Handheld gimbal and memory alloy control system

Abstract

The application relates to a handheld gimbal and a memory alloy control system. The handheld gimbal comprises at least one motor, the motor comprises a memory alloy piece, a first rotating piece and a second rotating piece, and the memory alloy piece is arranged in any one of the first rotating piece and the second rotating piece. The first rotating piece is provided with a first pre-locking piece, and the second rotating piece is provided with a second pre-locking piece. In response to the first rotating piece being rotated to a first position relative to the second rotating piece, the motor is powered off, and the first pre-locking piece cooperates with the second pre-locking piece to keep the first rotating piece at the first position, so that the memory alloy piece can lock the relative rotation between the first rotating piece and the second rotating piece in the powered-off state.

Description

Technical Field

[0001] This application relates to the field of gimbal technology, and in particular to a handheld gimbal and a shape memory alloy control system. Background Technology

[0002] Locking structures based on shape memory alloys (SMA) can be applied to scenarios such as gimbals, hinges of foldable screen devices, and robot joint locking devices.

[0003] However, some traditional handheld gimbals that rely on shape memory alloys for locking have significant drawbacks: because the shape memory alloy takes a certain amount of time (usually 2-3 seconds) to switch from the unlocked state to the locked state, the motor cannot be immediately de-energized after reaching the target position, but must be continuously powered to maintain the motor output and prevent relative displacement between the shafts, so that the shape memory alloy is fixed in the locked position during the process of returning to the locked state. Otherwise, the locking may fail, causing the rotating parts to rotate unexpectedly.

[0004] The information disclosed above in the background art of this application is only used to understand the background of the concept of this application, and may contain information that does not constitute prior art. Utility Model Content

[0005] Therefore, it is necessary to provide a handheld gimbal and shape memory alloy control system to address the above problems.

[0006] In a first aspect, this application provides a handheld gimbal, which includes:

[0007] At least one motor, the motor comprising a first rotating component and a second rotating component;

[0008] The first rotating member is provided with a first pre-locking member, and the second rotating member is provided with a second pre-locking member;

[0009] The motor also includes a shape memory alloy component, which is disposed on either the first rotating component or the second rotating component;

[0010] In response to the first rotating member rotating to a first position relative to the second rotating member, the motor is de-energized, and the first pre-locking member cooperates with the second pre-locking member to hold the first rotating member at the first position, so that the shape memory alloy member can lock the relative rotation between the first rotating member and the second rotating member in the power-off state.

[0011] The aforementioned handheld gimbal can achieve at least the following beneficial effects: The shape memory alloy component requires a certain amount of time to switch from the unlocked state to the locked state. Traditional handheld gimbals that rely solely on the shape memory alloy component for locking cannot immediately cut off the power; instead, they need to maintain motor output to prevent relative displacement between the axes, waiting for the shape memory alloy to gradually change and switch to the locked state. However, in this application, when the shape memory alloy component has not fully moved to lock the relative rotation of the second and first rotating components—that is, before the first and second rotating components are locked by the shape memory alloy component—the first and second pre-locking components intervene to pre-lock the second and first rotating components. This allows for initial locking of the rotating components the instant the motor is powered off, restricting accidental rotation between the second and first rotating components. This solves the problem of traditional gimbal solutions requiring continued power while waiting for the shape memory alloy to release, achieving true instant power-off functionality. It also effectively fills the safety gap caused by the delayed movement of the shape memory alloy component in traditional solutions, preventing free rotation of the motor in a non-working state, improving safety, and reducing energy consumption, making it particularly suitable for battery-powered devices.

[0012] In some embodiments, the first pre-locking member includes a first magnetic element, and the second pre-locking member includes a second magnetic element. At the first position, the first pre-locking member and the second pre-locking member are magnetically attracted to each other to restrict the relative rotation of the second rotating member and the first rotating member. This embodiment, by employing a magnetic pre-locking structure, achieves instant pre-locking when the first rotating member reaches the first position through the magnetic attraction between the first and second magnetic elements. This effectively overcomes the technical defects caused by the response delay of shape memory alloy components, forming a reliable transitional lock instantly upon motor power failure, preventing accidental rotation of the first and second rotating members before the shape memory alloy is fully released. Simultaneously, the magnetic pre-locking structure is contactless and wear-free, ensuring the smoothness of the locking process and avoiding the wear problems that may occur with mechanical locking structures. Furthermore, the magnetic force can be flexibly adjusted according to actual needs, ensuring the pre-locking effect without interfering with the normal operation of the motor. This improves equipment safety while maintaining structural simplicity and reliability.

[0013] In some embodiments, the end of the first magnetic element facing the second magnetic element has opposite magnetism to the end of the second magnetic element facing the first magnetic element.

[0014] In some embodiments, one of the first pre-locking member and the second pre-locking member includes a magnetic element, and the other of the first pre-locking member and the second pre-locking member includes a ferromagnetic metal element. At the first position, the first pre-locking member is magnetically attracted to the second pre-locking member to restrict the relative rotation of the second rotating member and the first rotating member. This embodiment, by employing a magnetic pre-locking structure, achieves instantaneous pre-locking when the first rotating member reaches the first position through the magnetic attraction between the magnetic element and the ferromagnetic metal element. This effectively overcomes the technical defects caused by the response delay of the shape memory alloy element, forming a reliable transitional lock instantly upon motor power failure, preventing accidental rotation of the first and second rotating members before the shape memory alloy is fully released. Simultaneously, the magnetic pre-locking structure has the characteristics of being contactless and wear-free, ensuring the smoothness of the locking process and avoiding the wear problems that may occur with mechanical locking structures. Furthermore, the magnetic force can be flexibly adjusted according to actual needs, ensuring the pre-locking effect without interfering with the normal operation of the motor, improving equipment safety while maintaining structural simplicity and reliability.

[0015] In some embodiments, the ferromagnetic metal component includes at least one of iron, nickel, cobalt, steel, silicon steel, permalloy, and martensitic stainless steel.

[0016] In some embodiments, either the second rotating member or the first rotating member has a first limiting groove, and the other rotating member has a second limiting groove. The first pre-locking member is fixedly embedded in the first limiting groove, and the second pre-locking member is fixedly embedded in the second limiting groove. This embodiment, by providing the first limiting groove and the second limiting groove on the first rotating member and the second rotating member respectively, and embedding the first pre-locking member and the second pre-locking member respectively, ensures that the first and second pre-locking members can be precisely aligned and securely installed, ensuring that the pre-locking members can reliably engage when the first and second rotating members reach the first position. The limiting groove design not only facilitates the assembly and positioning of the pre-locking members but also effectively prevents the pre-locking members from shifting or loosening during long-term use, improving the durability and stability of the pre-locking mechanism. At the same time, this embedded structure maintains the integrity of the rotating components, avoiding additional volume or weight, allowing the handheld gimbal to maintain a compact and lightweight structural feature while ensuring locking reliability.

[0017] In some embodiments, both the first pre-locking member and the second pre-locking member are connected to the surfaces of the first rotating member and the second rotating member.

[0018] In some embodiments, the first pre-locking member includes a fixing part and an elastic free end connected to the fixing part. The fixing part is fixed to the second rotating member or the first rotating member. In the first position, the elastic free end can abut against the second pre-locking member to restrict the relative rotation of the second rotating member and the first rotating member. This embodiment provides a flexible pre-locking effect by providing an elastic free end on the first pre-locking member, which can elastically abut against the second pre-locking member when the first rotating member reaches the first position. This avoids the impact and wear that may occur with rigid locking and effectively restricts the free rotation of the rotating member before the shape memory alloy part completes its phase transformation. The deformation capacity of the elastic free end can adapt to different assembly errors and vibration environments, ensuring that the pre-locking mechanism can work reliably under various working conditions. At the same time, the structure is simple and compact, and can achieve automatic locking and unlocking without additional driving components, improving equipment safety while maintaining the lightweight and low power consumption characteristics of the structure.

[0019] In some embodiments, both the first pre-locking member and the second pre-locking member are flexible damping members. In the first position, the first pre-locking member and the second pre-locking member abut against each other to generate frictional force to limit the relative rotation of the second rotating member and the first rotating member.

[0020] In some embodiments, both the first pre-locking member and the second pre-locking member are snap-fit ​​members. In the first position, the first and second pre-locking members engage to restrict the relative rotation of the second rotating member and the first rotating member. For example, in the first position, the first and second pre-locking members can be snap-fitted together through a tongue-and-groove fit or a toothed engagement to restrict the relative rotation of the second rotating member and the first rotating member.

[0021] In some embodiments, when the shape memory alloy component releases the relative rotation of the first rotating member and the second rotating member, and the first pre-locking member and the second pre-locking member are located in the first position, either the second rotating member or the first rotating member is configured to overcome the force between the first pre-locking member and the second pre-locking member, so as to rotate relative to the other of the second rotating member and the first rotating member to the second position.

[0022] In some embodiments, the second rotating member and the first rotating member are coaxial and stacked, and the first pre-locking member and the second pre-locking member are located between the second rotating member and the first rotating member.

[0023] In some embodiments, the handheld gimbal further includes a shape memory alloy control system. This control system includes a microcontroller mounted on the handheld gimbal, and a drive control module, a temperature detection module, and a current detection module connected to the microcontroller. The temperature detection module detects temperature data and feeds it back to the microcontroller. The temperature data includes the temperature of the shape memory alloy and / or the temperature of the external environment. The current detection module detects the voltage across the shape memory alloy, calculates the current data based on the resistance of the shape memory alloy, and feeds it back to the microcontroller. The microcontroller calculates the current and energizing time required to maintain the shape memory alloy within a predetermined temperature range based on the temperature and current data, and controls the drive control module to supply power to the shape memory alloy according to the current magnitude and energizing time. By combining a microcontroller with temperature and current detection modules, closed-loop precise control of the shape memory alloy is achieved. The microcontroller monitors the shape memory alloy temperature and ambient temperature in real time and dynamically adjusts the heating current and energizing time to ensure stable operation of the shape memory alloy within a predetermined temperature range, avoiding overheating or insufficient response. At the same time, the current detection module calculates real-time current data through voltage and resistance, enabling the microcontroller to optimize the power supply strategy, improve system energy efficiency and response speed, enhance the adaptability and reliability of the handheld gimbal under different environmental conditions, extend the service life of the shape memory alloy, and reduce energy consumption, thus achieving efficient, stable, and intelligent drive control.

[0024] In some embodiments, the temperature detection module includes a temperature sensor.

[0025] In some embodiments, the current detection module includes two analog-to-digital converters for detecting the voltage across the shape memory alloy.

[0026] In some embodiments, the first pre-locking member further includes an elastic member, one end of which is connected to the first rotating member, and the first magnetic member is disposed at the other end of the elastic member. The first magnetic member can tend to move closer to the second magnetic member under the action of the elastic member, so as to guide the first rotating member to rotate to the first position. When the shape memory alloy member has not fully moved to lock the relative rotation of the second rotating member and the first rotating member, that is, before the first rotating member and the second rotating member are locked by the shape memory alloy member, the first pre-locking member and the second pre-locking member intervene in advance to form a pre-lock for the second rotating member and the first rotating member. Specifically, the first rotating member is provided with a first pre-locking member including a first magnetic member and an elastic member, and the second rotating member is provided with a second magnetic member. The elastic member can be used to make the first magnetic member always tend to move closer to the second magnetic member, guiding the first rotating member to rotate accurately to the first position. The initial locking of the rotating member can be achieved at the moment the motor is powered off, restricting the accidental rotation of the second rotating member and the first rotating member. This solves the problem that traditional gimbal solutions need to maintain power supply to wait for the shape memory alloy to be released, and realizes a true instant power-off function.

[0027] In some embodiments, in the first position, the elastic element is in contact with the second magnetic element.

[0028] In some embodiments, in the first position, the first magnetic element and the second magnetic element are in contact. In the first position, the first magnetic element and the second magnetic element are in contact, maximizing the magnetic attraction between them. This effectively prevents the first rotating element and the second rotating element from sliding or shifting relative to each other before the shape memory alloy element is locked, improving the positioning accuracy and anti-interference capability during the pre-locking stage. It also ensures that the first rotating element is firmly held in the first position, creating optimal conditions for the final locking of the shape memory alloy element.

[0029] Secondly, this application also provides a handheld gimbal, comprising:

[0030] At least one motor, the motor comprising a first rotating component and a second rotating component;

[0031] The first rotating member is provided with a first pre-locking member, and the second rotating member is provided with a second pre-locking member;

[0032] The motor also includes a shape memory alloy component, which is disposed on either the first rotating component or the second rotating component;

[0033] The first pre-locking member includes a first magnetic member and an elastic member, and the second pre-locking member includes a second magnetic member. One end of the elastic member is connected to the first rotating member, and the first magnetic member is disposed at the other end of the elastic member. The first magnetic member can tend to move closer to the second magnetic member under the action of the elastic member, so as to guide the first rotating member to rotate to the first position.

[0034] In the first position, the motor is de-energized, and the first magnetic component and the second magnetic component cooperate to hold the first rotating component in the first position, so that the shape memory alloy component can lock the relative rotation between the first rotating component and the second rotating component in the de-energized state.

[0035] The aforementioned handheld gimbal can achieve at least the following beneficial effects:

[0036] The shape memory alloy component requires a certain amount of time to switch from the unlocked state to the locked state. Traditional handheld gimbals that rely solely on the shape memory alloy component for locking cannot immediately cut off the power; instead, they need to maintain motor output to prevent relative displacement between the axes, allowing the shape memory alloy to gradually change and switch to the locked state. In this application, when the shape memory alloy component has not fully moved to lock the relative rotation of the second and first rotating components, that is, before the first and second rotating components are locked by the shape memory alloy component, a first pre-locking component and a second pre-locking component intervene to pre-lock the second and first rotating components. Specifically, the first rotating component is provided with a component including a first magnetic element. The first pre-locking component of the elastic element and the second magnetic component are provided on the second rotating component. The elastic element can make the first magnetic component always tend to approach the second magnetic component, guiding the first rotating component to rotate accurately to the first position. The initial locking of the rotating component can be achieved at the moment the motor is powered off, restricting the accidental rotation of the second rotating component and the first rotating component. This solves the problem of traditional gimbal solutions that need to maintain power to wait for the shape memory alloy to be released. It realizes a true instant power-off function and effectively fills the safety gap caused by the delay in the action of the shape memory alloy component in traditional solutions. It prevents the motor from rotating freely in the non-working state, improves safety, and reduces energy consumption. It is especially suitable for battery-powered equipment.

[0037] In some embodiments, in the first position, the elastic element is in contact with the second magnetic element.

[0038] In some embodiments, in the first position, the first magnetic element and the second magnetic element are in contact. In the first position, the first magnetic element and the second magnetic element are in contact, maximizing the magnetic attraction between them. This effectively prevents the first rotating element and the second rotating element from sliding or shifting relative to each other before the shape memory alloy element is locked, improving the positioning accuracy and anti-interference capability during the pre-locking stage. It also ensures that the first rotating element is firmly held in the first position, creating optimal conditions for the final locking of the shape memory alloy element.

[0039] Thirdly, this application also provides a shape memory alloy control system, which includes:

[0040] Shape memory alloy parts;

[0041] A microcontroller, and a drive control module, a temperature detection module and a current detection module connected to the microcontroller;

[0042] The temperature detection module can detect temperature data and feed the temperature data back to the microcontroller. The temperature data includes the temperature data of the shape memory alloy part and / or the temperature data of the external environment.

[0043] The aforementioned shape memory alloy control system can achieve at least the following beneficial effects: The current detection module can detect the voltage across the shape memory alloy, calculate the current data of the shape memory alloy based on its resistance, and feed the current data back to the microcontroller. The microcontroller can calculate the required current and energizing time to maintain the shape memory alloy within a predetermined temperature range based on the temperature and current data, and control the drive control module to supply power to the shape memory alloy according to the current magnitude and energizing time. By combining the microcontroller with the temperature and current detection modules, closed-loop precise control of the shape memory alloy is achieved. Real-time monitoring of the shape memory alloy temperature and ambient temperature, and dynamic adjustment of the heating current and energizing time, ensures stable operation of the shape memory alloy within the predetermined temperature range, avoiding overheating or insufficient response. Simultaneously, the current detection module calculates real-time current data based on voltage and resistance, enabling the microcontroller to optimize power supply strategies, improve system energy efficiency and response speed, enhance the adaptability and reliability of the handheld gimbal under different environmental conditions, extend the lifespan of the shape memory alloy, reduce energy consumption, and achieve efficient, stable, and intelligent drive control.

[0044] In some embodiments, the temperature detection module includes a temperature sensor.

[0045] In some embodiments, the current detection module includes two analog-to-digital converters for detecting the voltage across the shape memory alloy. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the motor of a handheld gimbal provided in one embodiment of the present invention.

[0048] Figure 2 A schematic diagram of the structure of the second rotating member and the first pre-locking member provided in one embodiment of the present utility model.

[0049] Figure 3 A schematic diagram of the structure of the first rotating member and the second pre-locking member provided in one embodiment of the present utility model.

[0050] Figure 4 Another structural schematic diagram of the second pre-locking member provided in one embodiment of the present utility model.

[0051] Figure 5 A schematic diagram of the structure of the second rotating member and the first pre-locking member provided in one embodiment of the present utility model.

[0052] Figure 6 A schematic diagram of the structure of a first pre-locking member provided in one embodiment of the present utility model.

[0053] Figure 7 A schematic diagram of the structure of a first pre-locking member provided in one embodiment of the present utility model.

[0054] Figure 8 A schematic diagram of a handheld gimbal provided in one embodiment of the present invention.

[0055] Figure 9 A schematic diagram of a handheld gimbal provided in one embodiment of the present invention.

[0056] Figure 10 A schematic diagram of a handheld gimbal provided in one embodiment of the present invention.

[0057] Figure 11 A schematic diagram of a handheld gimbal provided in one embodiment of the present invention.

[0058] Figure label:

[0059] 10. Handheld gimbal; 11. Motor; 111. First motor; 112. Second motor; 113. Third motor; 121. First axis arm; 122. Second axis arm; 13. Shooting device; 14. Handle; 100. First pre-locking component; 110. Fixing part; 120. Elastic free end; 131. First magnetic component; 132. Elastic component; 133. Fastener; 200. Second pre-locking component; 222. Second magnetic component; 300. Second rotating component; 310. First limiting groove; 400. First rotating component; 320. Second limiting groove; 500. Memory alloy component; 600. Microcontroller; 700. Drive control module; 800. Temperature detection module; 900. Current detection module. Detailed Implementation

[0060] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0061] Please see Figures 1 to 3 In one aspect, in some embodiments, this application provides a handheld gimbal 10, which includes at least one motor 11. The motor 11 includes a shape memory alloy component 500, a first rotating component 400, and a second rotating component 300. The shape memory alloy component 500 is disposed on either the first rotating component 400 or the second rotating component 300. The first rotating component 400 is provided with a first pre-locking component 100, and the second rotating component 300 is provided with a second pre-locking component 200. In response to the first rotating component 400 rotating relative to the second rotating component 300 to a first position, the motor 11 is de-energized, and the first pre-locking component 100 cooperates with the second pre-locking component 200 to hold the first rotating component 400 in the first position, so that the shape memory alloy component 500 can lock the relative rotation between the first rotating component 400 and the second rotating component 300 in the de-energized state.

[0062] The aforementioned handheld gimbal 10 can achieve at least the following beneficial effects: The shape memory alloy component 500 requires a certain amount of time to switch from the unlocked state to the locked state. Traditional handheld gimbals 10s that rely solely on the shape memory alloy component 500 for locking cannot immediately cut off power; instead, they need to wait for the shape memory alloy to gradually change and switch to the locked state. However, in this application, when the shape memory alloy component 500 has not fully moved to lock the relative rotation of the second rotating component 300 and the first rotating component 400, that is, before the first rotating component 400 and the second rotating component 300 are locked by the shape memory alloy component 500, the first pre-locking component 10... The first and second pre-locking components 200 intervene first to pre-lock the second rotating component 300 and the first rotating component 400. The initial locking of the rotating components can be achieved the moment the motor 11 is powered off, which restricts the accidental rotation of the second rotating component 300 and the first rotating component 400. This solves the problem that the traditional gimbal solution needs to maintain power to wait for the shape memory alloy to be released. It realizes a true instant power-off function and effectively fills the safety gap caused by the action delay of the shape memory alloy component 500 in the traditional solution. It prevents the motor 11 from rotating freely in the non-working state, improves safety, and can also reduce energy consumption. It is especially suitable for battery-powered equipment.

[0063] like Figure 2 and Figure 3 As shown, in some embodiments, the first pre-locking member 100 includes a first magnetic member 131, and the second pre-locking member 200 includes a second magnetic member 222. The end of the first magnetic member 131 facing the second magnetic member 222 has opposite magnetic properties to the end of the second magnetic member 222 facing the first magnetic member 131. In the first position, the first pre-locking member 100 can be magnetically attracted to the second pre-locking member 200 to limit the relative rotation of the second rotating member 300 and the first rotating member 400. This embodiment employs a magnetic pre-locking structure, which enables instantaneous pre-locking when the first rotating component 400 reaches the first position via the magnetic attraction between the first magnetic component 131 and the second magnetic component 222. This effectively overcomes the technical defects caused by the response delay of the shape memory alloy component 500, and forms a reliable transitional lock the instant the motor 11 is powered off, preventing accidental rotation of the first rotating component 400 and the second rotating component 300 before the shape memory alloy is fully released. Simultaneously, the magnetic pre-locking structure is non-contact and wear-free, ensuring the smoothness of the locking process and avoiding the wear problems that may occur with mechanical locking structures. Furthermore, the magnetic force can be flexibly adjusted according to actual needs, ensuring the pre-locking effect without interfering with the normal operation of the motor 11. This enhances equipment safety while maintaining structural simplicity and reliability.

[0064] In some embodiments, one of the first pre-locking member 100 and the second pre-locking member 200 includes a magnetic element, and the other of the first pre-locking member 100 and the second pre-locking member 200 includes a ferromagnetic metal element. In the first position, the first pre-locking member 100 is magnetically attracted to the second pre-locking member 200 to limit the relative rotation of the second rotating member 300 and the first rotating member 400. This embodiment employs a magnetic pre-locking structure, enabling instantaneous pre-locking when the first rotating component 400 reaches the first position via the magnetic attraction between the magnetic component and the ferromagnetic metal component. This effectively overcomes the technical defects caused by the response delay of the shape memory alloy component 500. A reliable transitional lock is formed the instant the motor 11 is powered off, preventing accidental rotation of the first rotating component 400 and the second rotating component 300 before the shape memory alloy is fully released. Simultaneously, the magnetic pre-locking structure is non-contact and wear-free, ensuring the smoothness of the locking process and avoiding the wear problems that may occur with mechanical locking structures. Furthermore, the magnetic force can be flexibly adjusted according to actual needs, ensuring the pre-locking effect without interfering with the normal operation of the motor 11. This enhances equipment safety while maintaining structural simplicity and reliability. The ferromagnetic metal component can be, but is not limited to, at least one of iron, nickel, cobalt, steel, silicon steel, permalloy, and martensitic stainless steel.

[0065] like Figure 2 and Figure 3 As shown, in some embodiments, either the second rotating member 300 or the first rotating member 400 is provided with a first limiting groove 310, and the other of the second rotating member 300 or the first rotating member 400 is provided with a second limiting groove 320. The first pre-locking member 100 is fixedly embedded in the first limiting groove 310, and the second pre-locking member 200 is fixedly embedded in the second limiting groove 320. This embodiment provides a first limiting groove 310 and a second limiting groove 320 on the first rotating member 400 and the second rotating member 300, respectively, and embeds a first pre-locking member 100 and a second pre-locking member 200 thereon. This ensures that the first pre-locking member 100 and the second pre-locking member 200 are precisely aligned and securely installed, guaranteeing that the pre-locking members can reliably engage when the first rotating member 400 and the second rotating member 300 reach the first position. The limiting groove design not only facilitates the assembly and positioning of the pre-locking members but also effectively prevents the pre-locking members from shifting or loosening during long-term use, improving the durability and stability of the pre-locking mechanism. At the same time, this embedded structure maintains the integrity of the rotating components, avoiding additional volume or weight, allowing the handheld gimbal 10 to maintain a compact and lightweight structure while ensuring locking reliability.

[0066] In some embodiments, the first pre-locking member 100 and the second pre-locking member 200 are both connected to the surfaces of the first rotating member 400 and the second rotating member 300.

[0067] like Figure 4, Figure 5 and Figure 6 As shown, in some embodiments, the first pre-locking member 100 includes a fixing part 110 and an elastic free end 120 connected to the fixing part 110. The fixing part 110 is fixed to the second rotating member 300 or the first rotating member 400. In the first position, the elastic free end 120 can abut against the second pre-locking member 200 to limit the relative rotation of the second rotating member 300 and the first rotating member 400. This embodiment provides a flexible pre-locking effect by providing an elastic free end 120 on the first pre-locking member 100, so that it can elastically abut against the second pre-locking member 200 when the first rotating member 400 reaches the first position. This avoids the impact and wear that may be caused by rigid locking, and can effectively limit the free rotation of the rotating member before the shape memory alloy part 500 completes the phase transformation. The deformation capacity of the elastic free end 120 can adapt to different assembly errors and vibration environments, ensuring that the pre-locking mechanism can work reliably under various working conditions. At the same time, the structure is simple and compact, and can achieve automatic locking and unlocking without additional driving components. While improving the safety of the equipment, it maintains the lightweight and low power consumption characteristics of the structure.

[0068] In some embodiments, the first pre-locking member 100 and the second pre-locking member 200 are both flexible damping members. In the first position, the first pre-locking member 100 and the second pre-locking member 200 abut against each other to generate frictional force to limit the relative rotation of the second rotating member 300 and the first rotating member 400.

[0069] In some embodiments, both the first pre-locking member 100 and the second pre-locking member 200 are snap-fit ​​members. In the first position, the first pre-locking member 100 and the second pre-locking member 200 engage to restrict the relative rotation of the second rotating member 300 and the first rotating member 400. For example, in the first position, the first pre-locking member 100 and the second pre-locking member 200 can be snap-fitted and locked through a convex-concave fit or a toothed engagement to restrict the relative rotation of the second rotating member 300 and the first rotating member 400.

[0070] In some embodiments, when the shape memory alloy member 500 releases the relative rotation of the first rotating member 400 and the second rotating member 300, and the first pre-locking member 100 and the second pre-locking member 200 are in the first position, either the second rotating member 300 or the first rotating member 400 is configured to overcome the force between the first pre-locking member 100 and the second pre-locking member 200, so as to rotate relative to the other of the second rotating member 300 and the first rotating member 400 to the second position.

[0071] In some embodiments, the second rotating member 300 and the first rotating member 400 are coaxial and stacked, and the first pre-locking member 100 and the second pre-locking member 200 are located between the second rotating member 300 and the first rotating member 400.

[0072] like Figure 7 As shown, in some embodiments, the handheld gimbal 10 further includes a shape memory alloy control system. The shape memory alloy control system includes a microcontroller 600 disposed on the handheld gimbal 10, and a drive control module 700, a temperature detection module 800, and a current detection module 900 connected to the microcontroller 600. The temperature detection module 800 detects temperature data and feeds it back to the microcontroller 600. The temperature data includes the temperature data of the shape memory alloy of the shape memory alloy component 500 and / or the temperature data of the external environment. The current detection module 900 detects the voltage across the shape memory alloy, calculates the current data of the shape memory alloy based on its resistance, and feeds the current data back to the microcontroller 600. The microcontroller 600 calculates the current magnitude and energizing time required to maintain the shape memory alloy within a predetermined temperature range based on the temperature and current data, and controls the drive control module 700 to supply power to the shape memory alloy according to the current magnitude and energizing time.

[0073] like Figure 8 As shown, in some embodiments, the handheld gimbal 10 includes a handle 14, an axis assembly, and a shooting device 13, with the axis assembly connected between the handle 14 and the shooting device 13. The axis assembly includes at least one motor 11 and at least one shaft arm connected to the motor 11. Specifically, the at least one motor 11 includes a first motor 11, a second motor 11, and a third motor 11, and the at least one shaft arm includes a first shaft arm 121 and a second shaft arm 122. The first motor 11 is located at the top of the handle 14 and connected to one end of the first shaft arm 121, and can drive the first shaft arm 121 to rotate. The second motor 11 is located at the other end of the first shaft arm 121 and connected to one end of the second shaft arm 122, and can drive the second shaft arm 122 to rotate. The third motor 11 is located at the other end of the second shaft arm 122 and connected to the shooting device 13, and can drive the shooting device 13 to rotate. At least one of the first motor 11, the second motor 11, and the third motor 11 is provided with a first pre-locking member 100, a second pre-locking member 200, and a shape memory alloy member 500.

[0074] For example, a current sensing resistor can also be connected in series in the current path. The current detection module 900 can detect the voltage across the current sensing resistor, calculate the current data of the shape memory alloy based on the resistance value of the current sensing resistor, and feed the current data back to the microcontroller 600. The microcontroller 600 can calculate the current magnitude and energizing time required to maintain the shape memory alloy within a predetermined temperature range based on the temperature data and current data, and control the drive control module 700 to supply power to the shape memory alloy according to the current magnitude and energizing time.

[0075] By combining the microcontroller 600 with the temperature detection module 800 and the current detection module 900, closed-loop precise control of the shape memory alloy is achieved. The microcontroller monitors the shape memory alloy temperature and the ambient temperature in real time and dynamically adjusts the heating current and energizing time to ensure that the shape memory alloy operates stably within the predetermined temperature range, avoiding overheating or insufficient response. At the same time, the current detection module 900 calculates real-time current data through voltage and resistance, enabling the microcontroller 600 to optimize the power supply strategy, improve system energy efficiency and response speed, enhance the adaptability and reliability of the handheld gimbal 10 under different environmental conditions, extend the service life of the shape memory alloy, and reduce energy consumption, thus achieving efficient, stable and intelligent drive control.

[0076] In some embodiments, the temperature detection module 800 includes a temperature sensor.

[0077] In some embodiments, the current detection module 900 includes two analog-to-digital converters for detecting the voltage across the shape memory alloy.

[0078] like Figure 9 , Figure 10 and Figure 11 As shown, in some embodiments, the first pre-locking member 100 further includes an elastic member 132, one end of which is connected to the first rotating member 400, and the first magnetic member 131 is disposed at the other end of the elastic member 132. The first magnetic member 131 is able to move closer to the second magnetic member 222 under the action of the elastic member 132, so as to guide the first rotating member 400 to rotate to the first position. When the shape memory alloy component 500 has not fully moved to lock the relative rotation of the second rotating component 300 and the first rotating component 400, that is, before the first rotating component 400 and the second rotating component 300 are locked by the shape memory alloy component 500, the first pre-locking component 100 and the second pre-locking component 200 intervene in advance to form a pre-lock for the second rotating component 300 and the first rotating component 400. Specifically, the first rotating component 400 is provided with a first pre-locking component 100 including a first magnetic component 131 and an elastic component 132, and the second rotating component 300 is provided with a second magnetic component 222. The elastic component 132 can be used to make the first magnetic component 131 always tend to approach the second magnetic component 222, guiding the first rotating component 400 to rotate accurately to the first position. The initial locking of the rotating component can be achieved at the moment the motor 11 is de-energized, restricting the accidental rotation of the second rotating component 300 and the first rotating component 400. This solves the problem that the traditional gimbal solution needs to maintain power to wait for the shape memory alloy to be released, and realizes a true instant power-off function.

[0079] like Figure 10 and Figure 11As shown, in some embodiments, the first pre-locking member 100 further includes a fastener 133, one end of the elastic member 132 being connected to the first rotating member 400 via the fastener 133. For example, the fastener 133 may be a screw, which passes through one end of the elastic member 132 and is threadedly connected to the first rotating member 400.

[0080] like Figure 10 and Figure 11 As shown, in some embodiments, in the first position, the elastic member 132 is in contact with the second magnetic member 222. In other words, in the first position, the elastic member 132 is located between the first magnetic member 131 and the second magnetic member 222, that is, the first magnetic member 131 is located on the side of the elastic member 132 facing away from the second magnetic member 222.

[0081] In some embodiments, in the first position, the first magnetic element 131 is in contact with the second magnetic element 222. In the first position, the elastic element 132 is located on the side of the first magnetic element 131 facing away from the second magnetic element 222. The contact between the first magnetic element 131 and the second magnetic element 222 maximizes the magnetic attraction between them, effectively preventing relative sliding or displacement between the first rotating element 400 and the second rotating element 300 before the shape memory alloy element 500 completes locking. This improves the positioning accuracy and anti-interference capability during the pre-locking stage, ensuring that the first rotating element 400 is firmly held in the first position, creating optimal conditions for the final locking of the shape memory alloy element 500.

[0082] Secondly, such as Figure 9 , Figure 10 and Figure 11As shown, in some embodiments, this application also provides a handheld gimbal 10, including a shape memory alloy component 500 and at least one motor 11. The motor 11 includes a first rotating component 400 and a second rotating component 300. The shape memory alloy component 500 is disposed on either the first rotating component 400 or the second rotating component 300. The first rotating component 400 is provided with a first pre-locking component 100, and the second rotating component 300 is provided with a second pre-locking component 200. The first pre-locking component 100 includes a first magnetic component 131 and an elastic component 132, and the second pre-locking component 200 includes a second magnetic component 222. One end of the elastic component 132 is connected to... The first rotating member 400 is connected, and the first magnetic member 131 is disposed at the other end of the elastic member 132. The first magnetic member 131 can tend to move closer to the second magnetic member 222 under the action of the elastic member 132, so as to guide the first rotating member 400 to rotate to the first position. In the first position, the motor 11 is de-energized, and the first magnetic member 131 cooperates with the second magnetic member 222 to hold the first rotating member 400 in the first position, so that the shape memory alloy member 500 can lock the relative rotation between the first rotating member 400 and the second rotating member 300 in the de-energized state.

[0083] The aforementioned handheld gimbal 10 can achieve at least the following beneficial effects:

[0084] The shape memory alloy component 500 requires a certain amount of time to switch from the unlocked state to the locked state. Traditional handheld gimbals 10s that rely solely on the shape memory alloy component 500 for locking cannot immediately cut off power; instead, they need to maintain the output of the motor 11 to prevent relative displacement between the axes, allowing the shape memory alloy to gradually change and switch to the locked state. However, in this application, before the shape memory alloy component 500 fully completes its movement to lock the relative rotation of the second rotating component 300 and the first rotating component 400—that is, before the first rotating component 400 and the second rotating component 300 are locked by the shape memory alloy component 500—the first pre-locking component 100 and the second pre-locking component 200 intervene to pre-lock the second rotating component 300 and the first rotating component 400. Specifically, the first rotating component 400 is provided with a component including a first magnetic element. The first pre-locking member 100 of the elastic member 131 and the second rotating member 300 is provided with a second magnetic member 222. The elastic member 132 can make the first magnetic member 131 always tend to approach the second magnetic member 222, guiding the first rotating member 400 to rotate accurately to the first position. The initial locking of the rotating member can be achieved at the moment the motor 11 is de-energized, which restricts the accidental rotation of the second rotating member 300 and the first rotating member 400. This solves the problem that the traditional gimbal solution needs to maintain power to wait for the memory alloy to be released. It realizes the function of real-time power-off and effectively fills the safety gap caused by the action delay of the memory alloy member 500 in the traditional solution. It prevents the motor 11 from rotating freely in the non-working state after power is cut off, improves safety, and can also reduce energy consumption. It is especially suitable for battery-powered equipment.

[0085] In some embodiments, in the first position, the elastic element 132 is in contact with the second magnetic element 222.

[0086] In some embodiments, in the first position, the first magnetic element 131 and the second magnetic element 222 are in contact. In the first position, the magnetic attraction between the first magnetic element 131 and the second magnetic element 222 is maximized, effectively preventing relative sliding or displacement between the first rotating element 400 and the second rotating element 300 before the shape memory alloy element 500 completes locking. This improves the positioning accuracy and anti-interference capability during the pre-locking stage, ensuring that the first rotating element 400 is firmly held in the first position, creating optimal conditions for the final locking of the shape memory alloy element 500.

[0087] Thirdly, such as Figure 7As shown, this application also provides a shape memory alloy control system, which includes a shape memory alloy component 500, a microcontroller 600, and a drive control module 700, a temperature detection module 800, and a current detection module 900 connected to the microcontroller 600. The temperature detection module 800 is capable of detecting temperature data and feeding it back to the microcontroller 600. The temperature data includes the temperature data of the shape memory alloy component 500 and / or the temperature data of the external environment.

[0088] The aforementioned shape memory alloy control system can achieve at least the following beneficial effects: The current detection module 900 can detect the voltage across the shape memory alloy, calculate the current data of the shape memory alloy based on its resistance, and feed the current data back to the microcontroller 600. The microcontroller 600 can calculate the current magnitude and energizing time required to maintain the shape memory alloy within a predetermined temperature range based on the temperature and current data, and control the drive control module 700 to supply power to the shape memory alloy according to the current magnitude and energizing time. Through the microcontroller 600 combined with the temperature detection module 800 and the current detection module 900, closed-loop precise control of the shape memory alloy is achieved. The system monitors the shape memory alloy temperature and ambient temperature in real time and dynamically adjusts the heating current and energizing time, ensuring stable operation of the shape memory alloy within the predetermined temperature range and avoiding overheating or insufficient response. Simultaneously, the current detection module 900 calculates real-time current data based on voltage and resistance, enabling the microcontroller 600 to optimize the power supply strategy, improve system energy efficiency and response speed, enhance the adaptability and reliability of the handheld gimbal 10 under different environmental conditions, extend the lifespan of the shape memory alloy, reduce energy consumption, and achieve efficient, stable, and intelligent drive control.

[0089] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0090] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

[0091] In the description of this utility model, it should be understood that the terms "axial", "radial", "circumferential", "length", "width", "thickness", "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0092] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0093] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0094] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0095] It should be noted that when an element is referred to as being "attached to," "fixed to," or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0096] In this specification, the use of terms such as "an embodiment," "another implementation," etc., refers to a specific feature, structure, material, or characteristic described in connection with that embodiment or example that is included in at least one embodiment or example of the present invention. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiment or example. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

Claims

1. A handheld gimbal, characterized in that, The gimbal includes at least one motor, and the motor includes a first rotating component and a second rotating component; The first rotating member is provided with a first pre-locking member, and the second rotating member is provided with a second pre-locking member; The motor also includes a shape memory alloy component, which is disposed on either the first rotating component or the second rotating component; In response to the first rotating member rotating to a first position relative to the second rotating member, the motor is de-energized, and the first pre-locking member cooperates with the second pre-locking member to hold the first rotating member at the first position, so that the shape memory alloy member can lock the relative rotation between the first rotating member and the second rotating member in the power-off state.

2. The handheld gimbal according to claim 1, characterized in that, The first pre-locking member includes a first magnetic element, and the second pre-locking member includes a second magnetic element; or, one of the first pre-locking member and the second pre-locking member includes a magnetic element, and the other of the first pre-locking member and the second pre-locking member includes a ferromagnetic metal element. In the first position, the first pre-locking member can be magnetically attracted to the second pre-locking member to limit the relative rotation of the second rotating member and the first rotating member.

3. The handheld gimbal according to claim 2, characterized in that, The end of the first magnetic element facing the second magnetic element has the opposite magnetism to the end of the second magnetic element facing the first magnetic element.

4. The handheld gimbal according to claim 2, characterized in that, Either the second rotating member or the first rotating member has a first limiting groove, and the other rotating member has a second limiting groove. The first pre-locking member is fixedly embedded in the first limiting groove, and the second pre-locking member is fixedly embedded in the second limiting groove; or, both the first pre-locking member and the second pre-locking member are connected to the surfaces of the first rotating member and the second rotating member.

5. The handheld gimbal according to claim 1, characterized in that, The first pre-locking member includes a fixing part and an elastic free end connected to the fixing part. The fixing part is fixed to the second rotating member or the first rotating member. In the first position, the elastic free end can abut against the second pre-locking member to restrict the relative rotation of the second rotating member and the first rotating member. Alternatively, both the first pre-locking member and the second pre-locking member are flexible damping members. In the first position, the first pre-locking member and the second pre-locking member abut against each other to generate frictional force to limit the relative rotation of the second rotating member and the first rotating member. Alternatively, both the first pre-locking member and the second pre-locking member are snap-fit ​​members. In the first position, the first pre-locking member and the second pre-locking member snap-fit ​​together to restrict the relative rotation of the second rotating member and the first rotating member.

6. The handheld gimbal according to any one of claims 1 to 5, characterized in that, When the shape memory alloy component releases the relative rotation of the first rotating component and the second rotating component, and the first pre-locking component and the second pre-locking component are located in the first position, either the second rotating component or the first rotating component is configured to overcome the force between the first pre-locking component and the second pre-locking component, so as to rotate relative to the other of the second rotating component and the first rotating component to the second position. And / or, the second rotating member and the first rotating member are coaxial and stacked, and the first pre-locking member and the second pre-locking member are located between the second rotating member and the first rotating member.

7. The handheld gimbal according to any one of claims 1 to 5, characterized in that, The handheld gimbal also includes a shape memory alloy control system, the shape memory alloy control system comprising: disposed on the handheld gimbal. A microcontroller, and a drive control module, a temperature detection module, and a current detection module connected to the microcontroller; The temperature detection module can detect temperature data and feed the temperature data back to the microcontroller. The temperature data includes the temperature data of the shape memory alloy and / or the temperature data of the external environment. The microcontroller controls the duration and current of the drive control module to energize the shape memory alloy based on the temperature data.

8. The handheld gimbal according to claim 7, characterized in that, The temperature detection module includes a temperature sensor; and / or, the current detection module includes two analog-to-digital converters, which are used to detect the voltage across the shape memory alloy.

9. The handheld gimbal according to claim 2, characterized in that, The first pre-locking member further includes an elastic member, one end of which is connected to the first rotating member, and the first magnetic member is disposed at the other end of the elastic member. The first magnetic member can tend to move closer to the second magnetic member under the action of the elastic member, so as to guide the first rotating member to rotate to the first position.

10. The handheld gimbal according to claim 9, characterized in that, At the first position, the first magnetic element and the second magnetic element are in contact; Alternatively, in the first position, the elastic element is in contact with the second magnetic element.

11. A handheld gimbal, characterized in that, The gimbal includes at least one motor, and the motor includes a first rotating component and a second rotating component; The first rotating member is provided with a first pre-locking member, and the second rotating member is provided with a second pre-locking member; The motor also includes a shape memory alloy component, which is disposed on either the first rotating component or the second rotating component; The first pre-locking member includes a first magnetic member and an elastic member, and the second pre-locking member includes a second magnetic member. One end of the elastic member is connected to the first rotating member, and the first magnetic member is disposed at the other end of the elastic member. The first magnetic member can tend to move closer to the second magnetic member under the action of the elastic member, so as to guide the first rotating member to rotate to the first position. In the first position, the motor is de-energized, and the first magnetic component and the second magnetic component cooperate to hold the first rotating component in the first position, so that the shape memory alloy component can lock the relative rotation between the first rotating component and the second rotating component in the de-energized state.

12. The handheld gimbal according to claim 11, characterized in that, At the first position, the first magnetic element and the second magnetic element are in contact; Alternatively, in the first position, the elastic element is in contact with the second magnetic element.

13. A shape memory alloy control system, characterized in that, include: Shape memory alloy parts; A microcontroller, and a drive control module, a temperature detection module and a current detection module connected to the microcontroller; The temperature detection module can detect temperature data and feed the temperature data back to the microcontroller. The temperature data includes the temperature data of the shape memory alloy component and / or the temperature data of the external environment. The microcontroller controls the duration and current of the drive control module to energize the shape memory alloy component based on the temperature data.

14. The shape memory alloy control system according to claim 13, characterized in that, The temperature detection module includes a temperature sensor; and / or, the current detection module includes two analog-to-digital converters, which are used to detect the voltage across the shape memory alloy.

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