Locking structure, motor system and gimbal

Abstract

The present disclosure discloses a locking structure, a motor system and a holder. The locking structure comprises a locking part, a driving part and a reset part. The driving part and the reset part are in transmission connection with the locking part. The driving part is used to drive the locking part to move from a first position to a second position along a first direction. The reset part is used to drive the locking part to move from the second position to the first position. The reset part comprises an elastic part. The elastic deformation direction of the reset part is parallel to the first direction. In the present disclosure, the driving part and the reset part can drive the locking part in opposite directions to unlock and lock the locking part. By setting the elastic part in the reset part and setting the elastic deformation direction of the elastic part parallel to the moving direction of the locking part, the reset part is avoided to have a component force in other directions, the strength of the force provided by the reset part is ensured, and the elastic reset force can be ensured by setting a small size elastic part. This is beneficial to reduce the overall volume of the locking structure, thereby meeting the design requirements of the miniaturization of the holder.

Description

Technical Field

[0001] This disclosure relates to the field of gimbal technology, and more particularly to a locking structure, motor system and gimbal. Background Technology

[0002] Gimbals are typically equipped with locking devices, the purpose of which is to lock the gimbal structure when the device is not in operation, so as to prevent unnecessary movement and damage to the gimbal during user handling.

[0003] With the increasing demand for miniaturization of handheld gimbals, higher requirements have been placed on the size of locking devices. Utility Model Content

[0004] To overcome the problems existing in related technologies, this disclosure provides a locking structure, a motor system, and a gimbal.

[0005] According to a first aspect of the present disclosure, a locking structure is provided, comprising:

[0006] Locking part;

[0007] A driving member is connected to the locking part in a driving manner, and the driving member is used to drive the locking part to move from a first position to a second position along a first direction;

[0008] A reset member is convexly connected to the locking part, and the reset member is used to drive the locking part to move from the second position to the first position along the second direction;

[0009] The first direction is opposite to the second direction, and one of the first position and the second position includes an unlocked position and the other includes a locked position;

[0010] The reset member includes an elastic member, and the elastic deformation direction of the reset member is parallel to the first direction.

[0011] According to a second aspect of this disclosure, an electric motor system is provided, comprising:

[0012] An electric motor, the electric motor including a stator and a rotor, the rotor being configured to rotate relative to the stator;

[0013] The locking structure described in the first aspect is provided on the motor. The locking structure is fixed to one of the stator and the rotor. The other of the stator and the rotor is provided with a mating part. The locking part cooperates with the mating part to lock the rotor.

[0014] According to a third aspect of this disclosure, a gimbal is provided, the gimbal including a locking structure as described in the first aspect, or a motor system as described in the second aspect;

[0015] When the gimbal switches from the powered-on state to the retracted state, the locking structure of the motor system locks the motor and keeps the motor in the locked state; when the gimbal switches from the retracted state to the powered-on state, the locking structure of the motor system unlocks the motor and keeps the motor in the unlocked state; and / or, the locking structure is located outside the working angle range of the gimbal.

[0016] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: the driving member and the reset member can drive the locking part in opposite directions to unlock and lock the locking part. By setting an elastic member in the reset member and setting the elastic deformation direction of the elastic member to be parallel to the movement direction of the locking part, the reset member is prevented from having a component force in other directions, ensuring the strength of the force provided by the reset member. Furthermore, it is possible to ensure the elastic reset force while setting a small-sized elastic member, which is beneficial to reduce the overall volume of the locking structure and thus meet the design requirements of miniaturization of the gimbal.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0019] Figure 1 This is a schematic diagram illustrating the assembly of a locking structure and a motor according to an exemplary embodiment.

[0020] Figure 2 This is an exploded schematic diagram of a locking structure and a motor according to an exemplary embodiment.

[0021] Figure 3 This is a schematic diagram of the locking portion of a locking structure in the locked position according to an exemplary embodiment.

[0022] Figure 4 This is a schematic diagram of the locking portion of a locking structure in the unlocked position according to an exemplary embodiment.

[0023] Figure 5 This is a schematic diagram of a gimbal according to an exemplary embodiment.

[0024] Figure label:

[0025] 100. Locking structure;

[0026] 10. Locking part; 11. Snap-fit ​​structure; 12. Connecting structure; 121. First boss; 122. Second boss; 1221. First protrusion structure; 1222. Second protrusion structure; 13. First mounting structure; 14. Slot;

[0027] 20. Driving component; 20a. First curved portion; 20b. Second curved portion; 20c. Third curved portion; 21. First segment; 22. Second segment; 23. Third segment; 24. Fourth segment; 25. Fixed end;

[0028] 30. Reset component; 31. First end; 32. Second end;

[0029] 40. Base; 41. Base body; 42. Limiting groove; 43. First mounting hole; 44. Assembly structure; 45. Second mounting structure;

[0030] 200. Motor system; 50. Stator; 51. Second mounting hole; 60. Rotor; 61. Mating part;

[0031] 300, shaft arm; 70, rotating shaft structure;

[0032] 400. Load device;

[0033] 500. Handheld mechanism; 501. Power button. Detailed Implementation

[0034] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0035] To address the problems existing in related technologies, this disclosure provides a locking structure, a motor system, and a gimbal. The locking structure includes a locking part, a driving member, and a resetting member. The driving member and the resetting member are tractively connected to the locking part. The driving member drives the locking part to move from a first position to a second position, and the resetting member drives the locking part to move from the second position to the first position. The resetting member includes an elastic element, and the elastic deformation direction of the resetting member is parallel to a first direction. In this disclosure, the driving member and the resetting member can drive the locking part in opposite directions to unlock and lock the locking part. By providing an elastic element in the resetting member and setting the elastic deformation direction of the elastic element to be parallel to the movement direction of the locking part, the resetting member is protected from having force components in other directions, ensuring the strength of the force provided by the resetting member. Furthermore, it is possible to ensure the elastic resetting force while using a small-sized elastic element, which helps to reduce the overall volume of the locking structure, thereby meeting the design requirements of gimbal miniaturization.

[0036] According to an exemplary embodiment of this disclosure, such as Figure 1 and Figure 5 As shown, this embodiment provides a locking structure 100, which can be applied to a gimbal. A gimbal is a device with a supporting function used to install and fix a load device 400. A gimbal typically has multiple axes 300 that cooperate to adjust the attitude of the load device 400, thereby providing stability to the load device 400 and preventing shaking during shooting. The locking structure 100 can lock the multiple axes 300 of the gimbal to maintain a preset attitude. For example, when the gimbal is powered off, the locking structure 100 can limit and lock the multiple axes 300 to prevent the axes 300 from swinging and causing the load device 400 to collide with external objects and be damaged.

[0037] like Figure 1 and Figure 2 As shown, the locking structure 100 provided in this embodiment includes a locking part 10, a driving member 20, and a resetting member 30. The driving member 20 and the resetting member 30 are both connected to the locking part 10 in a transmission manner. The driving member 20 and the resetting member 30 can drive the locking part 10 to move in opposite directions, so that the locking part 10 moves between a first position and a second position. One of the first position and the second position is a locked position, and the other is an unlocked position.

[0038] For example, see Figure 1 , Figure 3 and Figure 4 The first position is the locked position (see below). Figure 3 The second position is the unlock position (see below). Figure 4 The driving member 20 can drive the locking part 10 along the first direction ( Figure 1 The reset member 30 can move from the first position to the second position (in the opposite direction of the x-direction shown in the diagram), and the reset member 30 can move along the second direction (in the opposite direction of the x-direction shown in the diagram). Figure 1 The locking part 10 is driven to move from the second position to the first position (in the x direction shown). As can be seen above, when the force provided by the driving member 20 is less than the force provided by the reset member 30, the reset member 30 can drive the locking part 10 to move in the second direction and keep the locking part 10 in the locked position. When the force provided by the driving member 20 is greater than the force provided by the reset member 30, the driving member 20 can drive the locking part 10 to move in the first direction and keep the locking part 10 in the unlocked position. In some optional embodiments (not shown in the figures), the first position can be the unlocked position and the second position can be the locked position, so that the driving member 20 provides a locking force to the locking part 10 and the reset member 30 provides an unlocking force to the locking part 10; further details are omitted here.

[0039] In some embodiments, see Figures 1 to 4 The diagram illustrates a locking structure 100 applied to an external rotor motor, which includes an external rotor 60 and an inner stator 50. The locking structure 100 is disposed on the inner stator 50. The external rotor 60 is provided with a mating portion 61 for connecting with the locking structure 100 (described in detail below). The locking portion 10 of the locking structure 100 can move along the radial direction of the stator 50 to connect or separate from the mating portion 61. For example, the reset member 30 provides a driving force to the locking portion 10, causing the locking portion 10 to move outward along a first direction of the inner stator 50 to a first position to connect with the mating portion 61, thereby restricting the relative rotation between the external rotor 60 and the inner stator 50. It should be noted that the first direction can be the radial direction of the inner stator 50 (the first direction is perpendicular to the axial direction of the stator 50). In some optional embodiments, the first direction can also have a certain angle with the radial direction of the inner stator 50 (i.e., the first direction forms an acute angle with the axial direction of the stator 50). This disclosure does not impose excessive limitations on this.

[0040] In other embodiments (not shown in the figures), the locking structure can be applied to an inner rotor motor. The locking structure is disposed on the outer stator, and the inner rotor is provided with a mating part. The locking part can move inward along the radial direction of the stator to connect with the mating part, thereby restricting the inner rotor of the motor from rotating around the outer stator.

[0041] Among them, such as Figure 1 As shown, the reset element 30 of the locking structure 100 includes an elastic element, such as a spring, a metal spring, or a rubber block. (See reference...) Figure 1 , Figure 3 and Figure 4The elastic deformation direction of the reset member 30 is parallel to the first direction and the second direction. On the one hand, this setting can avoid the elastic member generating a component force with an angle with the first direction, which would weaken the elastic force and ensure the strength of the elastic member's force. This allows for sufficient reset force even with a smaller reset member 30. By reducing the space occupied by the reset member 30 in the locking structure 100, the overall volume of the locking structure 100 can be reduced. On the other hand, this setting ensures that the reset member 30 is only subjected to a force parallel to the deformation direction, which helps to extend the service life of the reset member 30. Furthermore, the reset member 30 can be fixed without additional connection means (for example, the reset member 30 can be set to abut against the locking part 10), which reduces the structural complexity of the locking structure 100 and simplifies the installation steps.

[0042] In this embodiment, the driving member and the reset member can drive the locking part in opposite directions to unlock and lock the locking part. By setting an elastic member in the reset member and setting the elastic deformation direction of the elastic member to be parallel to the movement direction of the locking part, the reset member is prevented from having force components in other directions, ensuring the strength of the force provided by the reset member. Furthermore, it is possible to ensure the elastic reset force while setting a small-sized elastic member, which is beneficial to reduce the overall volume of the locking structure and thus meet the design requirements of gimbal miniaturization.

[0043] In one exemplary embodiment, such as Figure 1 As shown, this embodiment provides a locking structure 100, which includes a locking part 10, a driving member 20, and a resetting member 30. The driving member 20 and the resetting member 30 are connected to the locking part 10 in a transmission manner. The driving member 20 is used to drive the locking part 10 to move from a first position to a second position, and the resetting member 30 is used to drive the locking part 10 to move from the second position to the first position. The resetting member 30 includes an elastic member, and the elastic deformation direction of the resetting member 30 is parallel to the first direction.

[0044] In this embodiment, the technical solution is explained by taking the example of the locking structure 100 being installed in the inner stator motor, with the first position being the locked position and the second position being the unlocked position. Other possible solutions in the foregoing embodiments will not be described in detail here.

[0045] Among them, such as Figure 1 and Figure 2As shown, the locking structure 100 includes a base 40 for supporting other components of the locking structure 100 and for connecting to the stator 50 of the motor. The base 40 has multiple assembly structures 44, which can be structurally engaged with the stator 50 using fasteners (such as screws) to securely connect the base 40 and the stator 50, preventing relative movement between them. In some alternative embodiments, the base 40 and the stator 50 can be an integrally formed structure; that is, the structure is directly designed based on the stator 50 in related technologies so that the stator 50 can fulfill the function of mounting other components of the locking structure 100.

[0046] like Figure 1 and Figure 2 As shown, the driving component 20 includes a shape memory alloy wire, which has two fixed ends 25. Both fixed ends 25 are connected to the base 40. The shape memory alloy wire is curved and has a first curved portion 20a. The first curved portion 20a is connected to the locking portion 10. When the shape memory alloy wire is in an electrically excited state, it can deform (such as changing its length), thereby changing the position of the first curved portion 20a in space, and thus driving the locking portion 10 to move along the first direction.

[0047] For example, the position of the first bend 20a can be adjusted by changing the length of the shape memory alloy wire. See also Figure 1 and Figure 2 The shape memory alloy wire includes a first segment 21 and a second segment 22 connected together. The first segment 21 and the second segment 22 extend in different directions. A first bend 20a is formed at the connection between the first segment 21 and the second segment 22. The ends of the first segment 21 and the second segment 22 away from the first bend 20a are respectively connected to the two fixed ends 25 of the shape memory alloy wire. When the shape memory alloy wire is not energized, it has a relatively long length. The first included angle formed between the first segment 21 and the second segment 22 is relatively small, and the first bend 20a is relatively far from the middle region of the stator 50. (Continue reading...) Figure 1 and Figure 2 When the shape memory alloy wire is energized, its length shortens. Since the shortest distance between two points is a straight line, with the end of the first segment 21 and the second segment 22 away from the first curved portion 20a (i.e., the fixed end 25) remaining unchanged, the length of the shape memory alloy wire will cause the first segment 21 and the second segment 22 to be gradually straightened. That is, the angle between the first segment 21 and the second segment 22 becomes larger (the extreme position is that the first segment 21 and the second segment 22 are parallel), so that the first curved portion 20a moves toward the middle area of ​​the stator 50, thereby driving the locking portion 10 to move along the first direction to the unlocking position, thereby achieving unlocking.

[0048] In some alternative implementations, see Figure 2The shape memory alloy wire also includes a third segment 23 and a fourth segment 24. The third segment 23 is connected to the first segment 21, and the connection between the third segment 23 and the first segment 21 forms a second bend 20b. The fourth segment 24 is connected to the second segment 22, and the connection between the fourth segment 24 and the second segment 22 forms a third bend 20c. Both the second bend 20b and the third bend 20c are connected to the base 40, and the straight-line distance between the second bend 20b and the third bend 20c is greater than or equal to the straight-line distance between the two fixed ends 25. Figure 2 It is understandable that by repeatedly bending the shape memory alloy wire to form the second curved portion 20b and the third curved portion 20c, a longer shape memory alloy wire can be wound on the base 40. The longer the shape memory alloy wire, the higher the deformation linear speed, thereby accelerating the speed at which the locking part 10 is driven from the locked position to the unlocked position, improving unlocking efficiency. Furthermore, when a longer shape memory alloy wire is used, only a small deformation of the shape memory alloy wire is needed to drive the locking part 10 to the unlocked position. That is, the deformation of the shape memory alloy wire during each unlocking is reduced, which helps to extend the service life of the shape memory alloy phase.

[0049] Among them, such as Figure 1 and Figure 2 As shown, the reset member 30 includes an elastic element, which is a spring. The first end 31 of the spring is connected to the locking part 10, and the second end 32 of the spring is connected to the base 40. See also [reference needed] for one example. Figure 1 The reset element 30 can be a compression spring, with its second end 32 located on the side of the first end 31 away from the first position. When the locking part 10 is in the locked position, there is a first preset distance between the first end 31 and the second end 32. As the locking part 10 moves from the locked position toward the unlocked position in the first direction, the distance between the first end 31 and the second end 32 gradually decreases. In another example (not shown in the figures), the reset spring can be a tension spring, with its second end located on the side of the first end toward the first position. When the locking part is in the locked position, there is a second preset distance between the first end and the second end. As the locking part moves from the locked position toward the unlocked position in the first direction, the distance between the first end and the second end gradually increases.

[0050] Among them, such as Figure 1 and Figure 2 As shown, the base 40 includes a base body 41 and a limiting groove 42 disposed on the base body 41. The extending direction of the limiting groove 42 is parallel to the first direction ( Figure 1Parallel to the x-direction shown in the diagram, a portion of the locking part 10 is slidably disposed within the limiting groove 42. The locking part 10 can slide along the limiting groove 42 between a first position and a second position, that is, between a locked position and an unlocked position. In an optional embodiment, the side wall of the locking part 10 or the inner wall of the limiting groove 42 is provided with balls or rollers to reduce the friction between the locking part 10 and the limiting groove 42, improve the unlocking and locking speed, and extend the service life of the locking structure 100. In this embodiment, the cross-sectional shape of the limiting groove 42 is not excessively limited; the cross-sectional shape can be, for example, any one of a rectangle, a T-shape, or a trapezoid.

[0051] Among them, such as Figures 1 to 3 As shown, the base body 41 of the base 40 is also provided with a first mounting hole 43, which is along the thickness direction of the base body 41. Figure 1 The z-direction shown penetrates the base body 41. The first mounting hole 43 is connected to the limiting slide groove 42. Part of the structure of the locking part 10 and the reset member 30 are disposed in the first mounting hole 43. The first mounting hole 43 can limit the structure of the locking part 10 located in the first mounting hole 43 to limit the locking part 10.

[0052] In some embodiments, see Figure 2 and Figure 3 The stator 50 of the motor system 200 used for mounting the base body 41 is provided with a second mounting hole 51. The second mounting hole 51 on the stator 50 can be used to mount the motor output shaft or signal line. The first mounting hole 43 exposes the second mounting hole 51. By providing the first mounting hole 43 in the base body 41 to expose the second mounting hole 51, it is convenient to perform wiring and set the motor output shaft.

[0053] like Figure 2 As shown, the locking part 10 includes a snap-fit ​​structure 11 and a connecting structure 12 connected together. The snap-fit ​​structure 11 is used to be disposed in the limiting slide groove 42 and to form a sliding connection with the limiting slide groove 42. The connecting structure 12 is disposed in the first mounting hole 43 and is used to be connected to the driving member 20 and the reset member 30.

[0054] In some embodiments, such as Figure 2 As shown, the connecting structure 12 has a first boss 121, which engages with the sidewall of the first mounting hole 43 to limit the extreme movement positions of the locking part 10 in the first and second directions, thereby preventing the locking part 10 from separating from the base body 41. For example, see [reference needed]. Figure 1 and Figure 2 The first boss 121 is formed by a portion of the surface of the connecting structure 12 along... Figure 1 As shown, it extends in the y-direction, which means that when the locking part 10 is along the second direction ( Figure 3 The x-direction shown in the figure moves to the first position (see reference). Figure 3 When the first mounting hole 43 and the limiting slide groove 42 are connected, the connecting structure 12 is located at the connection point of the first mounting hole 43 and the limiting slide groove 42. Because the first boss 121 is provided, the dimension of the connecting structure 12 in the y-direction is larger than the dimension of the limiting slide groove 42 in the y-direction, thus the locking part 10 can no longer continue to move along the second direction, thereby achieving the limiting. This does not limit the technical solution of this disclosure. In some optional embodiments, the first boss 121 extends from a portion of the surface of the connecting structure 12 along... Figure 1 It extends in the z-direction as shown in the figure.

[0055] In some embodiments, such as Figure 2 As shown, the connecting structure 12 includes a second boss 122, and a groove 14 is formed between the second boss 122 and the connecting structure 12. The first bent portion 20a of the shape memory alloy wire is disposed within the groove 14. For example, see [reference needed]. Figure 2 The surface of the connecting structure 12 along Figure 1 As shown, a first protrusion structure 1221 extends in the z-direction, and a portion of the surface of the first protrusion structure 1221 faces... Figure 1 As shown, the second protrusion structure 1222 extends in the x-direction, and the first protrusion structure 1221 and the second protrusion structure 1222 constitute the second boss 122. Along the z-direction, the second protrusion structure 1222 is located on the side of the locking structure 11 opposite to the stator 50, and there is a certain distance between the second protrusion structure 1222 and the locking structure 11 to form a slot 14. It can be determined that by setting the second boss 122, the first bent portion 20a of the shape memory alloy wire can be connected to the locking portion 10, and the connection method is simple, simplifying the structure of the locking structure 100 and facilitating assembly.

[0056] In some embodiments, such as Figure 2 As shown, two first mounting structures 13 are provided on the side of the connecting structure 12 away from the snap-fit ​​structure 11, and the two first mounting structures 13 are along... Figure 1As shown, the two first mounting structures 13 are spaced apart in the y-direction and are respectively located on both sides of the second mounting hole 51. Two second mounting structures 45 are provided on the sidewall of the first mounting hole 43 opposite to the connecting structure 12. Each of the two second mounting structures 45 corresponds one-to-one with one of the two first mounting structures 13. The reset member 30 includes two elastic members, the two ends of which are respectively connected to the corresponding first mounting structure 13 and second mounting structure 45. It can be understood that the second mounting hole 51 of the stator 50 is used to house the motor output shaft or signal line. Therefore, by setting the two first mounting structures 13 with a certain distance in the y-direction and providing the second mounting structures 45 corresponding one-to-one with the first mounting structures 13 in the first mounting hole 43, the two elastic members of the reset member 30 are spaced apart. The spaced elastic members can both avoid the motor output shaft and signal line and provide a balanced force for the locking part 10, preventing the locking part 10 from being subjected to force on one side and affecting its smooth sliding.

[0057] For example, see Figure 2 The first mounting structure 13 can be a column protruding from the side wall of the connecting structure 12, and the second mounting structure 45 can be a column protruding from the inner wall of the first mounting hole 43. The two ends of the spring are respectively fitted onto the first mounting structure 13 and the second mounting structure 45 for installation. The columnar first mounting structure 13 and the second mounting structure 45 can reliably fix the spring and also prevent the spring from being over-compressed. This does not limit the technical solution of this disclosure. In some optional embodiments, the first mounting structure 13 and the second mounting structure 45 can be grooves formed by recesses in the side walls, with the ends of the spring extending into the grooves for installation.

[0058] According to an exemplary embodiment of this disclosure, such as Figure 1 As shown, this disclosure provides a motor system 200, which includes a motor and a locking structure 100 provided in any of the foregoing embodiments of this disclosure. The motor includes a stator 50 and a rotor 60. The rotor 60 is configured to rotate relative to the stator 50. One of the stator 50 and the rotor 60 is provided with the locking structure 100, and the other is provided with a mating part 61. The locking structure 100 includes a locking part 10, a driving member 20, and a resetting member 30. The driving member 20 and the resetting member 30 are operatively connected to the locking part 10. The driving member 20 is used to drive the locking part 10 to move from a first position to a second position, and the resetting member 30 is used to drive the locking part 10 to move from the second position to the first position. One of the first position and the second position is an unlocked position, and the other is a locked position. When the locking part 10 moves to the locked position, it can connect with the mating part 61 to put the rotor 60 in a locked state. When the locking part 10 moves to the unlocked position, it can share force with the mating part 61 to put the rotor 60 in an unlocked state.

[0059] Among them, such as Figure 1 As shown, the reset element 30 of the locking structure 100 includes an elastic element, such as a spring, a metal spring, or a rubber block. (See reference...) Figure 1 The elastic deformation direction of the reset member 30 is parallel to the first direction and the second direction. On the one hand, this setting can avoid the elastic member generating a component force with an angle with the first direction, which would weaken the elastic force and ensure the strength of the elastic member's force. This allows for sufficient reset force even with a smaller reset member 30. By reducing the space occupied by the reset member 30 in the locking structure 100, the overall volume of the locking structure 100 can be reduced. On the other hand, this setting ensures that the reset member 30 is only subjected to a force parallel to the deformation direction, which helps to extend the service life of the reset member 30. Furthermore, the reset member 30 can be fixed without additional connection means (for example, the reset member 30 can be set to abut against the locking part 10), which reduces the structural complexity of the locking structure 100 and simplifies the installation steps.

[0060] The motor system 200 provided in this embodiment is equipped with the locking structure 100 provided in the aforementioned embodiment, thereby achieving any of the technical effects of the locking structure 100 provided in the aforementioned embodiment of this disclosure. For example, the driving member 20 and the reset member 30 can drive the locking part 10 in opposite directions to unlock and lock the locking part 10. By providing an elastic member in the reset member 30 and setting the elastic deformation direction of the elastic member to be parallel to the moving direction of the locking part 10, the reset member 30 is prevented from having force components in other directions, ensuring the strength of the force provided by the reset member 30. Furthermore, it is possible to ensure the elastic reset force while setting a small-sized elastic member, which is beneficial to reducing the overall volume of the locking structure 100, thereby meeting the design requirements of miniaturization of the gimbal.

[0061] The following explanation uses an external rotor motor as an example of a motor system 200. Figure 1 As shown, the locking structure 100 is disposed on the inner stator 50, and the mating part 61 is disposed on the outer rotor 60, wherein the mating part 61 is formed by a groove structure on the outer rotor 60. In one example, the recessed direction of the groove structure is axially aligned with the axis of rotation of the rotor 60. Figure 1 The groove structure formed by the parallel z-direction shown in the figure has an opening to facilitate assembly. In some alternative embodiments (not shown in the figure), the mating part 61 may also be formed by a through hole penetrating the side wall of the outer rotor 60, which will not be described in detail here.

[0062] According to an exemplary embodiment of this disclosure, such as Figure 5As shown, this embodiment provides a gimbal, which is a support device for mounting or fixing a load device 400. The gimbal serves as a carrier for the load device 400, and has the function of adjusting the attitude of the load device 400 to stabilize the load, or to sense the load at different angles and directions. Gimbals include, but are not limited to, handheld gimbals and airborne gimbals, such as those mounted on a mobile platform, including but not limited to drones, unmanned vehicles, and unmanned boats. The load device 400 can be any of a shooting device, a mobile terminal, or a sensor. Imaging devices include cameras, ultrasonic imaging devices, infrared imaging devices, and imaging lenses. Mobile terminals include mobile phones and tablets. Sensors include attitude sensors, angle sensors, or accelerometers.

[0063] See Figure 5 Taking the shooting device as an example, the gimbal includes three rotating shafts 70 and a handheld mechanism 500. The three rotating shafts 70 allow the shooting device to be adjusted arbitrarily in three-dimensional space, and the handheld mechanism 500 provides a grip for the user. The gimbal has multiple states, including at least a powered-on state and a retracted state. The powered-on state means that the gimbal starts after receiving a power-on command, and the shooting device begins to capture images, but at this time, the gimbal has not initiated any shooting commands. The retracted state includes one or both of the following: a powered-off state and a standby state. The powered-off state means that the gimbal is in a power-off state, while the standby state means that the gimbal control module is powered on, but the shooting device and other electrical components are powered off, which is the usual sense of a dormant state. Entering the dormant state is to facilitate the quick start-up of the gimbal.

[0064] In another embodiment, see Figure 5The gimbal also includes a power button 501 and a controller (not shown in the figures). When the user performs a power-on operation via the power button 501, the gimbal sends an unlock command to the locking structure 100 through the controller, causing the locking structure 100 to move from the unlocked position to the locked position. When the user performs a power-off operation via the power button 501, the gimbal sends a lock command to the locking structure 100 through the controller, causing the locking structure 100 to move from the locked position to the unlocked position. Simultaneously, when the gimbal remains powered on, if the user does not operate the gimbal for a period of time, the gimbal will enter a standby state. At this time, the gimbal sends an unlock command to the locking structure 100 through the controller, causing the locking structure 100 to move linearly from the unlocked position to the locked position. In some embodiments, the gimbal is provided with the locking structure 100 provided in any of the foregoing embodiments of this disclosure, and the locking structure 100 is located outside the working angle range of the gimbal. The gimbal includes a load device 400 and at least one axis arm 300. Adjacent axis arms 300 can be connected via a pivot structure 70, and the axis arms 300 can also be connected to the load device 400 via the pivot structure 70. Each pivot structure 70 is provided with a locking structure 100 provided in any of the foregoing embodiments of this disclosure. The locking structure 100 includes a locking part 10, a driving member 20, and a reset member 30. The driving member 20 and the reset member 30 are tractively connected to the locking part 10. The driving member 20 is used to drive the locking part 10 to move from a first position to a second position, and the reset member 30 is used to drive the locking part 10 to move from the second position to the first position. The reset member 30 includes an elastic member, and the elastic deformation direction of the reset member 30 is parallel to the first direction. When the gimbal switches from a powered-on state (e.g., powered-on state) to a retracted state (e.g., standby state or powered-off state), the locking structure 100 can lock the pivot structure 70 and keep the pivot structure 70 in the locked state, thereby locking the optical axis direction of the load device 400. When the gimbal switches from the retracted state to the powered-on state, the locking structure 100 releases the lock on the rotating shaft structure 70, allowing the optical axis direction of the load device 400 to be adjusted arbitrarily. As can be seen, the gimbal provided in this disclosure can automatically unlock when activated and automatically lock when not in use, improving the ease of use of the gimbal and enhancing the user experience.

[0065] In other embodiments, the gimbal is equipped with a motor system 200 provided in any of the foregoing embodiments of this disclosure. The motor system 200 includes a locking structure 100, which is located outside the working angle range of the gimbal. The gimbal includes a load device 400 and at least one rotating shaft structure 70. Each rotating shaft structure 70 is equipped with a motor system 200. The motor of the motor system 200 includes a stator 50 and a rotor 60. The stator 50 is fixedly connected to the rotating shaft structure 70 on which the motor system 200 is installed. The rotor 60 is connected to other rotating shaft structures 70 or load devices 400 connected to the rotating shaft structure 70. The output torque of the motor can drive the rotating shaft structure 70 and the load device 400 to rotate, thereby adjusting the optical axis direction of the load device 400. The motor system 200 includes a locking structure 100, which controls whether the rotor 60 of the motor can rotate. For example, when the gimbal switches from the powered-on state to the retracted state, the locking structure 100 locks the rotor 60 and stator 50 of the motor, keeping the shaft structure 70 locked, thereby locking the optical axis direction of the load device 400. When the gimbal switches from the retracted state to the powered-on state, the locking structure 100 releases the lock on the rotor 60, allowing the optical axis direction of the load device 400 to be adjusted arbitrarily. As can be seen, the gimbal provided in this disclosure can automatically unlock when activated and automatically lock when not in use, improving the convenience of use and enhancing the user experience.

[0066] The locking structure is located outside the working angle range of the gimbal. Therefore, it can be determined that when the gimbal is powered on, the driving component only needs to provide a short driving force to the locking part. When the locking part is separated from the mating part, rotating the rotor will make the locking part of the locking structure no longer face the mating part. In other words, the gimbal only needs to be powered on and off once each time it is powered on, without the need to continuously power the driving component, which helps to extend the gimbal's battery life.

[0067] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0068] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A locking structure, characterized in that, include: Locking part; A driving member is connected to the locking part in a driving manner, and the driving member is used to drive the locking part to move from a first position to a second position along a first direction; A reset member is convexly connected to the locking part, and the reset member is used to drive the locking part to move from the second position to the first position along the second direction; The first direction is opposite to the second direction, and one of the first position and the second position includes an unlocked position and the other includes a locked position; The reset member includes an elastic member, and the elastic deformation direction of the reset member is parallel to the first direction.

2. The locking structure according to claim 1, characterized in that, The locking structure includes a base; The driving component includes a shape memory alloy wire, the shape memory alloy wire having two fixed ends and a first bent portion, the two fixed ends being connected to the base, and the first bent portion being connected to the locking portion; and / or The elastic element includes a spring, one end of which is connected to the base and the other end of which is connected to the locking part.

3. The locking structure according to claim 2, characterized in that, The shape memory alloy wire further includes a second bent portion and a third bent portion, and both the second bent portion and the third bent portion are connected to the base; The straight-line distance between the second curved portion and the third curved portion is greater than or equal to the straight-line distance between the two fixed ends.

4. The locking structure according to claim 2, characterized in that, The base includes: The locking part is slidably disposed in the limiting slide groove, and the locking part slides between the first position and the second position along the limiting slide groove; The first mounting hole penetrates the base and communicates with the limiting slide groove. A portion of the locking part is disposed within the first mounting hole, and the reset member is disposed within the first mounting hole.

5. The locking structure according to claim 4, characterized in that, The locking part includes: A snap-fit ​​structure is provided within the limiting slide groove and is slidably connected to the limiting slide groove; A connecting structure is provided to the snap-fit ​​structure, the connecting structure is disposed in the first mounting hole, and the connecting structure is used to connect to the driving component and the reset component; The connection structure includes a first boss, which is used to mate with the sidewall of the first mounting hole.

6. The locking structure according to claim 5, characterized in that, The connecting structure includes a second boss, and a slot is formed between the second boss and the connecting structure. The first bent portion of the shape memory alloy is disposed in the slot.

7. The locking structure according to claim 5, characterized in that, Two first mounting structures are provided on the side of the connection structure away from the snap-fit ​​structure, and the two first mounting structures are spaced apart. The side wall of the first mounting hole opposite the connecting structure is provided with two second mounting structures, and the two second mounting structures correspond one-to-one with the two first mounting structures; The reset component includes two springs, with the two ends of the two springs respectively connected to the corresponding first mounting structure and the second mounting structure.

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

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

10. A gimbal, characterized in that, The gimbal includes a locking structure as described in any one of claims 1-7, or a motor system as described in claim 8 or 9; When the gimbal switches from the powered-on state to the retracted state, the locking structure of the motor system locks the motor and keeps the motor in the locked state; when the gimbal switches from the retracted state to the powered-on state, the locking structure of the motor system unlocks the motor and keeps the motor in the unlocked state; and / or, the locking structure is located outside the working angle range of the gimbal.

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