable of limiting movement, and no specific limitation is made here. The locking member 16 is always in contact with the first side surface 133 of the transmission member 13. When the transmission member 13 rotates, the locking member 16 slides along the first side surface 133. When the locking member 16 is in the first position, the first limiting portion holds the locking member 16 in the first position; when the locking member 16 is in the second position, the second limiting portion holds the locking member 16 in the second position.

[0053] For example, an external rotor motor will be used as an example for illustration. (Combined with...) Figure 1 and Figure 2 In an external rotor motor, the locking mechanism is located on the inner stator, and the locking element 16 extends radially outward (e.g., Figure 1 and Figure 2 The movement in the F4 direction (as shown in the diagram) can lock the outer rotor. At this time, the first position is the unlocked position, and the second position is the locked position.

[0054] The transmission component 13 moves in the first direction (e.g., driven by the drive component 14) under the drive of the drive component 14. Figure 1 and Figure 2 Rotate in the F1 direction shown in the figure, pushing the locking member 16 along a third direction (e.g., in the direction of F1), pushing it to rotate. Figure 1 and Figure 2The motor moves linearly in the direction F4 shown in the diagram until it reaches the second position (i.e., the locked position) to lock the motor. Simultaneously, the locking member 16 engages with the second limiting portion on the transmission member 13 to maintain the locking mechanism in the locked state. The transmission member 13, driven by the reset member 15, moves in the second direction (e.g., F4 direction) until it reaches the second position (i.e., the locked position). Figure 1 and Figure 2 The locking member 16 rotates in the fourth direction (e.g., the direction shown in the diagram) under the drive of the transmission member 13. Figure 1 and Figure 2 The motor moves linearly in the direction of F3 shown in the figure until it reaches the first position (i.e., the unlocked position) to unlock the motor. At the same time, the locking member 16 cooperates with the first limiting part on the transmission member 13 so that the locking mechanism can remain in the unlocked state.

[0055] When the motor type is an internal rotor motor, the locking element 16 moves radially inward (e.g., Figure 1 and Figure 2 The movement in the F3 direction (as shown in the diagram) can lock the inner rotor. At this time, the first position is the locked position, and the second position is the unlocked position.

[0056] The transmission component 13 moves in the first direction (e.g., driven by the drive component 14) under the drive of the drive component 14. Figure 1 and Figure 2 Rotate in the F1 direction shown in the figure, pushing the locking member 16 along a third direction (e.g., Figure 1 and Figure 2 The locking member 16 moves linearly in the direction F4 shown in the diagram, gradually moving away from the inner rotor of the motor until it reaches the second position (i.e., the unlocked position). In the unlocked position, the locking member 16 does not interfere with the rotation of the inner rotor of the motor, thus unlocking the motor. Simultaneously, the locking member 16 cooperates with the second limiting portion on the transmission member 13 to keep the locking mechanism in the unlocked state. The transmission member 13, driven by the reset member 15, moves in the second direction (e.g., F4 direction). Figure 1 and Figure 2 The locking member 16 can rotate in the fourth direction (e.g., the F2 direction shown in the diagram), which can cause the locking member 16 to rotate in the fourth direction (e.g., the F2 direction shown in the diagram). Figure 1 and Figure 2 The motor moves linearly in the direction of F3 (as shown) until it reaches the first position (i.e., the locked position). In the locked position, the locking member 16 can restrict the rotation of the inner rotor of the motor. For example, a part of the structure of the locking member 16 extends into a groove on the inner rotor, thereby locking the motor. At the same time, the locking member 16 cooperates with the first limiting part on the transmission member 13 so that the locking mechanism can remain in the locked state.

[0057] This design, by setting a first limiting part and a second limiting part to keep the locking member 16 in the locked and unlocked positions, instead of continuously energizing the first memory alloy wire 141 and / or the second memory alloy wire 151 to keep the locking member 16 in the locked and unlocked positions, helps to reduce the power consumption of the gimbal, further reduces the power consumption of the device, and thus improves the user experience.

[0058] Combination Figure 1 , Figure 2 and Figure 4 In some embodiments of this application, the first limiting portion is a first groove 131, and the second limiting portion is a second groove 132. The depths of the first groove 131 and the second groove 132 are not the same. For example, the depth of the first groove 131 is greater than the depth of the second groove 132, or the depth of the first groove 131 is less than the depth of the second groove 132. This allows the locking member 16 to unlock and lock the motor when it engages with the first groove 131 and the second groove 132.

[0059] For example, the description will be given with the first groove 131 having a greater depth than the second groove 132.

[0060] Referring to the foregoing, when the motor type is an external rotor motor, combined with Figure 1 and Figure 2 The first position is the unlocked position, and the second position is the locked position. The locking member 16 cooperates with the first groove 131 to keep the motor in the unlocked state, and the locking member 16 cooperates with the second groove 132 to keep the motor in the locked state.

[0061] When the motor type is an internal rotor motor, the first position is the locked position and the second position is the unlocked position. Then, the locking member 16 cooperates with the first groove 131 to keep the motor in the locked state, and the locking member 16 cooperates with the second groove 132 to keep the motor in the unlocked state.

[0062] This configuration simplifies the structure of the first and second limiting parts, making them easier to manufacture, while also reducing the space occupied by the locking mechanism within the gimbal.

[0063] In designing the relevant gimbal structure, the inventors discovered that the transmission efficiency of directly driving the transmission component by the driving and resetting components was low, and a relatively complex limiting path needed to ensure that the transmission component could rotate along the first and second directions. Therefore, the inventors further provide a solution in which the locking mechanism can further improve the efficiency and accuracy of the driving and resetting components in driving the transmission component.

[0064] Combination Figure 4 , Figure 5 and Figure 6In some embodiments of this application, the locking mechanism further includes a sliding member 17, which is connected to the transmission member 13 and to the driving member 14 and the reset member 15. The driving member 14 can drive the sliding member 17 to the fifth direction ( Figure 5-6 The sliding member 17 slides in the F5 direction, thereby driving the transmission member 13 to rotate in the first direction, and the locking member 16 moves to the second position following the rotation of the transmission member 13. The reset member 15 can drive the sliding member 17 to the sixth direction. Figure 5-6 The transmission component 13 slides in the F6 direction, thereby driving the transmission component 13 to rotate in the second direction. The locking component 16 moves to the first position following the rotation of the transmission component 13. The sixth direction is opposite to the fifth direction, and the angle between the straight line containing the fifth and sixth directions and the straight line containing the third and fourth directions is greater than 0° and less than or equal to 90°.

[0065] For example, the fifth direction (e.g.) Figure 5-6 (F5 direction) and the sixth direction (e.g.) Figure 5-6 The F6 direction refers to two opposite directions along a radial line along the rotation center of the transmission member 13, and the straight line containing the movement direction of the sliding member 17 forms an angle with the straight line containing the movement direction of the locking member 16. The angle is, for example, 90°, 80°, 45°, etc., and is not 0°. It can be understood that the fifth direction can also be the F6 direction in the figure, and the sixth direction can also be the F5 direction in the figure.

[0066] For example, an external rotor motor will be used as an example for illustration. (Combined with...) Figure 5 and Figure 6 In an external rotor motor, the locking mechanism is located on the internal stator, and the locking element 16 is along a third direction (e.g., Figure 5 and Figure 6 The movement in the F4 direction (as shown in the diagram) can lock the outer rotor. At this time, the first position is the unlocked position, and the second position is the locked position.

[0067] Combination Figure 4 , Figure 5 and Figure 6 The driving component 14 drives the sliding component 17 to the fifth direction (e.g., Figure 5 and Figure 6 Slide in the F5 direction shown in the figure to drive the transmission member 13 in the first direction (e.g., the direction of F5). Figure 5 and Figure 6 When rotated in the F1 direction shown in the figure, the locking member 16 is pushed in a third direction (e.g., the direction of F1 shown in the figure). Figure 5 and Figure 6 The motor moves in the direction of F4 (as shown in the diagram) until it reaches the locking position. The locking member 16 in the locking position can restrict the rotation of the motor rotor, thereby locking the motor.

[0068] Combination Figure 5 and Figure 6 The reset member 15 drives the slider 17 to the sixth direction (e.g., Figure 5 and Figure 6 Slide in the F6 direction shown in the figure to drive the transmission member 13 in the second direction (e.g., in the F6 direction) to move in the second direction. Figure 5 and Figure 6 When rotated in the F2 direction shown, it drives the locking member 16 to the fourth direction (e.g., in the direction of F2). Figure 5 and Figure 6 The motor moves in the direction of F3 (as shown in the diagram) until it reaches the unlock position. In the unlock position, the locking member 16 will not interfere with the rotation of the motor rotor 11, thereby unlocking the motor.

[0069] By incorporating the sliding member 17, the driving member 14 and the reset member 15 facilitate the driving of the transmission member 13, thereby simplifying the structure of the locking mechanism, simplifying production and processing, and improving the reliability of the locking mechanism. Furthermore, it enhances the efficiency and accuracy of the driving member and reset member in driving the transmission member.

[0070] In some embodiments of this application, the driving element 14 is a first shape memory alloy wire, and the reset element 15 is a spring. When the first shape memory alloy wire is in an excited state (e.g., energized), it undergoes contraction deformation, driving the sliding element 17 to move in the fifth direction (e.g., ...). Figure 5 and Figure 6 The movement is shown in the F5 direction, and further drives the transmission member 13 to move in the first direction (e.g., the direction shown in the figure). Figure 5 and Figure 6 When the transmission member 13 rotates (in the direction F1 shown), the locking member 16 moves to the second position (e.g., the locked position) following the rotation of the transmission member 13. During this process, the spring is compressed and continuously supplies power to the first memory alloy wire to keep the locking member 16 in the second position (e.g., the locked position). When the locking member 16 needs to move to the first position (e.g., the unlocked position), the power supply to the first memory alloy wire stops, and the sliding member 17 is pushed to the sixth direction (e.g., the direction F1 shown) by the thrust generated by the spring deformation. Figure 5 and Figure 6 The movement (in the F6 direction shown in the diagram) drives the transmission component 13 to move in the second direction (e.g., the direction shown in the diagram). Figure 1 and Figure 2 When the transmission member 13 rotates (in the direction of F2 shown), the locking member 16 moves to the first position (e.g., the unlocked position) following the rotation of the transmission member 13.

[0071] Alternatively, the driving component 14 can be a spring, and the resetting component 15 can be a shape memory alloy wire. The specific movement process will not be described in detail.

[0072] This configuration simplifies the structure of the drive unit 14 and the reset unit 15, thereby reducing the space occupied by the locking mechanism inside the pan-tilt unit.

[0073] In another embodiment, combined with Figure 4 , Figure 5 and Figure 6 The driving component 14 is a first shape memory alloy wire 141, and the reset component 15 is a second shape memory alloy wire 151. When the first shape memory alloy wire 141 is in an excited state (e.g., energized), it undergoes contraction deformation, driving the sliding component 17 to move in the fifth direction (e.g., ...). Figure 5 and Figure 6 The movement (in the F5 direction shown in the diagram) drives the transmission component 13 to move in the first direction (e.g., the direction shown in the diagram). Figure 5 and Figure 6 When the transmission member 13 rotates (in the F1 direction shown), the locking member 16 moves to the second position (e.g., the locked position) following the rotation of the transmission member 13. At this time, the locking member 16 can be held in the second position by the second limiting part without the first shape memory alloy wire 141 being continuously energized. The force generated by the deformation of the second shape memory alloy wire 151 when it is in the energized state can drive the sliding member 17 to the sixth direction (e.g., the direction shown in the figure). Figure 5 and Figure 6 Sliding in the F6 direction shown in the figure, thereby driving the transmission component 13 to the second direction (e.g., Figure 5 and Figure 6 When the motor rotates (in the direction of F2 shown), the locking member 16 moves to the first position (e.g., the unlocked position) following the rotation of the transmission member 13. At this time, the locking member 16 can be held in the second position by the first limiting part without the second memory alloy wire 151 being continuously energized, thereby realizing the locking and unlocking of the motor.

[0074] With this design, when the motor needs to be unlocked or locked, only the first memory alloy wire 141 or the second memory alloy wire 151 needs to be energized once to move it to the first position or the second position. Then, the locking member 16 and the first or second limiting part on the transmission member 13 keep the motor in the locked or unlocked state without the need to continuously supply power to the driving member 14 or the reset member 15, thereby effectively reducing the power consumption of the gimbal.

[0075] Combination Figure 4 , Figure 5 and Figure 6 In some embodiments of this application, the locking mechanism further includes a base 18 and a cover plate 19. The base 18 includes a first surface 183 and a second surface facing away from each other. A limiting groove 181 is provided on the first surface 183 of the base 18. The locking member 16 is disposed in the limiting groove 181 and can slide along the limiting groove 181 between a first position and a second position. The transmission member 13 is rotatably connected to the first surface 183 of the base 18.

[0076] The cover plate 19 is fixedly connected to the first surface 183 of the base 18. This connection can be achieved through methods such as bonding, screw fastening, or snap-fitting. The cover plate 19 and the base 18 form an accommodating space, within which the transmission component 13 and part of the locking component 16 are disposed. The driving component 14 and the resetting component 15 are both fixed to the surface of the cover plate 19 facing away from the base 18. This design facilitates the arrangement of the structural components while making the locking mechanism more compact, thereby further reducing its size. It is understood that the driving component 14 and the resetting component 15 can also be fixed to the surface of the cover plate 19 facing the base 18 or directly to the base 18.

[0077] Combination Figure 4 , Figure 5 and Figure 6 In some embodiments of this application, the base 18 further includes a second side surface 184 connecting the first surface 183 and the second surface. For example, when the base 18 is a columnar structure, the first surface 183 and the second surface are the two bottom surfaces of the columnar structure, and the second side surface 184 is the outer peripheral surface of the columnar structure. A limiting groove 181 is disposed on the first surface 183 and extends through the second surface and the second side surface 184.

[0078] The locking member 16 includes a locking portion 161, a sliding portion 162, and an elastic component. The locking portion 161 is disposed in the limiting slide groove 181 and can slide along the limiting slide groove 181 between a first position and a second position. Figure 4 The external rotor motor shown has a locking part 161 connected to the first end of a sliding part 162. When the locking mechanism is in the unlocked state, the locking part 161 is located within the limiting groove 181 to avoid interfering with the rotation of the rotor 11, thereby allowing the motor to rotate. When the locking mechanism is in the locked state, the locking part 161 is located within the limiting groove 181, and a portion of the locking part 161 extends beyond the second side surface 184 from the limiting groove 181 to limit the rotor 11, preventing the rotor 11 from rotating, thereby preventing the motor from rotating.

[0079] When the motor type is an internal rotor motor, the locking part 161 needs to be connected to the second end opposite to the first end of the sliding part 162. In the unlocked state, the locking part 161 is located in the limiting slide groove 181 to avoid interfering with the rotation of the internal rotor. In the locked state, the locking part 161 is located in the limiting slide groove 181, and part of the locking part 161 extends out of the limiting slide groove 181 to restrict the rotation of the internal rotor.

[0080] A sliding portion 162 is disposed within the accommodating space and connected to the locking portion 161. A third limiting portion is provided at one end of the sliding portion 162 facing the transmission member 13. The third limiting portion abuts against the transmission member 13 and is used to cooperate with the first limiting portion and the second limiting portion. Exemplarily, the third limiting portion is a structure adapted to the first limiting portion and the second limiting portion. For example, when the first limiting portion and the second limiting portion are grooves, the third limiting portion is a protruding structure that can be inserted into the groove.

[0081] One end of the elastic component is connected to the sliding part 162, and the other end is connected to the cover plate 19 or the base 18. The elastic component is used to provide a preset elastic force, which allows the third limiting part to always abut against the first side surface 133 of the transmission member 13.

[0082] This design simplifies the structure of the locking element 16, making it easier to manufacture and process.

[0083] Combination Figure 4 , Figure 5 and Figure 6 In some embodiments of this application, a first hollow structure 191 is provided on the cover plate 19, and a limiting groove 193 is provided on the inner wall surface of the first hollow structure 191. The elastic component includes a fixing part 163 and an elastic element 164. The fixing part 163 is disposed on the surface of the sliding part 162 facing the cover plate 19, and at least a portion of the fixing part 163 is located within the first hollow structure 191. Exemplarily, it is possible that only a portion of the structure of the fixing part 163 is located within the first hollow structure 191, or it is possible that the entire structure of the fixing part 163 is located within the first hollow structure 191.

[0084] The two ends of the elastic element 164 are respectively fixed to the inner wall surfaces of the fixed part 163 and the first hollow structure 191. The elastic element 164 provides a preset elastic force to the fixed part 163 to drive the third limiting part to always abut against the first side surface 133 of the transmission member 13. When the locking member 16 moves to the unlocked position, the fixed part 163 is located in the limiting groove 193. This design, on the one hand, facilitates the setting of the elastic component and makes the structure of the locking mechanism more compact. On the other hand, the limiting groove 193 limits the movement of the fixed part 163, preventing damage such as breakage between the fixed part 163 and the sliding part 162 under the action of the elastic element 164, thereby effectively improving the reliability of the locking mechanism.

[0085] Combination Figure 4 , Figure 5 and Figure 6In one embodiment of this application, a second hollow structure 192 is provided on the cover plate 19, and the sliding member 17 includes a sliding plate 171, a first support portion 172 and a second support portion 173. The sliding plate 171 is disposed on the side of the transmission member 13 away from the base 18 and is located in the second hollow structure 192. The driving member 14 and the resetting member 15 are both connected to the sliding plate 171.

[0086] The first support portion 172 is disposed at the first end of the sliding plate 171 along the fifth direction and is slidably connected to the base 18. The second support portion 173 is disposed at the second end of the sliding plate 171 along the sixth direction and is slidably connected to the base 18. The first end of the sliding plate 171 is opposite to the second end of the sliding plate 171, and the transmission member 13 is located between the first support portion 172 and the second support portion 173.

[0087] When the driving element 14 drives the sliding element 17 to the fifth direction (e.g.) Figure 5 and Figure 6 When sliding in the F5 direction shown in the diagram, the second support 173 abuts against the transmission member 13 to push the transmission member 13 towards the first direction (e.g., in the F5 direction). Figure 5 and Figure 6 Rotate in the direction of F1 shown in the figure until the locking member 16 moves to the second position (e.g., the locked position), at which time the first support 172 abuts against the inner wall surface of the second hollow structure 192 opposite to it.

[0088] When the reset member 15 drives the slider 17 to the sixth direction (e.g.) Figure 5 and Figure 6 When sliding in the F6 direction shown in the diagram, the first support 172 abuts against the transmission member 13 to push the transmission member 13 towards the second direction (e.g., the direction shown in the diagram). Figure 5 and Figure 6 Rotate in the direction of F2 shown in the figure until the locking member 16 moves to the first position (e.g., the unlocked position), at which time the second support 173 abuts against the inner wall surface of the second hollow structure 192 opposite to it.

[0089] This design simplifies the structure of the sliding member 17, making it easier to manufacture, and also makes the locking mechanism more compact. Furthermore, when the locking member 16 moves to the locked or unlocked position, the cooperation between the second hollow structure 192 and the sliding member 17 acts as a limit, preventing the locking member 16 from moving too far and thus ensuring the locking mechanism can be unlocked or locked, thereby further improving the reliability of the locking mechanism.

[0090] Combination Figure 3 and Figure 4The two ends of the first shape memory alloy wire 141 (i.e., the driving member 14) are respectively fixed to the surface of the cover plate 19 away from the base 18 by the first mounting plate 142. The two ends of the second shape memory alloy wire 151 (i.e., the reset member 15) are respectively fixed to the surface of the cover plate 19 away from the base 18 by the second mounting plate 152. The sliding plate 171 of the sliding member 17 is provided with a first mating part 1711 and a second mating part 1712 on the surface away from the base 18, corresponding to the positions of the first shape memory alloy wire 141 (i.e., the driving member 14) and the second shape memory alloy wire 151 (i.e., the reset member 15). The first mating part 1711 can abut against the first shape memory alloy wire 141 (i.e., the driving member 14) so ​​that when the first shape memory alloy wire 141 (i.e., the driving member 14) is in an energized state, the sliding member 17 is driven to slide through the first mating part 1711. The second mating part 1712 can abut against the second shape memory alloy wire 151 (i.e., the reset member 15) so that when the second shape memory alloy wire 151 (i.e., the reset member 15) is in an energized state, the second mating part 1712 drives the sliding member 17 to slide. Exemplarily, the first mating part 1711 and the second mating part 1712 can be, for example, as follows: Figure 3 and Figure 4 The snap-fit ​​design shown can also be a protruding block structure or a columnar structure, etc., and is not specifically limited here. This facilitates the driving member 14 and the resetting member 15 to drive the sliding member 17.

[0091] Combination Figure 3 and Figure 4 In one embodiment of this application, the base 18 is provided with a mounting hole 182 for mounting an external component, such as the output shaft of a motor. The mounting hole 182 can also serve as a wire passage hole for wiring. The cover plate 19, the transmission member 13, and the sliding member 17 are all provided with clearance cutouts to avoid external components. In this way, interference between the locking mechanism and the motor is avoided, effectively improving the reliability of motor operation while making the motor structure more compact.

[0092] Combination Figure 3 and Figure 4 An exemplary embodiment of this application provides a motor system 1, which includes a motor and a locking mechanism as described above. The locking mechanism includes a transmission member 13, a driving member 14, a resetting member 15, and a locking member 16. The driving member 14 is drively connected to the transmission member 13, and the driving member 14 is capable of driving the transmission member 13 in a first direction (e.g., Figure 5 Rotation in the direction F1 shown in the diagram. The reset member 15 is connected to the transmission member 13, and the reset member 15 can drive the transmission member 13 to rotate in the second direction (e.g., the direction F1 shown in the diagram). Figure 5 The first direction (F2 direction) is the opposite of the second direction. The locking member 16 is connected to the transmission member 13 and can move with the rotation of the transmission member 13.

[0093] The motor includes a stator 12 and a rotor 11, the rotor 11 being configured to rotate relative to the stator 12. A locking mechanism is provided on one of the stator 12 and the rotor 11, and a mating portion is provided on the other of the stator 12 and the rotor 11. Exemplarily, the locking mechanism may be fixed to the stator 12 and the mating portion may be provided on the rotor 11; alternatively, the locking mechanism may be fixed to the rotor 11 and the mating portion may be provided on the stator 12.

[0094] Combination Figure 4 , Figure 5 and Figure 6 The following explanation uses an external rotor motor as an example. The locking mechanism is located on the internal stator 12, and the mating part is located on the rotor 11.

[0095] When the transmission component 13 moves in the first direction (e.g.) Figure 5 and Figure 6 When rotated in the direction of F1 shown in the figure, the locking member 16 is pushed outward (e.g., in the direction of F1). Figure 5 and Figure 6 The transmission member 13 moves linearly in the F4 direction shown in the diagram until it reaches the locked position. At this time, the locking part 161 of the locking member 16 engages with the mating part on the rotor 11, thereby locking the rotor 11 and locking the motor. When the transmission member 13 moves in the second direction (e.g., in the F4 direction shown in the diagram), it moves linearly until it reaches the locked position. At this time, the locking part 161 of the locking member 16 engages with the mating part on the rotor 11, thereby locking the rotor 11 and locking the motor. Figure 5 and Figure 6 When rotated in the direction of F2 shown in the figure, it can drive the locking member 16 inward (e.g., Figure 5 and Figure 6 The motor moves in the direction of F3 shown in the figure until it reaches the unlock position. At this time, the locking part 161 of the locking member 16 separates from the mating part, thereby unlocking the motor.

[0096] When the motor type is an internal rotor motor, the locking element 16 moves radially inward (e.g., Figure 5 and Figure 6 The movement in the F3 direction (as shown in the diagram) can lock the inner rotor. The locking mechanism is located on the outer stator, and the mating part is located on the inner rotor.

[0097] When the transmission component 13 moves in the first direction (e.g.) Figure 5 and Figure 6 When rotated in the direction of F1 shown in the figure, the locking member 16 is pushed outward (e.g., in the direction of F1). Figure 5 and Figure 6 The transmission member 13 moves linearly in the F4 direction shown in the diagram until it reaches the unlocked position. At this time, the locking portion 16 of the locking member 16 moves away from the mating portion on the inner rotor, thereby unlocking the motor. When the transmission member 13 moves in the second direction (e.g., in the F4 direction shown in the diagram), it moves until it reaches the unlocked position. Figure 5 and Figure 6 When rotated in the direction of F2 shown in the figure, it can drive the locking member 16 inward (e.g., Figure 5 and Figure 6 The motor moves in the direction of F3 shown in the diagram until it reaches the locked position. At this time, the locking part 161 of the locking member 16 engages with the mating part on the inner rotor to restrict the rotation of the inner rotor, thereby locking the motor.

[0098] This configuration allows the motor's rotation range to be unrestricted by the locking mechanism's location; it can be positioned either within the motor's operating angle range or its non-operating angle range without affecting rotation. This expands the motor's angular range, meeting users' demands for greater gimbal rotation angles and improving the user experience. Furthermore, the locking mechanism in the motor system of this embodiment has a simple and compact structure, reducing its footprint within the gimbal's internal space and facilitating miniaturization.

[0099] Combination Figure 3 and Figure 4 In some embodiments of this application, the locking mechanism is fixed to the stator 12, and the mating part is disposed on the rotor 11. The mating part includes a groove structure 112. This design simplifies the setup of the motor system 1 and facilitates production and processing.

[0100] In another embodiment, the stator 12 forms the base 18 of the locking mechanism, and the mating part is disposed on the outer shell 111 of the rotor 11. In the unlocked state, the locking part 161 is located in the limiting slide groove 181 on the stator 12 to disengage from the mating part on the rotor 11. In the locked state, a portion of the structure of the locking part 161 extends out of the limiting slide groove 181 to engage with the mating part, thereby locking the rotor 11. This design simplifies the structure of the motor system 1, facilitates manufacturing, and makes the structure of the motor system 1 more compact, which helps to reduce the size of the motor system 1 and thus facilitates the miniaturization design of the gimbal.

[0101] An exemplary embodiment of this application provides a gimbal, wherein, exemplarily, the gimbal can be as follows: Figure 7 The handheld gimbal 2 shown can also be an airborne gimbal, which includes a drone and a gimbal mounted on the drone. The gimbal is used to fix the shooting equipment.

[0102] The gimbal includes at least one hinge structure, and the at least one hinge structure includes the locking mechanism described above. Exemplarily, the gimbal may have only one hinge structure, or it may have multiple hinge structures, such as two, three, etc. Each hinge structure includes a hinge and a motor driven by the hinge, and each motor is equipped with a locking mechanism.

[0103] See Figure 7Taking the shooting device 3 as the load as an example, the gimbal includes three rotating structures and a handheld mechanism 21. The three rotating structures allow the shooting device 3 to be adjusted arbitrarily in three-dimensional space, and the handheld mechanism 21 is for the user to hold. The gimbal has multiple states, including at least a powered-on state and a retracted state. The powered-on state means that the gimbal starts after receiving a power-on command, and the shooting device 3 begins to capture images, but at this time the gimbal has not initiated any shooting commands. The retracted state includes one or both of the following: a powered-off state and a standby state. The powered-off state means that the gimbal is in a power-off state, and the standby state means that the gimbal control module is powered on, but the shooting device 3 and other power-consuming components are in a power-off state, which is the usual sense of a dormant state. Entering the dormant state is to facilitate the quick start of the gimbal.

[0104] In another embodiment, see Figure 7 The gimbal also includes a power button 21 and a controller (not shown in the attached diagram). When the user powers on the gimbal using the power button 211, the gimbal sends an unlock command to the locking mechanism via the controller, causing the locking mechanism to move from the unlocked position to the locked position. When the user powers off the gimbal using the power button 211, the gimbal sends a lock command to the locking mechanism via the controller, causing the locking mechanism to move from the locked position to the unlocked position. Simultaneously, when the gimbal remains powered on, if the user does not operate the gimbal for a period of time, the gimbal will enter a standby state. At this time, the gimbal sends an unlock command to the locking mechanism via the controller, causing the locking mechanism to move from the unlocked position to the locked position.

[0105] Combination Figure 3 and Figure 4 The locking mechanism includes a transmission member 13, a driving member 14, a reset member 15, and a locking member 16. The driving member 14 is connected to the transmission member 13 and can drive the transmission member 13 in a first direction (e.g., Figure 5 Rotation in the direction F1 shown in the diagram. The reset member 15 is connected to the transmission member 13, and the reset member 15 can drive the transmission member 13 to rotate in the second direction (e.g., the direction F1 shown in the diagram). Figure 5 The first direction (F2 direction) is the opposite of the second direction. The locking member 16 is connected to the transmission member 13 and can move with the rotation of the transmission member 13.

[0106] Combination Figure 5 and Figure 6 The following explanation uses an external rotor motor as an example. The locking mechanism is located on the internal stator 12, and the mating part is located on the rotor 11.

[0107] When the transmission component 13 moves in the first direction (e.g.) Figure 5 and Figure 6 When rotated in the direction of F1 shown in the figure, the locking member 16 is pushed outward (e.g., in the direction of F1). Figure 5and Figure 6 The transmission member 13 moves linearly in the F4 direction shown in the diagram until it reaches the locking position. At this point, the locking part 161 of the locking member 16 engages with the mating part on the rotor 11, thereby locking the rotor 11 and locking the motor. When the transmission member 13 moves in the second direction (e.g., in the F4 direction shown in the diagram), it moves linearly until it reaches the locking position. At this point, the locking part 161 of the locking member 16 engages with the mating part on the rotor 11, thereby locking the rotor 11 and locking the motor. Figure 5 and Figure 6 When rotated in the direction of F2 shown in the figure, it can drive the locking member 16 inward (e.g., Figure 5 and Figure 6 The motor moves to the unlock position (in the direction of F3 shown in the figure). At this time, the locking part 161 of the locking member 16 separates from the mating part, thereby unlocking the motor.

[0108] When the motor type is an internal rotor motor, the locking element 16 moves radially inward (e.g., Figure 5 and Figure 6 The movement in the F3 direction (as shown in the diagram) can lock the inner rotor. The locking mechanism is located on the outer stator, and the mating part is located on the inner rotor.

[0109] When the transmission component 13 moves in the first direction (e.g.) Figure 5 and Figure 6 When rotated in the direction of F1 shown in the figure, the locking member 16 is pushed outward (e.g., in the direction of F1). Figure 5 and Figure 6 The transmission member 13 moves linearly in the F4 direction shown in the diagram until it reaches the unlocked position. At this point, the locking portion 161 of the locking member 16 moves away from the mating portion on the inner rotor, thereby unlocking the motor. When the transmission member 13 moves in the second direction (e.g., in the F4 direction shown in the diagram), it moves until it reaches the unlocked position. At this point, the locking portion 161 of the locking member 16 moves away from the mating portion on the inner rotor, thereby unlocking the motor. Figure 5 and Figure 6 When rotated in the direction of F2 shown in the figure, it can drive the locking member 16 inward (e.g., Figure 5 and Figure 6 The motor moves in the direction of F3 shown in the figure until it reaches the locking position. At this time, the locking part 161 of the locking member 16 cooperates with the mating part to restrict the rotation of the inner rotor, thereby locking the motor.

[0110] This configuration allows the motor's rotation range to be unrestricted by the locking mechanism's location; it can be positioned either within the motor's operating angle range or its non-operating angle range without affecting rotation. This expands the motor's angular range, meeting users' demands for greater gimbal rotation angles and improving the user experience. Furthermore, the locking mechanism in the gimbal of this embodiment has a simple and compact structure, reducing its footprint within the gimbal's internal space and facilitating miniaturization.

[0111] When the gimbal switches from the powered-on state to the retracted state, each locking component 16 moves to the locked position to lock its corresponding hinge structure. When the gimbal switches from the retracted state to the powered-on state, each locking component 16 moves to the unlocked position to release the lock on its corresponding hinge structure. This achieves automatic unlocking when the gimbal is powered on and automatic locking when it is powered off, replacing manual unlocking and locking, effectively improving the ease of use of the gimbal and further enhancing the user experience.

[0112] The storage state includes one or both of the following: power off and standby.

[0113] In another embodiment, the gimbal includes at least one rotating shaft structure, which includes the motor system 1 as described above. Exemplarily, the gimbal may have one rotating shaft structure or multiple rotating shaft structures, such as two or three. Each rotating shaft structure is driven and connected to a motor system 1, which drives the rotation of the rotating structure connected thereto.

[0114] Combination Figure 3 and Figure 4 The motor system 1 includes a motor system 1 and a locking mechanism as described above. The locking mechanism includes a transmission member 13, a driving member 14, a resetting member 15, and a locking member 16. The driving member 14 is drively connected to the transmission member 13, and the driving member 14 can drive the transmission member 13 in a first direction (e.g., ...). Figure 5 Rotation in the direction F1 shown in the diagram. The reset member 15 is connected to the transmission member 13, and the reset member 15 can drive the transmission member 13 to rotate in the second direction (e.g., the direction F1 shown in the diagram). Figure 5 The first direction (F2 direction) is the opposite of the second direction. The locking member 16 is connected to the transmission member 13 and can move with the rotation of the transmission member 13.

[0115] The motor system 1 includes a stator 12 and a rotor 11, the rotor 11 being configured to rotate relative to the stator 12. A locking mechanism is provided on one of the stator 12 and the rotor 11, and a mating part is provided on the other of the stator 12 and the rotor 11. Exemplarily, the locking mechanism may be fixed to the stator 12 and the mating part may be provided on the rotor 11; alternatively, the locking mechanism may be fixed to the rotor 11 and the mating part may be provided on the stator 12.

[0116] Combination Figure 4 , Figure 5 and Figure 6 The following explanation uses an external rotor motor as an example. The locking mechanism is located on the internal stator 12, and the mating part is located on the rotor 11.

[0117] When the transmission component 13 moves in the first direction (e.g.) Figure 5 and Figure 6When rotated in the direction of F1 shown in the figure, the locking member 16 is pushed outward (e.g., in the direction of F1). Figure 5 and Figure 6 The transmission member 13 moves linearly in the F4 direction shown in the diagram until it reaches the locking position. At this point, the locking part 161 of the locking member 16 engages with the mating part on the rotor 11, thereby locking the rotor 11 and locking the motor. When the transmission member 13 moves in the second direction (e.g., in the F4 direction shown in the diagram), it moves linearly until it reaches the locking position. At this point, the locking part 161 of the locking member 16 engages with the mating part on the rotor 11, thereby locking the rotor 11 and locking the motor. Figure 5 and Figure 6 When rotated in the direction of F2 shown in the figure, it can drive the locking member 16 inward (e.g., Figure 5 and Figure 6 The motor moves in the direction of F3 shown in the figure until it reaches the unlock position. At this time, the locking part 161 of the locking member 16 separates from the mating part, thereby unlocking the motor.

[0118] When the motor type is an internal rotor motor, the locking element 16 moves radially inward (e.g., Figure 5 and Figure 6 The movement in the F3 direction (as shown in the diagram) can lock the inner rotor. The locking mechanism is located on the outer stator, and the mating part is located on the inner rotor.

[0119] When the transmission component 13 moves in the first direction (e.g.) Figure 5 and Figure 6 When rotated in the direction of F1 shown in the figure, the locking member 16 is pushed outward (e.g., in the direction of F1). Figure 5 and Figure 6 The transmission member 13 moves linearly in the F4 direction shown in the diagram until it reaches the unlocked position. At this point, the locking portion 161 of the locking member 16 moves away from the mating portion on the inner rotor, thereby unlocking the motor. When the transmission member 13 moves in the second direction (e.g., in the F4 direction shown in the diagram), it moves until it reaches the unlocked position. At this point, the locking portion 161 of the locking member 16 moves away from the mating portion on the inner rotor, thereby unlocking the motor. Figure 5 and Figure 6 When rotated in the direction of F2 shown in the figure, it can drive the locking member 16 inward (e.g., Figure 5 and Figure 6 The motor moves in the direction of F3 shown in the figure until it reaches the locking position. At this time, the locking part 161 of the locking member 16 cooperates with the mating part on the inner rotor to restrict the rotation of the inner rotor, thereby locking the motor.

[0120] This design has two advantages. First, the locking mechanism can lock the motor's rotation position within its non-operating angle range, preventing the gimbal from rotating arbitrarily when not in use, thus facilitating its handling and carrying. Second, the motor's rotation range is not limited by the locking mechanism's position; it can be set within either the motor's operating or non-operating angle range without affecting rotation. This expands the motor's rotatable angle range, meeting users' needs for larger gimbal rotation angles and improving the user experience. Furthermore, the locking mechanism in this embodiment has a simple and compact structure, reducing its footprint within the gimbal's internal space and facilitating miniaturization.

[0121] When the gimbal switches from the powered-on state to the retracted state, the locking member 16 moves to the locked position to lock the corresponding hinge structure. When the gimbal switches from the retracted state to the powered-on state, the locking member 16 moves to the unlocked position to release the lock on the corresponding hinge structure. This achieves automatic unlocking when the gimbal is powered on and automatic locking when it is powered off, replacing manual unlocking and locking, effectively improving the ease of use of the gimbal and further enhancing the user experience.

[0122] The storage state includes one or both of the following: power off and standby.

[0123] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention filed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not claimed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0124] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A locking mechanism, characterized in that, The locking mechanism includes: Transmission components; A driving component is connected to the transmission component, and the driving component is capable of driving the transmission component to rotate in a first direction; A reset component is connected to the transmission component, and the reset component can drive the transmission component to rotate in a second direction, which is opposite to the first direction. A locking element is connected to the transmission element and can move along with the rotation of the transmission element; Specifically, when the transmission member rotates in the first direction, it can drive the locking member to move to the locked position; when the transmission member rotates in the second direction, it can drive the locking member to move to the unlocked position; or, when the transmission member rotates in the first direction, it can drive the locking member to move to the unlocked position; when the transmission member rotates in the second direction, it can drive the locking member to move to the locked position.

2. The locking mechanism according to claim 1, characterized in that, The locked position includes one of the first position and the second position, and the unlocked position includes the other of the first position and the second position; When the transmission member rotates in the first direction, the locking member can move from the first position to the second position along a third direction. When the transmission member rotates in the second direction, the locking member can move from the second position to the first position along a fourth direction, which is opposite to the third direction.

3. The locking mechanism according to claim 2, characterized in that, The transmission component is provided with a first limiting part and a second limiting part. When the locking member moves to the first position, the locking member engages with the first limiting part to keep the locking mechanism in a locked state; when the locking member moves to the second position, the locking member engages with the second limiting part to keep the locking mechanism in an unlocked state; or... When the locking member moves to the first position, the locking member engages with the first limiting part to keep the locking mechanism in the unlocked state; when the locking member moves to the second position, the locking member engages with the second limiting part to keep the locking mechanism in the locked state.

4. The locking mechanism according to claim 3, characterized in that, The first limiting part is a first groove, and the second limiting part is a second groove. The depths of the first groove and the second groove are different.

5. The locking mechanism according to claim 1, characterized in that, The locking mechanism further includes: A sliding member, driven by the transmission member and connected to the driving member and the reset member, wherein the driving member can drive the sliding member to slide in a fifth direction, thereby causing the transmission member to rotate in the first direction; and the reset member can drive the sliding member to slide in a sixth direction, thereby causing the transmission member to rotate in a second direction, wherein the sixth direction is opposite to the fifth direction; and / or, The driving component is a first memory alloy wire; the resetting component is a second memory alloy wire or a spring.

6. The locking mechanism according to claim 3, characterized in that, The locking mechanism further includes: A base, wherein a limiting groove is provided on the base, a locking member is disposed in the limiting groove and can slide along the limiting groove between a first position and a second position, and a transmission member is rotatably connected to the base; A cover plate is fixedly connected to the base and forms an accommodating space with the base. The transmission component and part of the locking component are disposed in the accommodating space. The driving component and the resetting component are fixed to the cover plate or the base.

7. The locking mechanism according to claim 6, characterized in that, The locking element includes: A locking part is disposed in the limiting slide groove and can slide along the limiting slide groove between the first position and the second position; A sliding part is disposed within the accommodating space and connected to the locking part. A third limiting part is provided at one end of the sliding part facing the transmission member. The third limiting part abuts against the transmission member and is used to cooperate with the first limiting part and the second limiting part. An elastic component, one end of which is connected to the sliding part, and the other end of which is connected to the cover plate or the base.

8. A motor system, characterized in that, The motor system includes: An electric motor, the electric motor including a stator and a rotor, the rotor being configured to rotate relative to the stator; The locking mechanism as described in claims 1 to 7 is provided on one of the stator and the rotor, and a mating part is provided on the other of the stator and the rotor, wherein the locking part of the locking mechanism cooperates with the mating part to lock the rotor.

9. The motor system according to claim 8, characterized in that, The locking mechanism is fixed to the stator, and the mating part is disposed on the rotor, the mating part including a groove structure.

10. A gimbal, characterized in that, The gimbal includes at least one pivot structure, and at least one pivot structure includes a locking mechanism as described in claims 1 to 7, or a motor system as described in any one of claims 8 to 9. When the gimbal switches from the powered-on state to the retracted state, the locking member moves to the locked position to lock at least one pivot structure; when the gimbal switches from the retracted state to the powered-on state, the locking member moves to the unlocked position to release the lock on at least one pivot structure.

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