A shaft locking mechanism and a holder

Abstract

The utility model relates to the technical field of fixed mechanism more specifically, relate to a kind of shaft lock mechanism and cloud platform, wherein shaft lock mechanism includes first lock pin, second lock pin, third lock pin, first lock slot, second lock slot, third lock slot and drive mechanism, first lock pin is connected with the output end of drive mechanism, for the first lock slot of being used for with first lock pin insertion is located at first connecting portion, first lock pin is equipped with the first transmission part for driving second lock pin and second lock slot insertion, second transmission part is equipped on third lock pin, second lock pin drives third lock pin and third lock slot insertion by second transmission part, third lock slot is located at fourth connecting portion.The utility model is driven by setting drive mechanism, first lock pin, second lock pin and third lock pin, when drive mechanism drives first lock pin insertion in first lock slot, simultaneously, drive second lock pin insertion second lock slot, drive third lock pin insertion third lock slot, make the locking structure of three degrees of freedom rotating mechanism simple, convenient to operate.

Description

Technical Field

[0001] This utility model relates to the technical field of fixing mechanisms, and more specifically, to a shaft locking mechanism and a gimbal. Background Technology

[0002] In modern industry and automation, many applications rely on mechanisms capable of complex movements in three-dimensional space, such as industrial robots, precision optical gimbals, medical devices, and pointing mechanisms in aerospace. These mechanisms typically have three rotational degrees of freedom, meaning they can rotate independently around the X, Y, and Z axes to meet multi-angle and omnidirectional work requirements. When such mechanisms are not in operation, such as in standby, transportation, or maintenance, to prevent accidental offset or oscillation of the rotating axes due to external interference, their own weight, or vibration, which could lead to loss of accuracy, equipment damage, or even safety accidents, the three rotating axes must be reliably locked in predetermined positions.

[0003] Currently, there are some common solutions for locking multi-axis mechanisms in existing technologies, such as setting up a separate mechanical locking device for each rotating axis, such as locking screws, brake pads, or clutches. However, this method requires operators to lock each axis sequentially, which is cumbersome and inefficient. Furthermore, because an independent locking mechanism is required for each axis, the overall system structure is complex, with many parts, large space occupation, and high manufacturing costs. Utility Model Content

[0004] The purpose of this utility model is to overcome the shortcomings of the existing three-degree-of-freedom rotation mechanism locking scheme, which is complex in structure and inconvenient in operation, and to provide a shaft locking mechanism and gimbal, so that the locking structure of the three-degree-of-freedom rotation mechanism is simple and easy to operate.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: A shaft locking mechanism is provided for locking and unlocking a first connecting part, a second connecting part, a third connecting part, and a fourth connecting part. The second connecting part is rotatably connected to the first connecting part, the third connecting part is rotatably connected to the second connecting part, and the fourth connecting part is rotatably connected to the third connecting part. The shaft locking mechanism includes a first locking pin, a second locking pin, a third locking pin, a first locking groove, a second locking groove, a third locking groove, and a driving mechanism. The first locking pin, the second locking pin, and the driving mechanism are located at the second connecting part. The first locking pin is connected to the output end of the driving mechanism. The first locking groove, which is for insertion into the first locking pin, is located at the first connecting part. The first locking pin is provided with a first transmission member for driving the second locking pin to insert into the second locking groove. The second locking groove and the third locking pin are located at the third connecting part. The third locking pin is provided with a second transmission member. The second locking pin drives the third locking pin to insert into the third locking groove through the second transmission member. The third locking groove is located at the fourth connecting part.

[0006] In this invention, the second connecting part is rotatable relative to the first connecting part, the third connecting part is rotatable relative to the second connecting part, and the fourth connecting part is rotatable relative to the third connecting part. The first, second, third, and fourth connecting parts constitute a three-degree-of-freedom rotational mechanism. When locked, the drive mechanism is activated, causing the first locking pin to insert into the first locking groove. Simultaneously with the movement of the first locking pin, the first locking pin drives the first transmission member to move, which in turn drives the second locking pin to insert into the second locking groove. When the second locking pin is inserted into the second locking groove, it drives the second transmission member to move, causing the third locking pin to insert into the third locking groove, thus locking the three-degree-of-freedom rotational mechanism. When unlocking, the drive mechanism is activated in reverse, causing the first locking pin to separate from the first locking groove. Simultaneously, the first transmission member drives the second locking pin to separate from the second locking groove, and the second transmission member drives the third locking pin to separate from the third locking groove, thus unlocking the three-degree-of-freedom rotational mechanism. By setting up a drive mechanism, a first locking pin, a second locking pin, and a third locking pin, when the drive mechanism drives the first locking pin to insert into the first locking groove, it simultaneously drives the second locking pin to insert into the second locking groove and the third locking pin to insert into the third locking groove, thereby locking the first connecting part, the second connecting part, the third connecting part, and the fourth connecting part. This makes the locking structure of the three-degree-of-freedom rotary mechanism simple and easy to operate.

[0007] Furthermore, the second locking pin is slidably connected to the second connecting portion, and the second locking pin is provided with a sliding groove, in which the first transmission member is slidably connected. The first locking pin drives the first transmission member to slide within the sliding groove, thereby causing the second locking pin to slide relative to the second connecting portion, thus causing the second locking pin to insert into the second locking groove or to separate from the second locking groove.

[0008] Furthermore, the axial direction of the first transmission member is offset from the axial direction of the first locking pin, and the sliding groove gradually tilts away from the second locking pin in the direction from the second locking pin to the first locking pin. The sliding direction of the second locking pin is offset from the tilting direction of the sliding groove.

[0009] Furthermore, the second connecting portion is provided with a first limiting member for limiting the movement of the second locking pin. The first limiting member restricts the movement of the second locking pin.

[0010] Further, the second transmission component includes a transmission rod and a reset component. The transmission rod is slidably connected within the second locking groove and can abut against the end of the second locking pin. The third locking pin is connected to the transmission rod. One end of the reset component is connected to the second connecting portion, and the other end of the reset component is connected to the transmission rod and / or the third locking pin. When locked, the second locking pin is inserted into the second locking groove, abutting against the transmission rod and driving the transmission rod to move, thereby driving the third locking pin to insert into the third locking groove. When unlocked, the second locking pin separates from the second locking groove, and the third locking pin is reset by the reset component and separates from the third locking groove.

[0011] Furthermore, the second locking groove is provided with a second limiting member for limiting the movement of the transmission rod. By providing the second limiting member, the movement position of the transmission rod is restricted.

[0012] Furthermore, the third locking pin is also provided with an abutment block, and the third connecting portion is provided with a third limiting member. The abutment block is located between the third limiting member and the third locking groove. By providing the third limiting member, the movement position of the third locking pin is restricted.

[0013] Furthermore, a fourth limiting member is provided at the second connecting portion to limit the movement of the first locking pin. By providing the fourth limiting member, the movement position of the first locking pin is restricted.

[0014] Furthermore, the driving mechanism is used to drive the first locking pin to move linearly. The driving mechanism drives the first locking pin to move linearly and insert it into the first locking groove.

[0015] This utility model also provides a gimbal, including a first motor, a second motor, a third motor, and a first connecting part, a second connecting part, a third connecting part, and a fourth connecting part. The first motor is disposed on the first connecting part. The two ends of the second connecting part are respectively connected to the output end of the first motor and the second motor. The two ends of the third connecting part are respectively connected to the output end of the second motor and the third motor. The fourth connecting part is connected to the output end of the third motor. It also includes the shaft locking mechanism described above.

[0016] The gimbal of this invention, during normal operation, activates a first motor to rotate a second connecting part, a second motor to rotate a third connecting part, and a third motor to rotate a fourth connecting part, thus realizing a three-degree-of-freedom rotation mechanism. When locked, the drive mechanism is activated, causing a first locking pin to move towards a first locking groove, thereby locking the first motor. Simultaneously with the movement of the first locking pin, it drives a first transmission component, which in turn drives a second locking pin to insert into a second locking groove, thus locking the second motor. When the second locking pin is inserted into the second locking groove, it drives a third locking pin via the second transmission component, causing the third locking pin to insert into a third locking groove, thereby locking the third motor. When unlocking, the drive mechanism is activated in reverse, causing the first locking pin to separate from the first locking groove, and simultaneously, via the first transmission component, the second locking pin to separate from the second locking groove, and via the second transmission component, the third locking pin to separate from the third locking groove. By setting up a drive mechanism, a first locking pin, a second locking pin, and a third locking pin, when the drive mechanism drives the first locking pin to insert into the first locking groove, it simultaneously drives the second locking pin to insert into the second locking groove and the third locking pin to insert into the third locking groove, thereby locking the first motor, the second motor, and the third motor. This makes the locking structure of the three-degree-of-freedom rotary mechanism simple and easy to operate.

[0017] Compared with the prior art, the beneficial effects of this utility model are: 1. The present invention relates to a shaft locking mechanism and a gimbal, which, by setting a driving mechanism, a first locking pin, a second locking pin and a third locking pin, when the driving mechanism drives the first locking pin to insert into the first locking groove, drives the second locking pin to insert into the second locking groove, and drives the third locking pin to insert into the third locking groove, simultaneously locking the first motor, the second motor and the third motor, making the locking structure of the three-degree-of-freedom rotation mechanism simple and easy to operate.

[0018] 2. The present invention provides a shaft locking mechanism and a gimbal, which restricts the movement of the first locking pin by setting a fourth limiting member, restricts the movement of the second locking pin by setting a first limiting member, and restricts the position of the third locking pin by setting a second limiting member and a third limiting member, thereby making the shaft locking mechanism operate more stably. Attached Figure Description

[0019] Figure 1 This is an installation diagram of the shaft locking mechanism of this utility model; Figure 2 This is a structural schematic diagram of the shaft locking mechanism of this utility model; Figure 3 yes Figure 1 Enlarged view of the structure at point A in the middle; Figure 4 This is a schematic diagram of the structure of the gimbal of this utility model.

[0020] In the attached diagram: 100, first locking pin; 110, first transmission component; 120, clearance surface; 200, second locking pin; 210, sliding groove; 300, third locking pin; 310, second transmission component; 311, transmission rod; 312, reset component; 320, abutment block; 400, first locking groove; 500, second locking groove; 600, third locking groove; 700, drive mechanism; 800, gimbal; 810, first connecting part; 820, second connecting part; 821, first limiting component; 822, fourth limiting component; 830, third connecting part; 831, second limiting component; 832, third limiting component; 840, fourth connecting part; 850, first motor; 860, second motor; 870, third motor. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present utility model, and not all of them. The present utility model will be further described below with reference to specific embodiments. The accompanying drawings are only for illustrative purposes and represent only schematic diagrams, not actual pictures, and should not be construed as limiting the present patent. In order to better illustrate the embodiments of the present utility model, some parts in the drawings may be omitted, enlarged or reduced, and do not represent the actual product size. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0022] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms describing positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this patent. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. Furthermore, if the embodiments of this utility model involve descriptions such as "first" and "second," these descriptions are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" and "second" may explicitly or implicitly include at least one of those features.

[0023] Example 1 This embodiment is the first embodiment of the shaft locking mechanism, such as Figure 1As shown, the shaft locking mechanism is used for locking and unlocking the first connecting part 810, the second connecting part 820, the third connecting part 830, and the fourth connecting part 840. The second connecting part 820 is rotatably connected to the first connecting part 810, the third connecting part 830 is rotatably connected to the second connecting part 820, and the fourth connecting part 840 is rotatably connected to the third connecting part 830. The second connecting part 820 can rotate relative to the first connecting part 810, the third connecting part 830 can rotate relative to the second connecting part 820, and the fourth connecting part 840 can rotate relative to the third connecting part 830. The first connecting part 810, the second connecting part 820, the third connecting part 830, and the fourth connecting part 840 constitute a three-degree-of-freedom rotational mechanism.

[0024] like Figure 1 and Figure 2 As shown, the shaft locking mechanism includes a first locking pin 100, a second locking pin 200, a third locking pin 300, a first locking groove 400, a second locking groove 500, a third locking groove 600, and a drive mechanism 700. The first locking pin 100, the second locking pin 200, and the drive mechanism 700 are located at the second connecting part 820. The first locking pin 100 is connected to the output end of the drive mechanism 700. The first locking groove 400, which is used to insert into the first locking pin 100, is located at the first connecting part 810. The first locking pin 100 is provided with a first transmission member 110 for driving the second locking pin 200 to insert into the second locking groove 500. The second locking groove 500 and the third locking pin 300 are located at the third connecting part 830. The third locking pin 300 is provided with a second transmission member 310. The second locking pin 200 drives the third locking pin 300 to insert into the third locking groove 600 through the second transmission member 310. The third locking groove 600 is located at the fourth connecting part 840.

[0025] like Figure 3 As shown, the second locking pin 200 is slidably connected to the second connecting portion 820. The second locking pin 200 has a sliding groove 210, and the first transmission member 110 is slidably connected within the sliding groove 210. Specifically, the axial direction of the first transmission member 110 is offset from the axial direction of the first locking pin 100. The sliding groove 210 gradually inclines away from the second locking groove 500 from the direction of the second locking pin 200 to the first locking pin 100. The sliding direction of the second locking pin 200 is offset from the inclination direction of the sliding groove 210. The first locking pin 100 drives the first transmission member 110 to slide within the sliding groove 210, causing the second locking pin 200 to slide relative to the second connecting portion 820, thereby causing the second locking pin 200 to insert into the second locking groove 500 or to separate from the second locking groove 500.

[0026] In other embodiments, the first transmission member 110 may be detachably connected to the first locking pin 100 by bolts, or the first transmission member 110 may be integrally formed with the first locking pin 100; no limitation is made here.

[0027] like Figure 3 As shown, the second transmission component 310 includes a transmission rod 311 and a reset component 312. The transmission rod 311 is slidably connected within the second locking groove 500 and can abut against the end of the second locking pin 200. The third locking pin 300 is connected to the transmission rod 311. One end of the reset component 312 is connected to the second connecting part 820, and the other end of the reset component 312 is connected to the transmission rod 311 and / or the third locking pin 300. When locked, the second locking pin 200 is inserted into the second locking groove 500, abuts against the transmission rod 311, and drives the transmission rod 311 to move, thereby driving the third locking pin 300 to insert into the third locking groove 600. When unlocked, the second locking pin 200 separates from the second locking groove 500, and the third locking pin 300 is reset by the action of the reset component 312 and separates from the third locking groove 600.

[0028] like Figure 1 and Figure 2 As shown, the drive mechanism 700 is used to drive the first locking pin 100 to move linearly. The drive mechanism 700 drives the first locking pin 100 to move linearly and insert it into the first locking groove 400. In one embodiment, the drive mechanism 700 may be a micro linear stepper motor in the prior art. The micro linear stepper motor includes a rotary motor connected to the second connecting part 820, a lead screw connected to the output end of the rotary motor, and a slider threadedly connected to the lead screw and moving along the lead screw axis. In this case, the first locking pin 100 is provided with a clamping lug for holding the slider. In one embodiment, the drive mechanism 700 may be a rack and pinion linear stepper motor in the prior art. The rack and pinion linear stepper motor includes a rotary motor connected to the second connecting part 820, a gear connected to the output end of the rotary motor, and a rack meshing with the gear. In this case, the first locking pin 100 is connected to the rack. This is only a non-exhaustive description of the possible forms of the drive mechanism 700 and does not constitute a limitation on the specific form of the drive mechanism 700.

[0029] The working principle of the shaft locking mechanism in this embodiment is as follows: When locked, the drive mechanism 700 is activated, causing the first locking pin 100 to insert into the first locking groove 400. Simultaneously with the movement of the first locking pin 100, it drives the first transmission member 110, which in turn drives the second locking pin 200 to insert into the second locking groove 500. When the second locking pin 200 is inserted into the second locking groove 500, it drives the second transmission member 310, causing the third locking pin 300 to insert into the third locking groove 600, thus locking the three-degree-of-freedom rotary mechanism.

[0030] During unlocking, the reverse-start drive mechanism 700 is activated, which causes the first locking pin 100 to separate from the first locking groove 400. At the same time, the first transmission component 110 causes the second locking pin 200 to separate from the second locking groove 500, and the second transmission component 310 causes the third locking pin 300 to separate from the third locking groove 600, thereby unlocking the three-degree-of-freedom rotation mechanism.

[0031] The shaft locking mechanism in this utility model is provided with a drive mechanism 700, a first locking pin 100, a second locking pin 200, and a third locking pin 300. When the drive mechanism 700 drives the first locking pin 100 to insert into the first locking groove 400, it drives the second locking pin 200 to insert into the second locking groove 500 and the third locking pin 300 to insert into the third locking groove 600. At the same time, it locks the first connecting part 810, the second connecting part 820, the third connecting part 830, and the fourth connecting part 840, making the locking structure of the three-degree-of-freedom rotation mechanism simple and easy to operate.

[0032] Example 2 This embodiment is a second embodiment of a shaft locking mechanism. This embodiment is similar to the first embodiment, except that, as shown in the following... Figure 1 As shown, a fourth limiting member 822 for limiting the first locking pin 100 is provided at the second connecting portion 820. In one embodiment, the fourth limiting member 822 is a fourth limiting block located at the second connecting portion 820. By providing the fourth limiting member 822, the movement position of the first locking pin 100 is restricted. When the first locking pin 100 abuts against the fourth limiting block, the first locking pin 100 is inserted into the first locking groove 400.

[0033] like Figure 2 As shown, the third locking pin 300 is further provided with an abutment block 320, and the third connecting portion 830 is provided with a third limiting member 832. The abutment block 320 is located between the third limiting member 832 and the third locking groove 600. In one embodiment, the third limiting member 832 is a third limiting block located at the third connecting portion 830. By providing the third limiting member 832, the movement position of the third locking pin 300 is restricted. When the abutment block 320 abuts against the third limiting block, the third locking pin 300 separates from the third locking groove 600.

[0034] like Figure 3 As shown, the second connecting portion 820 is provided with a first limiting member 821 for limiting the second locking pin 200. In one embodiment, the second connecting portion 820 is provided with a first sliding groove, the second locking pin 200 is slidably connected in the first sliding groove, and the first limiting member 821 is set as a first limiting block, which is located in the first sliding groove. The movement position of the second locking pin 200 is limited by setting the first limiting member 821. When the second locking pin 200 abuts against the first limiting block, the second locking pin 200 is inserted into the second locking groove 500.

[0035] like Figure 3 As shown, a second limiting member 831 for limiting the movement of the transmission rod 311 is provided at the second locking groove 500. In one embodiment, the second limiting member 831 is a second limiting block located at the second locking groove 500. By providing the second limiting member, the movement position of the transmission rod 311 is restricted. When the transmission rod 311 abuts against the second limiting block, the third locking pin 300 separates from the third locking groove 600.

[0036] The above-described specific embodiments of the first limiting member 821, the second limiting member 831, the third limiting member 832, and the fourth limiting member 822 are only used to illustrate one specific implementation and do not limit its specific form. Any specific structure that can perform the above-mentioned limiting function is within the protection scope of this utility model.

[0037] Example 3 This embodiment is a first embodiment of a gimbal 800, such as Figure 1 and Figure 3 As shown, it includes a first motor 850, a second motor 860, a third motor 870, and a first connecting part 810, a second connecting part 820, a third connecting part 830, and a fourth connecting part 840. The first motor 850 is mounted on the first connecting part 810. The two ends of the second connecting part 820 are respectively connected to the output end of the first motor 850 and the second motor 860. The two ends of the third connecting part 830 are respectively connected to the output end of the second motor 860 and the third motor 870. The fourth connecting part 840 is connected to the output end of the third motor 870. It also includes the shaft locking mechanism provided in Embodiment 1 or Embodiment 2.

[0038] In one embodiment, specifically, such as Figure 1 and Figure 4As shown, the first motor 850 is an X-axis motor, the second motor 860 is a Y-axis motor, and the third motor is a Z-axis motor. The first connecting part 810 is the main body of the gimbal. The second connecting part 820 is the first axis arm of the gimbal, and the length direction of the second connecting part 820 is offset from the axis of the Y-axis motor. The third connecting part 830 is the second axis arm of the gimbal. The fourth connecting part 840 is the load of the gimbal. The first locking groove 400 can be located on the first connecting part 810 and / or the first motor 850; that is, the first locking groove 400 can be located on the first connecting part 810, on the main body of the first motor 850, or simultaneously on both the first connecting part 810 and the first motor 850. The end of the first locking pin 100 near the first locking groove 400 has a clearance surface 120 to avoid interference with the output end of the first motor 850. By providing the clearance surface 120, interference between the first locking pin 100 and the first motor 850 is avoided. The first and second shaft arms can be hollow structures. The first locking pin 100, the second locking pin 200, and the drive mechanism 700 are located inside the first shaft arm, and the first locking pin 100 and the drive mechanism 700 are arranged along the axial direction of the first shaft arm. The fourth limiting member 822 is connected inside the first shaft arm. The second locking groove 500 and the third locking pin 300 are located inside the second shaft arm, and the second limiting member 831 and the third limiting member 832 are both connected inside the second shaft arm.

[0039] The working principle of a gimbal in this embodiment is as follows: During normal operation, starting the first motor 850 drives the second connecting part 820 to rotate, starting the second motor 860 drives the third connecting part 830 to rotate, and starting the third motor 870 drives the fourth connecting part 840 to rotate, thereby realizing a three-degree-of-freedom rotation mechanism.

[0040] When locked, the drive mechanism 700 is activated, causing the first locking pin 100 to move towards the first locking groove 400, thereby locking the first motor 850. Simultaneously with the movement of the first locking pin 100, the first locking pin 100 drives the first transmission component 110, which in turn drives the second locking pin 200 to insert into the second locking groove 500, thereby locking the second motor 860. When the second locking pin 200 is inserted into the second locking groove 500, it drives the third locking pin 300 via the second transmission component 310, causing the third locking pin 300 to insert into the third locking groove 600, thereby locking the third motor 870. By activating the drive mechanism 700, the three-degree-of-freedom rotation mechanism is simultaneously locked, preventing the gimbal from swaying randomly when not in operation and facilitating storage.

[0041] During unlocking, the reverse-start drive mechanism 700 is activated. Drive mechanism 700 causes the first locking pin 100 to separate from the first locking groove 400. Simultaneously, the first transmission component 110 causes the second locking pin 200 to separate from the second locking groove 500, and the second transmission component 310 causes the third locking pin 300 to separate from the third locking groove 600. This unlocks the relative rotatable gimbal motors and shafts on the gimbal, allowing them to rotate freely.

[0042] This gimbal is equipped with a drive mechanism 700, a first locking pin 100, a second locking pin 200, and a third locking pin 300. When the drive mechanism 700 drives the first locking pin 100 to insert into the first locking groove 400, it drives the second locking pin 200 to insert into the second locking groove 500 and the third locking pin 300 to insert into the third locking groove 600. At the same time, it locks the first motor 850, the second motor 860, and the third motor 870, making the locking structure of the three-degree-of-freedom rotation mechanism simple and easy to operate.

[0043] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0044] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A shaft locking mechanism for locking and unlocking a first connecting part (810), a second connecting part (820), a third connecting part (830), and a fourth connecting part (840), wherein the second connecting part (820) is rotatably connected to the first connecting part (810), the third connecting part (830) is rotatably connected to the second connecting part (820), and the fourth connecting part (840) is rotatably connected to the third connecting part (830); characterized in that, The shaft locking mechanism includes a first locking pin (100), a second locking pin (200), a third locking pin (300), a first locking groove (400), a second locking groove (500), a third locking groove (600), and a driving mechanism (700). The first locking pin (100), the second locking pin (200), and the driving mechanism (700) are located at the second connecting portion (820). The first locking pin (100) is connected to the output end of the driving mechanism (700). The first locking groove (400) for insertion into the first locking pin (100) is located at the first connecting portion (810). At the first locking pin (100), a first transmission member (110) is provided for driving the second locking pin (200) to insert into the second locking groove (500). The second locking groove (500) and the third locking pin (300) are located at the third connecting part (830). The third locking pin (300) is provided with a second transmission member (310). The second locking pin (200) drives the third locking pin (300) to insert into the third locking groove (600) through the second transmission member (310). The third locking groove (600) is located at the fourth connecting part (840).

2. The shaft locking mechanism according to claim 1, characterized in that, The second locking pin (200) is slidably connected to the second connecting part (820), and the second locking pin (200) is provided with a sliding groove (210), and the first transmission member (110) is slidably connected to the sliding groove (210).

3. The shaft locking mechanism according to claim 2, characterized in that, The axial direction of the first transmission member (110) is offset from the axial direction of the first locking pin (100). The sliding groove (210) gradually tilts away from the second locking pin (200) and the first locking pin (100) in the direction away from the second locking groove (500). The sliding direction of the second locking pin (200) is offset from the tilting direction of the sliding groove (210).

4. The shaft locking mechanism according to claim 2, characterized in that, The second connecting part (820) is provided with a first limiting member (821) for limiting the second locking pin (200).

5. The shaft locking mechanism according to claim 1, characterized in that, The second transmission component (310) includes a transmission rod (311) and a reset component (312). The transmission rod (311) is slidably connected in the second locking groove (500). The transmission rod (311) can abut against the end of the second locking pin (200). The third locking pin (300) is connected to the transmission rod (311). One end of the reset component (312) is connected to the second connecting part (820), and the other end of the reset component (312) is connected to the transmission rod (311) and / or the third locking pin (300).

6. The shaft locking mechanism according to claim 5, characterized in that, The second locking groove (500) is provided with a second limiting member (831) for limiting the transmission rod (311).

7. The shaft locking mechanism according to claim 1, characterized in that, The third locking pin (300) is also provided with an abutment block (320), and the third connecting part (830) is provided with a third limiting member (832). The abutment block (320) is located between the third limiting member (832) and the third locking groove (600).

8. The shaft locking mechanism according to claim 1, characterized in that, The second connecting part (820) is provided with a fourth limiting member (822) for limiting the first locking pin (100).

9. The shaft locking mechanism according to any one of claims 1 to 8, characterized in that, The drive mechanism (700) is used to drive the first locking pin (100) to move linearly.

10. A gimbal (800) comprising a first motor (850), a second motor (860), a third motor (870), and a first connecting part (810), a second connecting part (820), a third connecting part (830), and a fourth connecting part (840), wherein the first motor (850) is disposed on the first connecting part (810), both ends of the second connecting part (820) are respectively connected to the output end of the first motor (850) and the second motor (860), both ends of the third connecting part (830) are respectively connected to the output end of the second motor (860) and the third motor (870), and the fourth connecting part (840) is connected to the output end of the third motor (870); characterized in that, It also includes the shaft locking mechanism as described in any one of claims 1 to 9.

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