WO2023142083A1

WO2023142083A1 - Locking mechanism, motor locking system, and mounting platform

Info

Publication number: WO2023142083A1
Application number: PCT/CN2022/075091
Authority: WO
Inventors: 赵坤雷; 郭善光; 王平
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2022-01-29
Filing date: 2022-01-29
Publication date: 2023-08-03
Also published as: CN117730474A

Abstract

A locking mechanism, a motor locking system, and a mounting platform. The locking mechanism comprises: a locking assembly (10), a transmission member (40), a sliding assembly (20), and a memory alloy member (30); the locking assembly (10) comprises an engagement portion (12); the sliding assembly (20) is connected to the transmission member (40); the memory alloy member (30) is connected to the sliding assembly (20), and when the memory alloy member (30) is in an excited state, the length of the memory alloy member (30) changes to drive the sliding assembly (20) to move, and the transmission member (40) presses on the engagement portion (12) or releases the engagement portion (12), so as to cause the locking assembly (10) to switch between a locked state and an unlocked state.

Description

Locking mechanism, motor locking system and pan/tilt

technical field

The embodiments of the present application relate to the technical field of mechanical structure design, and in particular to a locking mechanism, a motor locking system, and a cloud platform.

Background technique

For mechanical equipment, motors, medical equipment or other equipment, it is often necessary to use a locking mechanism to realize locking and unlocking of the equipment through the locking mechanism to meet the needs of different usage scenarios.

However, the locking mechanism in the related art has a large volume, which in turn leads to a large volume of the entire device, which reduces the convenience for users. However, it cannot be installed on a smaller device in the related art. The locking mechanism, for example, the motor of the pan-tilt is small in size, so it is difficult to install the locking mechanism, and it is difficult to realize the locking and releasing of the pan-tilt motor without changing the volume of the pan-tilt motor.

Therefore, it is an urgent problem to provide a locking mechanism with simple structure and small volume to realize locking and unlocking on smaller devices.

Contents of the invention

In view of the above-mentioned defects in the prior art, embodiments of the present application provide a locking mechanism, a motor locking system, and a pan-tilt.

The first aspect of the embodiment of the present application provides a locking mechanism, including:

a locking assembly, including a snap-in portion;

Transmission Parts;

a sliding assembly connected to the transmission member;

The memory alloy part is connected with the sliding assembly. When the memory alloy part is in an excited state, the length of the memory alloy part changes to drive the sliding assembly to move, and the transmission part presses the engaging part or The transmission member releases the engaging portion, so that the locking assembly is switched between a locked state and an unlocked state.

The second aspect of the embodiment of the present application provides a locking mechanism, including:

lock components;

a sliding component connected to the locking component;

A memory alloy piece connected to the sliding assembly. When the memory alloy piece is in an excited state, the length of the memory alloy piece changes to drive the sliding assembly to move along the first direction, so that the sliding assembly can drive The locking component switches from the locked state to the unlocked state, and when the sliding component moves along the first direction again, the sliding component can drive the locking component to switch from the unlocked state to the locked state.

The third aspect of the embodiment of the present application provides a motor locking system, including: a motor and a locking mechanism, and the locking mechanism includes:

a locking assembly, including a snap-in portion;

Transmission Parts;

a sliding assembly connected to the transmission member;

The memory alloy part is connected with the sliding assembly. When the memory alloy part is in an excited state, the length of the memory alloy part changes to drive the sliding assembly to move, and the transmission part drives the engaging part to move, The locking assembly is in a locked state or an unlocked state, so that the motor is switched between a locked state and a free state.

The fourth aspect of the embodiment of the present application provides another motor locking system, including: a motor and a locking mechanism, and the locking mechanism includes:

lock components;

a sliding component connected to the locking component;

A memory alloy piece connected to the sliding assembly. When the memory alloy piece is in an excited state, the length of the memory alloy piece changes to drive the sliding assembly to move along the first direction, so that the sliding assembly can drive The locking component switches from the locked state to the unlocked state, and when the sliding component moves along the first direction again, the sliding component can drive the locking component to switch from the unlocked state to the locked state, so that the motor Toggle between locked state and free state.

The fifth aspect of the embodiment of the present application provides a cloud platform, including: a shaft arm, a motor for driving the shaft arm to rotate, and a locking mechanism, the locking mechanism includes:

a locking assembly, including a snap-in portion;

Transmission Parts;

a sliding assembly connected to the transmission member;

The memory alloy part is connected with the sliding assembly. When the memory alloy part is in an excited state, the length of the memory alloy part changes to drive the sliding assembly to move, and the transmission part presses the engaging part or The transmission member releases the engaging portion, so that the locking assembly is switched between a locked state and an unlocked state, so that the motor is switched between a locked state and a free state.

The sixth aspect of the embodiment of the present application provides another pan/tilt, including: a shaft arm, a motor for driving the shaft arm to rotate, and a locking mechanism. The locking mechanism includes:

lock components;

a sliding component connected to the locking component;

The locking mechanism, the motor locking system and the pan/tilt provided in the embodiment of the present application control the memory alloy part to be in the excited state, so that the memory alloy part drives the sliding assembly to move, and the sliding assembly moves the locking assembly to be in the unlocked state and the locked state Switch between, that is to say, realize the unlocking and locking of the locking component through the memory alloy. Since the memory alloy piece is very small in size and occupies less space in the device, it can realize unlocking and locking of a device with a smaller size.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

FIG. 1 is a schematic diagram of the internal structure of a motor locking system including a locking mechanism provided by an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a motor locking system provided by an embodiment of the present application;

Fig. 3 is a schematic diagram of an exploded structure of a motor locking system provided by an embodiment of the present application;

Fig. 4 is a schematic structural diagram of a sliding assembly in a locking mechanism provided by an embodiment of the present application;

Fig. 5a is a schematic diagram before the force-applying part of the sliding assembly in the locking mechanism provided by an embodiment of the present application passes over the force-receiving part;

Fig. 5b is a schematic diagram after the force-applying part of the sliding assembly in the locking mechanism provided by an embodiment of the present application passes over the force-receiving part;

FIG. 6 is a schematic diagram of the internal structure of a motor locking system including a locking mechanism provided by another embodiment of the present application.

Detailed ways

The following will clearly describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein in the specification of the application are only for the purpose of describing specific embodiments, and are not intended to limit the application.

"Include" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect.

In addition, the term "connected" herein includes any direct and indirect means of connection. Therefore, if it is described herein that a first device is connected to a second device, it means that the first device may be directly connected to the second device, or indirectly connected to the second device through other devices.

It should be understood that the term "and/or, and/or" used herein is only an association relationship describing associated objects, which means that there may be three relationships, for example, A1 and/or B1 may mean: A1 exists alone, There are three cases where A1 and B1 exist at the same time, and B1 exists alone. In addition, the character "/" in this article generally indicates that the contextual objects are an "or" relationship.

Some implementations of the present application will be described in detail below in conjunction with the accompanying drawings. Those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

For the handheld pan-tilt or the airborne pan-tilt, the pan-tilt has at least one rotating shaft, and when the motor driving the rotating shaft is not powered on, the shaft arms of the pan-tilt are in a free state. The inventor found through creative work that when the pan/tilt needs to be stored, if the shaft arm is still in a free state, it is very easy to cause the shaft arm to shake and hit during the process of carrying or transporting the pan/tilt. And then cause certain damage to the cloud platform, cause the maintenance cost of the cloud platform to increase, and reduce the service life of the cloud platform.

Therefore, in order to at least solve the above-mentioned specific technical problems, the present application provides the following embodiments, so that a locking mechanism can be provided on a smaller device or device, to, for example, realize locking and releasing of the motor on the motor of the pan/tilt , so as to be able to realize the locking and releasing of the shaft arm of the pan-tilt, and the locking mechanism is small in size and can be built into the motor.

It should be noted that the locking mechanism described in the following embodiments is not limited to locking the motor of the gimbal. It can be understood that other devices that need to realize the functions of locking and unlocking can all use the locking mechanism described in the embodiment of the present application. provided by the locking mechanism. For example, the locking mechanism is used to lock relative activities between two matching parts, such as relative rotation, relative movement, and sliding. For example, for the propeller driving motor of the unmanned aerial vehicle, the locking mechanism can be used to lock and release the propeller driving motor, and in the locked state, the propeller is prevented from rotating freely on the unmanned aerial vehicle. The locking mechanism is not limited to realizing the locking and unlocking of the rotor and the stator of the motor, in some embodiments, for example, it can also realize the locking and unlocking between the shaft arms pivotally connected to each other. The locking mechanism can also be used to realize locking and unlocking of relative movement between any two matching parts. Of course, the applicable scenarios of the locking mechanism provided in the embodiment of the present application are not limited to the above, and those skilled in the art can choose according to actual needs, and the embodiment of the present application does not limit it.

Specific embodiments are provided below to describe the locking mechanism of the present application in detail.

Fig. 1 is a schematic diagram of the internal structure of a motor locking system including a locking mechanism provided by an embodiment of the present application; Fig. 2 is a schematic structural diagram of a motor locking system provided by an embodiment of the present application; Fig. 3 is a schematic diagram of an embodiment of the present application Provided schematic diagram of the exploded structure of the motor locking system; please refer to accompanying drawings 1 to 3 , the locking mechanism provided by some embodiments of the present application includes: a locking assembly 10 , a sliding assembly 20 and a memory alloy 30 .

The sliding assembly 20 is connected with the locking assembly 10; wherein, the locking assembly 10 can be switched between a locked state and an unlocked state. When the locking assembly 10 is installed between two fittings that can rotate relatively, the locking assembly 10 can be controlled to be in a locked state so that the two fittings cannot rotate relative to each other. When the locking assembly 10 is in the unlocked state, the two matching parts can rotate relative to each other. When the locking assembly 10 is installed between two fittings that can move relatively, the locking assembly 10 can be controlled to be in a locked state so that the two fittings cannot move relative to each other. When the locking assembly 10 is in the unlocked state, the two matching parts can move relative to each other.

The sliding assembly 20 can slide under the action of external force, and the sliding assembly 20 is connected with the locking assembly 10 , so when the sliding assembly 20 slides, it can drive the locking assembly 10 to move.

The memory alloy part 30 is connected with the sliding assembly 20. When the memory alloy part 30 is in the excited state, the length of the memory alloy part 30 changes to drive the sliding assembly 20 to move along the first direction, so that the sliding assembly 20 can drive the locking assembly 10 from the lock When the sliding assembly 20 moves along the first direction, the sliding assembly 20 can drive the locking assembly 10 to switch from the unlocking state to the locking state.

It should be noted that the connection between the sliding component 20 and the locking component 10 may be that the sliding component 20 abuts against the locking component 10, or that the sliding component 20 is directly connected with the locking component 10, and the sliding component 20 moves along the first direction, which can make The locking assembly 10 is switched between a locked state and an unlocked state.

Specifically, the so-called memory alloy part 30 means that it is deformed after being excited, and can return to its original shape after the memory alloy part 30 is switched from the excited state to the normal state. In a specific embodiment, the above excitation state may include a heating state. When the memory alloy part 30 is in the heated state, the memory alloy part 30 shrinks and drives the sliding assembly 20 to move along the first direction. Alternatively, in some embodiments, the above excitation state may include a magnetization state, the so-called magnetization state is to apply a magnetic field, so that the memory alloy piece 30 is in the magnetic field. When the memory alloy part 30 is in a magnetized state, the memory alloy part 30 shrinks and drives the sliding assembly 20 to move along the first direction. And whether it is heating or magnetizing the memory alloy part 30, it is all to utilize it under the heating or magnetizing state to make the martensitic phase transformation, and when the memory alloy part 30 is switched to the normal state by the heating state or the magnetizing state , making martensite inversion. From the appearance point of view, that is, the memory alloy part 30 shrinks in the excited state, and returns to the original state when the excited state is switched to the normal state. Exemplarily, the memory alloy part enters the excitation state by applying an excitation current to the memory alloy part 30 .

No matter what kind of external excitation is used to realize the above-mentioned functions of the memory alloy part 30, it is determined by the nature of the material itself of the memory alloy part 30, and does not depend on the volume and weight of the memory alloy part 30. Therefore, The volume and weight of memory alloy piece 30 can be small, so as to be suitable for equipment or devices with small volume or space. In a specific embodiment, the memory alloy part 30 can be made into a wire shape or a wire shape, so as to improve the light weight and miniaturization degree of the equipment or device it is applied to, and can be applied to parts with a smaller volume, improving The wide range of applications of the locking mechanism.

The memory alloy piece 30 is connected to the sliding assembly 20, specifically, the memory alloy piece 30 can be fixedly connected to the sliding assembly 20, or the memory alloy piece 30 can be movably connected to the sliding assembly 20. The embodiment of the present application does not limit it, as long as the When the memory alloy part 30 is changed in length by the preset excitation, it only needs to drive the sliding assembly 20 to move along the first direction. Those skilled in the art can specifically design the structure and cooperation relationship between the locking assembly 10 and the sliding assembly 20, so that when the sliding assembly 20 moves along the first direction, it can drive the locking assembly 10 to switch between the locked state and the unlocked state. . For example, when the memory alloy part 30 is energized for the first time, the sliding assembly 20 moves along the first direction, so that the locking assembly 10 is switched to the locked state, and when the memory alloy part 30 is energized for the second time, the sliding The component 20 moves along the first direction, so that the locking component 10 switches to the unlocked state. Or, when the memory alloy part 30 is energized for the first time, the sliding assembly 20 moves along the first direction, so that the locking assembly 10 is switched from the locked state to the unlocked state, and when the memory alloy part 30 is energized for the second time , the sliding assembly 20 moves along the first direction, so that the locking assembly 10 switches from the unlocked state to the locked state. That is to say, as long as the memory alloy part 30 is excited once, the sliding assembly 20 will drive the locking assembly 10 to switch states. Thus, similar intermittent motion can be realized to achieve locking and unlocking of the locking mechanism.

The locking mechanism provided in this embodiment controls the memory alloy piece to be in an excited state, so that the memory alloy piece drives the sliding assembly to move along the first direction, and the sliding assembly moves along the first direction to drive the locking assembly between the unlocked state and the locked state. Switch between, that is to say, realize the unlocking and locking of the locking component by controlling the memory alloy. Since the memory alloy piece is very small in size and occupies less space in the device, it can realize unlocking and locking of a device with a smaller size. Moreover, since this embodiment controls the memory alloy piece to be in the excited state, the switching between the locked state and the unlocked state of the locking assembly can be realized, thus the locking and unlocking of the locking mechanism can be realized through one memory alloy piece.

In addition, the locking mechanism in the embodiment of the present application can be small in size and volume, so the locking mechanism can be built into the motor, and a motor integrated with locking and unlocking functions can be provided.

In some embodiments, when the memory alloy part 30 is switched from the excited state to the normal state, the length of the memory alloy part 30 changes and the sliding assembly 20 moves along the second direction, and the state of the locking assembly 10 remains unchanged, wherein, The first direction is opposite to the second direction.

Specifically, the switching of the memory alloy piece 30 from the excited state to the normal state may be when the memory alloy piece 30 is cooled from a heated state to a room temperature state, or from applying a magnetic field to the memory alloy piece 30 until the magnetic field applied to the memory alloy piece 30 disappears. status etc. When the memory alloy part 30 is switched from the excited state to the normal state, the sliding assembly 20 can move to the initial position along the second direction, but during this process, the state of the locking assembly 10 remains unchanged. Specifically, for example, when the memory alloy part 30 was activated last time, the locking assembly 10 was in the locked state, then when the memory alloy part 30 returns to the normal state from the activated state, the sliding assembly 20 moves along the second direction. move, but the locking assembly 10 is still locked. Or, when the memory alloy part 30 was activated last time, the locking assembly 10 was in the unlocked state, then in the process of the memory alloy part 30 recovering from the activated state to the normal state, the sliding assembly 20 moves along the second direction, but the locked Assembly 10 is still unlocked. That is to say, the state change of the locking assembly 10 can be changed only when the memory alloy piece 30 is activated, thus, as long as the memory alloy piece 30 is not activated, the state of the locking assembly 10 will not change, which can effectively improve The reliability of the locking mechanism.

The reliability of the locking mechanism in the embodiment of the present application will be described below based on a specific application scenario.

For example, the locking mechanism provided in this embodiment can be applied to the arm motor of the gimbal, so as to realize relative locking and unlocking of the fixed part (including the stator) and the rotating part (including the rotor) of the arm motor. When the user needs to store the pan/tilt, he can apply a preset heating current to the memory alloy part 30, so that the temperature of the memory alloy part 30 rises and is in an excited state. At this time, the memory alloy part 30 drives the locking assembly 10 to move to the locked state , and then stop applying the preset current to the memory alloy part 30 so that the memory alloy part 30 returns to the normal state. At this time, the shaft arm motor remains in the locked state, and the fixed part and the rotating part of the shaft arm motor cannot rotate relatively, so that the cloud Each shaft arm can be maintained in a locked state when the table is in a storage state. The pan/tilt includes a handheld pan/tilt and/or an airborne pan/tilt. Exemplarily, the platform is installed on a movable platform through the installation part, and the movable platform includes drones, robots and other movable devices.

Because the state change of the locking assembly 10 provided by this embodiment needs to be realized by switching the memory alloy part 30 to the excitation state, and the memory alloy part 30 is always in a normal state when the pan/tilt is in the storage state, therefore, it can be guaranteed that the pan/tilt In the storage state, each shaft arm is maintained in a locked state. And when it is necessary to use the pan-tilt normally again, it only needs to apply a preset heating current to the memory alloy part 30 again, and the shaft arm can be switched to the unlocked state, which has the advantages of reliable locking and convenient operation.

In a specific embodiment, as shown in FIG. 1 , the locking mechanism can be used to lock the first fitting 100 and the second fitting 200 relative to each other, and when the locking assembly 10 is in the unlocked state, the first fitting 100 can Rotate relative to the second matching part 200 . Exemplarily, the first matching part 100 includes the rotating part of the motor, and the second fitting part 200 includes the fixing part of the motor. Alternatively, the first matching part 100 and the second matching part are other parts that can rotate relatively, for example, two parts that are pivotally connected to each other.

Exemplarily, the rotating part includes at least part of the rotating shaft of the motor; the fixing part includes a base or a cover of the motor.

In this embodiment, the memory alloy part 30 may be in the shape of a wire, and the second matching part 200 may have a cavity X for accommodating the memory alloy part 30 . The above-mentioned cavity X can be formed by a groove opened on the second fitting 200 , or surrounded by some protruding features on the second fitting 200 . As long as the cavity X for accommodating the memory alloy part 30 can be formed on the second matching part 200 . Specifically, the contour track of the cavity X can define the extension track of the memory alloy part 30 , so as to install the memory alloy part 30 of a predetermined length on the second matching part 200 according to the predetermined extension track. In this way, it is ensured that the memory alloy part 30 drives the sliding assembly 20 to move a preset displacement under the preset excitation state, thereby ensuring that the locking assembly 10 can switch states reliably. Avoid the situation that the displacement of the sliding assembly 20 is not enough to change the state of the locking assembly 10 when the memory alloy piece 30 is excited by a preset excitation parameter (eg, preset current) due to improper installation position of the memory alloy piece 30 .

Further, the memory alloy part 30 can be disposed on the second matching part 200 and surround at least part of the first matching part 100 . The memory alloy part 30 surrounds at least part of the first fitting part 100, rather than being arranged on the second fitting part 200 in a straight line, so that a longer memory alloy part 30 can be accommodated in the limited space of the second fitting part 200, and The longer the memory alloy part 30 is, the more its length changes when the memory alloy part 30 is equally excited, and the greater the displacement of the sliding assembly 20 driven by the memory alloy part 30 is. The closer the memory alloy part 30 is to the edge of the second matching part 200 , the longer the memory alloy part 30 can be disposed in the limited space of the second matching part 200 . Those skilled in the art can design the specific location of the memory alloy part 30 on the second matching part 200 according to actual needs, which is not strictly limited in this embodiment.

In order to realize that the locking assembly 10 can switch between the locked state and the unlocked state, please continue to refer to FIG. 1 . In some embodiments, the locking assembly 10 may include: a locking portion 11 and an engaging portion 12 .

The locking part 11 is used for mechanical coupling connection with the first matching part 100 . The locking part 11 is mechanically coupled with the first matching part 100. Specifically, the locking part 11 and the first matching part 100 are formed separately, but the two are fixedly connected. Or, the locking part 11 and the first matching part 100 are circumferentially fixed, but axially movable; or, the locking part 11 and the first matching part 100 are integrally formed; That is to say, there is a mechanical coupling relationship between the locking part 11 and the first fitting 100, as long as the locking part 11 can move, the first fitting 100 can move, and the movement of the locking part 11 is restricted, then the first fitting 100 can also move. restricted movement.

The engaging part 12 can be disposed on the second fitting part 200 for engaging with the locking part 11 . Since the locking part 11 and the engaging part 12 are respectively provided on the first matching part 100 and the second matching part 200, the locking part 12 and the locking part 11 can be realized by engaging the locking part 12 with the locking part 11. In the engaged state, the relative locking of the first fitting part 100 and the second fitting part 200 is performed.

When the sliding assembly 20 moves along the first direction, the sliding assembly 20 can push or release the engaging portion 12 so that the engaging portion 12 moves toward the locking portion 11 or away from the locking portion 11 . The sliding assembly 20 can only be used to abut against the engaging portion 12 , or the sliding assembly 20 can be connected to the engaging portion 12 , and the sliding assembly 20 can abut against the engaging portion 12 toward the locking portion 11 . In this embodiment, when the sliding assembly 20 moves along the first direction, the sliding assembly 20 can push against the engaging portion 12, so that the engaging portion 12 engages with the locking portion 11, so that the locking assembly 10 is in a locked state; and, When the sliding assembly 20 moves along the first direction, the sliding assembly 20 can also release the engaging portion 12 , so that the engaging portion 12 is disengaged from the locking portion 11 , so that the locking assembly 10 is switched from the locked state to the unlocked state.

In some embodiments, when the sliding assembly 20 moves along the first direction, the engaging portion 12 is pushed or released. The sliding assembly 20 may have at least two different abutting parts for abutting against the engaging part 12. When the first abutting part on the sliding assembly 20 pushes against the engaging part 12, the engaging part 12 Engaged with the locking portion 11 , when the second abutting portion on the sliding assembly 20 pushes against the engaging portion 12 , the engaging portion 12 is disengaged from the locking portion 11 . Alternatively, only one part of the sliding assembly 20 can be pushed against the engaging portion 12 , while other positions cannot be pushed against the engaging portion 12 . When the sliding assembly 20 moves to the non-resisting position facing the engaging portion 12 , the engaging portion 12 is disengaged from the locking portion 11 .

The locking part 11 may be located on the outer wall of the first matching part 100, or the locking part 11 may be fixedly connected to the first matching part 100 through an intermediate connecting part. When the locking part 11 is locked, the first fitting part 100 cannot rotate.

Specifically, as shown in FIG. 1 , the locking part 11 may include a locking gear. The locking gear can be coaxially connected with the first fitting 100. For example, the locking gear can be a gear sleeve, and the locking gear can be sleeved on the outer side wall of the first fitting 100, or the locking gear can be matched with the first fitting through an intermediate connecting piece. The piece 100 is connected coaxially. The locking gear is coaxially connected with the first fitting 100 so that the locking gear and the first fitting 100 can rotate coaxially.

The locking part 11 is a locking gear, which can realize the engagement with the engaging part 12 everywhere in the circumferential direction of the locking gear. No matter which angle the first fitting part 100 is currently rotated to, as long as the engaging part 12 pushes against the locking gear position, the locking gear can be locked through the engaging portion 12 to prevent the rotation of the first fitting 100 . For the arm motor of the pan/tilt, when the arm motor is equipped with the above-mentioned locking mechanism, the arm motor can be locked in any rotation state, which improves the operational flexibility.

Furthermore, the locking gear can be locked with the engaging portion 12 by adopting a bevel tooth shape engagement. Compared with straight-face tooth-shape meshing, inclined-plane tooth-shape meshing can forcibly disengage between the locking gear and the engaging portion 12 when the external torque is too large. As a result, it can be avoided that when the external torque is too large, but the locking gear and the engaging part 12 are not easy to disengage from each other due to the direct engagement, the phenomenon that the tooth shape on the locking gear is broken, effectively ensuring the locking mechanism. service life. It can be understood that the smaller the slope angle of the bevel tooth profile of the locking gear, the better the locking reliability after the locking gear engages with the engaging portion 12 . The greater the slope angle of the bevel tooth profile of the locking gear, the easier it is for the locking gear to forcibly disengage from the engagement portion 12 under the action of external torque, and the less likely it is to break the tooth profile of the locking gear due to excessive external torque. Those skilled in the art can design or select the slope angle of the slope tooth profile of the locking gear according to the actual situation, which is not specifically limited in this embodiment.

In some other embodiments, the locking part 11 is not limited to being a locking gear. In some optional embodiments, the locking part 11 can also be a groove structure or a concave hole structure provided on the first matching part 100, corresponding , the engaging portion 12 includes a protruding structure that cooperates with the groove structure or the concave hole structure of the locking portion 11 . Alternatively, the locking part 11 may also be a protruding structure provided on the first matching part 100 , and correspondingly, the engaging part 12 includes a groove structure or a concave hole structure matched with the protruding structure of the locking part 11 . The embodiment of the present application does not limit the structure of the engaging portion 12 and the locking portion 11 , as long as the two can be engaged with each other to limit the rotation of the first fitting 100 . When it is necessary to switch to the locked state, the locking part 11 can be controlled to rotate to an angle capable of engaging with the engaging part 12, and then the memory alloy part 30 is controlled to be in an excited state, so that the sliding assembly 20 drives the engaging part 12 and the locking part 11 Engage, so that the locking assembly 10 is in a locked state.

In some embodiments, as shown in FIG. 1 , the engaging portion 12 may include a first spring piece. The first spring piece itself has elasticity, when the external torque between the locking part 11 and the engaging part 12 is too large, the first spring piece can be slightly deformed so that the locking part 11 and the engaging part 12 can be disengaged from each other, and then It also plays the role of strong detachment protection, preventing the engagement teeth between the locking part 11 and the engaging part 12 from being broken and damaged. Of course, those skilled in the art can rationally design and select the stiffness of the first spring piece when performing a specific design, so as to avoid the stiffness of the first spring piece being too low, which will cause the locking part 11 and the engaging part 12 to be easily disengaged. Causes the problem of unreliable locking.

In addition, it is worth noting that when the external force acting on the first fitting 100 (the external force used to drive the first fitting 100 to rotate) is large enough, the deformation generated by the engaging portion 12 is sufficient to make the engaging portion 12 and The tooth profiles between the locking parts 11 are disengaged, thereby reducing the risk of tooth profile breakage. But when the locking part 11 is a locking gear, because the locking gear has a plurality of continuous teeth in the circumferential direction, the detoxification of the engaging part 12 and the locking part 11 is only a kind of "clutch protection". 12 and the locking part 11 disengage from the first set of teeth, the engaging part 12 will quickly enter the next set of meshing state, and the appearance may be the sound of "clicking" teeth, but as long as the memory alloy part 30 is not When activated again, the locking part 11 and the engaging part 12 will not continue to disengage.

The connection relationship between the engaging part 12 and the second fitting part 200 may at least include the following two ways:

In some embodiments, the engaging portion 12 may include a connecting end 12 a for fixedly connecting with the second fitting 200 and a locking end 12 b for engaging with the locking portion 11 . In this embodiment, the engaging portion 12 itself may have elasticity, so that the engaging portion 12 can move toward the locking portion 11 under the pushing force exerted by the sliding assembly 20 . Moreover, when the resisting force exerted by the sliding assembly 20 on the engaging portion 12 is reduced or canceled, the engaging portion 12 can return to the state of disengaging from the locking portion 11 under its own elastic force.

It should be noted that the connecting end 12a shown in FIG. 1 is located at the end of the engaging portion 12, but in some other embodiments, the connecting end 12a may also be located in the middle of the engaging portion 12 or other positions, as long as the connecting end 12a It only needs to have a certain distance from the locking end 12b.

In some other optional embodiments, the engaging part 12 may include a connecting end 12a for rotatably connecting with the second matching part 200, and a locking end 12b for engaging with the locking part 11. The engaging part 12 A first elastic member (not shown in the figure) is provided between the second matching member 200 . Specifically, the engaging part 12 can be pivotally connected to the second matching part 200 through a rotating shaft, the first elastic member can be a torsion spring, one of the torsion arms of the torsion spring is connected to the engaging part 12, and the other torsion arm of the torsion spring Connected with the second matching part 200, the torsion spring can be coaxially sleeved on the rotating shaft. Of course, the first elastic member may also be an elastic member such as a tension spring or a compression spring, as long as it applies an elastic reset force to the engaging portion 12 . The first elastic member can drive the engaging portion 12 to reset automatically, and the sliding assembly 20 can overcome the elastic force of the first elastic member to push the engaging portion 12 to engage with the locking portion 11 .

It should be noted that the locking end 12 b includes a toothed structure, as shown in FIG. 1 , the toothed structure of the locking end 12 b is used to engage with the toothed structure of the locking portion 11 . Alternatively, one of the locking end 12b and the locking portion 11 is a groove, and the other of the locking end 12b and the locking portion 11 is a protrusion. All of the above can achieve engagement and locking between the locking end 12 b and the locking portion 11 .

In order to realize that when the sliding assembly 20 moves along the first direction, it can resist the engaging portion 12 or release the engaging portion 12 . In a specific embodiment, the locking mechanism further includes a transmission member 40 . The transmission member 40 is connected with the sliding assembly 20. When the sliding assembly 20 moves along the first direction, it can drive the transmission member 40 to rotate, so that the transmission member 40 pushes or releases the engaging part 12, and makes the engaging part 12 face the locking part. 11 moves, or away from the locking part 11. When the sliding assembly 20 moves along the second direction, the transmission member 40 remains stationary. It should be noted that the transmission member 40 is connected to the sliding assembly 20, specifically, the transmission member 40 and the sliding assembly 20 may abut, or other structural driving connections are adopted between the transmission member 40 and the sliding assembly 20, and the sliding assembly 20 along the During the movement in the first direction, it only needs to apply force to the transmission member 40 to make the transmission member 40 rotate.

When the memory alloy part 30 is in the excited state, it drives the sliding assembly 20 to move along the first direction, and when the memory alloy part 30 switches back from the excited state to the normal state, the sliding assembly 20 moves along the second direction. In order to realize the movement of the sliding assembly 20 in the first direction, the engaging portion 12 can act to engage or disengage with the locking portion 11 . Therefore, in this embodiment, it is limited that the transmission member 40 can only be driven to rotate when the sliding assembly 20 moves along the first direction. When the sliding assembly 20 moves along the second direction, the transmission member 40 remains stationary, and the state of the engaging portion 12 cannot be changed, so that the entire locking mechanism can be reliably and stably in the locked state or the unlocked state.

In a specific embodiment, as shown in FIG. 1 , the pushing direction of the transmission member 40 against the engaging portion 12 may have an included angle with the moving direction of the sliding assembly 20 . The pushing direction of the pushing engaging portion 12 may be substantially perpendicular to the moving direction of the sliding assembly 20 .

In order to realize the above-mentioned functions of the transmission member 40, in a specific embodiment, please continue to refer to FIG. 1 , the transmission member 40 may include a thrust portion 41 and a release portion 42, and the distance from the thrust portion 41 to the rotation center of the transmission member 40 L1 is greater than the distance L2 from the release portion 42 to the rotation center of the transmission member 40 . The transmission member 40 includes a rotating shaft M, but the transmission member 40 is in driving connection with the sliding assembly 20 , and the movement of the sliding assembly 20 along the first direction can drive the transmission member 40 to rotate. The rotation center of the transmission member 40 is the axis of the rotation shaft M. As shown in FIG. The resisting portion 41 and the releasing portion 42 can be respectively formed on the circumferential sidewall of the transmission member 40 .

When the transmission member 40 rotates until the push portion 41 abuts against the engagement portion 12, the engagement portion 12 can engage with the locking portion 11; and when the transmission member 40 rotates until the release portion 42 contacts the engagement portion 12, or When the portion 42 faces the engaging portion 12 with a gap, the engaging portion 12 is disengaged from the locking portion 11 . As shown in FIG. 1 , the transmission member 40 rotates until the release portion 42 contacts the engaging portion 12 , and at this time the engaging portion 12 disengages from the locking portion 11 , specifically the locking end 12 b of the engaging portion 12 disengages from the locking portion 11 . In some other embodiments, when the transmission member 40 rotates until the release part 42 is opposite to the engaging part 12, but there is a gap between the releasing part 42 and the engaging part 12, it means that the engaging part 12 has returned to the natural state, wherein , the natural state refers to the state where the engaging portion 12 is not subjected to a thrust force. It can be designed that the engaging portion 12 does not engage with the locking portion 11 in a natural state, but only receives a preset thrust force and moves toward The locking portion 11 can be engaged with the locking portion 11 only after being pushed by a preset distance. The preset resisting distance may be the difference between the distance L1 from the resisting portion 41 to the rotation center of the transmission member 40 and the distance L2 from the release portion 42 to the rotation center of the transmission member 40 .

In order to further optimize the technical solution provided by the embodiment of the present application, further, the normal line of the resisting surface of the resisting portion 41 in contact with the engaging portion 12 points to the rotation center of the transmission member 40 . When the locking assembly 10 is in the locked state, the resisting portion 41 abuts against the engaging portion 12 . When the first matching part 100 is subjected to an external torque, the locking part 11 will exert a force on the engaging part 12 in reverse, and the engaging part 12 will also easily exert a force on the transmission part 40 in reverse. Based on this, in this embodiment, the normal line of the thrust surface where the thrust portion 41 is in contact with the engaging portion 12 is directed to the rotation center of the transmission member 40, so that the reverse action exerted by the engagement portion 12 on the transmission member 40 The torque component generated by the force on the transmission member 40 is zero, thereby avoiding the situation that the engaging portion 12 reversely pushes the transmission member 40 to rotate, and further ensures the locking reliability of the locking mechanism.

Exemplarily, the transmission member 40 may include a cam. The cam may include a plurality of protrusions, and the plurality of protrusions are arranged at intervals around the rotation center of the transmission member 40; the protrusions form the above-mentioned resisting portion 41, and the above-mentioned release portion 42 is formed between two adjacent protrusions 31 . In a specific embodiment, the plurality of protrusions 31 on the cam can be evenly arranged along the circumferential direction of the cam, so that each time the cam and the engaging portion 12 abut against each other, the angle that the cam needs to turn is equal, thus, The displacement of the sliding assembly 20 is equal each time the locking mechanism is switched from the unlocked state to the locked state. Because the displacement that slide assembly 20 moves is determined by the displacement that memory alloy part 30 shrinks, the displacement that memory alloy part 30 shrinks is determined by excitation parameter, such as the magnitude of excitation current, the magnitude of excitation magnetic field, the decision of excitation duration etc., therefore, once excitation parameter If determined, the sliding displacement of the sliding assembly 20 can be determined each time. Exemplarily, the distance L1 from each protrusion on the cam to the center of the cam rotation is equal, so that no matter which protrusion of the cam rotates to abut against the engaging portion 12, it can reliably push the engaging portion 12 to the The locking portion 11 is engaged. In the exemplary embodiment shown in Figure 1, there are three protrusions on the cam, and the three protrusions are evenly arranged along the circumference of the cam. In some other embodiments, the number of protrusions on the cam can also be Two, four, five, etc. are not particularly limited in this application.

Fig. 5a is a schematic diagram before the force-applying part of the sliding assembly in the locking mechanism provided by an embodiment of the present application passes over the force-receiving part; The schematic diagram behind the power part; this embodiment provides a specific implementation scheme that can realize the sliding assembly 20 driving the transmission member 40 to rotate. Specifically, please refer to accompanying drawings 4 and 5a to 5b, the transmission member 40 includes a force receiving part 43 that abuts against the sliding assembly 20; during the movement of the sliding assembly 20 along the first direction, the sliding assembly 20 Push against the force-receiving part 43 to make the transmission member 40 rotate. Specifically, the force-receiving part 43 may be fixedly connected to the cam through the rotating shaft M, so that the force-receiving part 43 and the cam rotate synchronously. The resisting force exerted by the sliding assembly 20 on the force receiving portion 43 has at least a force component in the tangential direction of the transmission member 40 , so that the transmission member 40 can rotate under the action of the tangential force component.

The sliding assembly 20 can include a slider 21 and a force application part 22. One side of the slider 21 is connected to the memory alloy part 30, and the other side is connected to the force application part 22. When the memory alloy part 30 shrinks, it can drive the slider 21 and the force application part. The force part 22 moves along the first direction and abuts against the force receiving part 43 , so that the transmission member 40 rotates at a preset angle. As shown in FIG. 4 , the force application portion 22 may be disposed at the bottom of the slider 21 , and the force application portion 22 may extend obliquely downward from the bottom of the slider 21 to abut against the force receiving portion 43 . Since the force applying portion 22 needs to be against the force receiving portion 43 , the reverse force it bears is relatively large. Therefore, in order to prevent the force applying portion 22 from breaking or detaching from the slider 21 . The force application part 22 can be integrally formed with the slider 21 , or the force application part 22 and the slider 21 can be welded together to ensure the stability of the connection between the force application part 22 and the slider 21 .

In a specific embodiment, the force applying part 22 may include a second spring piece, and further, the second spring piece may be a metal spring piece. When the force application part 22 is a second spring piece, the force application part 22 can produce elastic deformation under the action of an external force, so that the force application part 22 can switch from the state of abutting against the force receiving part 43 to drive the transmission member 40 to rotate to the force application part. 22 does not push against the state of the force receiving portion 43. The transmission member 40 may include a turntable 44 fixedly connected with the cam, the force receiving part 43 may be arranged on the turntable 44, and the second spring piece (the force application part 22) is inclined relative to the turntable 44, so that the sliding assembly 20 moves in the second direction. During the process, the inclined surface of the second spring piece can pass over the end surface of the force-receiving part 43 (as shown in FIG. 5 ), and make the force-receiving part 43 remain stationary. It should be noted that, for example, the number of the second spring piece on the slider 21 is one. In this way, it can be realized that when the sliding assembly 20 is moving in the first direction, the transmission member 40 can rotate, but when the sliding assembly 20 is moving in the second direction, since the force applying part 22 passes over the end surface of the force receiving part 43 . The tangential force applied by the force applying part 22 to the force receiving part 43 is small, that is, no torque is applied to the transmission member 40, so that when the sliding assembly 20 moves in the second direction, the transmission member 40 will not rotate, Therefore, the state of the locking assembly 10 will not be changed when the sliding assembly 20 moves along the second direction.

In some other embodiments, the force applying part 22 can also be a rigid part. Through reasonable structural design, the rigid force applying part 22 can push against the force receiving part when the sliding assembly 20 moves along the first direction. 43, but when the sliding assembly 20 is moving in the second direction, the just-needed force application part 22 can move away from the force receiving part 43 and break away from the force receiving part 43, so that the sliding assembly 20 moves in the second direction During the process, the transmission member 40 will not be driven to rotate.

The cooperation relationship between the force applying part 22 and the force receiving part 43 is not limited to the above, and those skilled in the art can make a specific design according to the actual situation, and this application does not limit it, as long as the sliding assembly 20 can be moved along the first direction At one time, the force applying part 22 can push against a force receiving part 43 so that the transmission member 40 rotates a preset angle, and when the sliding assembly 20 moves in the first direction again, the force applying part 22 can push against the next force receiving part 43 to make the transmission member 40 rotate the preset angle again.

Specifically, the transmission member 40 may include a turntable 44 fixedly connected to the cam, and a plurality of force receiving parts 43 may be uniformly arranged on the turntable 44 . The turntable 44 is connected to the rotating shaft M. As shown in FIG. The force-receiving part 43 may include a plurality of force-receiving parts 43 uniformly arranged around the rotation center of the transmission member 40 ; the preset angle is the angle at which the transmission member 40 rotates when two adjacent force-receiving parts 43 pass through. In this way, the force applying portion 22 can intermittently push the transmission member 40 to rotate along the circumferential direction of the transmission member 40 . Since the plurality of force-receiving parts 43 are evenly arranged, therefore, each time the sliding assembly 20 moves a preset displacement along the first direction, the force-applying part 22 on the sliding assembly 20 will push against the nearest part of the force-applying part 22 on the transmission member 40. The side wall of the first force-receiving part 43 can further drive the transmission member 40 to rotate at a preset angle, which can further ensure the required displacement of the sliding assembly 20 along the first direction when the transmission member 40 pushes against the engagement part 12 each time. are equal, so that the excitation parameters required by the memory alloy piece 30 each time are equal, thereby making the locking and unlocking operations of the locking mechanism simple and controllable. And when the sliding assembly 20 moves the preset displacement along the second direction, the force application portion 22 on the sliding assembly 20 then crosses the end face of the second protruding force receiving portion 43 until it is in contact with the side wall of the second force receiving portion 43 touch.

In the locking mechanism provided in the embodiment of the present application, when the memory alloy part 30 is switched in the cycle state of excitation-normal-excitation-normal..., the force applying part 22 can push each force receiving part 43 in turn, and the memory alloy When the part 30 is in the activated state once, the force applying part 22 pushes against a force receiving part 43, so that an intermittent mechanism can be formed.

In some embodiments, the force receiving portion 43 may include a force receiving protrusion extending along the direction of the rotation axis of the transmission member 40 . The sliding assembly 20 can be used to push against the side wall of the stressed post away from the rotation axis, so that the sliding assembly 20 can push against the transmission member 40 to rotate. Certainly, in some other embodiments, the force-receiving portion 43 may also be in other shapes, for example, spherical, hemispherical and so on. When the outer wall of the force receiving portion 43 is an arc surface, the contact surface between the force applying portion 22 and the force receiving portion 43 can be made smaller, and the transmission member 40 rotates when the force applying portion 22 pushes against the force receiving portion 43 , the contact surface of the force applying portion 22 and the force receiving portion 43 can continuously and smoothly transition, so that the transmission member 40 can stably push against the engaging portion 12 .

In some embodiments, as shown in FIG. 1 , the locking mechanism provided by the embodiment of the present application may further include an elastic reset member 50 connected to the second matching member 200 and the sliding assembly 20 respectively. Wherein, the elastic return member 50 may include but not limited to tension springs, rubber strips and the like. During the contraction process of the memory alloy part 30 (the sliding assembly 20 moves along the first direction), the elastic restoring part 50 produces elastic deformation. During this process, the sliding assembly 20 moves in the first direction against the elastic force of the elastic reset member 50 under the contraction force of the memory alloy member 30 until the pushing portion 41 of the transmission member 40 abuts against the engaging portion 12 . In the process of elongation of the memory alloy part 30, since the memory alloy part 30 cannot resist the sliding assembly 20 to move in the second direction, but since the sliding assembly 20 is connected with the elastic restoring part 50, the elastic restoring part 50 recovers and deforms at this time. The sliding assembly 20 is driven to move in the second direction, so that the force applying portion 22 is separated from the force receiving portion 43 . Thus, under the action of the elastic reset member 50 , the sliding assembly 20 returns to the initial position until the memory alloy member 30 is activated again, so that the sliding assembly 20 moves from the initial position along the first direction again.

It also includes a flexible connection line 60 through which the elastic reset member 50 is connected to the sliding assembly 20 . In the embodiment of the present application, the memory alloy part 30 can be arranged around the first fitting part 100 roughly along the circumferential outer side of the first fitting part 100, while the length of the elastic return part 50 is limited, and the elastic return part 50 expands and contracts in the axial direction when deformed. By arranging the flexible connecting line 60 to connect the elastic reset member 50 with the sliding assembly 20, the elastic restoring member 50 can pull the sliding assembly 20 to move in a predetermined direction through the flexible connecting wire 60 when the elastic restoring member 50 returns to deformation.

Further, as shown in FIG. 1 , the second matching part 200 may have a limiting part 70 for guiding the memory alloy part 30 and/or the flexible connecting wire 60 to extend in a predetermined direction. Specifically, the limiting portion 70 includes a limiting post. As shown in FIG. 1 , the memory alloy part 30 , the flexible connecting wire 60 and the elastic restoring part 50 can surround the first matching part 100 . The three can surround the entire circumference of the first fitting 100 , and the three can be as close as possible to the edge of the second fitting 200 . The memory alloy piece 30 and the flexible connecting wire 60 are limited by the limiting part 70, so that the pulling direction and pulling force of the sliding assembly 20 are determined, ensuring that the sliding assembly 20 moves along the first direction or the second direction each time, The displaced displacement is precise, thereby making the locking and unlocking of the entire locking mechanism controllable and precise.

As shown in FIG. 1 and FIG. 2 , the embodiment of the present application also provides a motor locking system, including: a motor, a locking mechanism, and the locking mechanism includes a locking assembly 10 , a sliding assembly 20 and a memory alloy 30 .

Wherein, the sliding assembly 20 is connected with the locking assembly 10 . The memory alloy part 30 is connected with the sliding assembly 20. When the memory alloy part 30 is in the excited state, the length of the memory alloy part 30 changes to drive the sliding assembly 20 to move along the first direction, so that the sliding assembly 20 can drive the locking assembly 10 from the lock When the sliding assembly 20 moves along the first direction again, the sliding assembly 20 can drive the locking assembly 10 to switch from the unlocking state to the locking state, so that the motor switches between the locking state and the free state.

The locking assembly 10, the sliding assembly 20 and the memory alloy 30 in the motor locking system provided by the embodiment of the present application can constitute a locking mechanism, and the structure and function of the locking mechanism are the same as those of the locking mechanism provided in the above-mentioned embodiments. For details, reference may be made to the description of the foregoing embodiment, and details are not described in this embodiment.

The motor locking system provided by the embodiment of the present application achieves the purpose of locking and unlocking the motor through the built-in memory alloy 30, has a simple structure, and can reasonably utilize the space in the motor to form a motor system with a built-in locking mechanism.

In some embodiments, when the memory alloy part 30 is switched from the excited state to the normal state, the length of the memory alloy part 30 changes and the sliding assembly 20 moves along the second direction, while the state of the locking assembly 10 remains unchanged; wherein, the first One direction is opposite to the second direction.

In some embodiments, when the memory alloy part 30 is in an excited state, the memory alloy part 30 contracts to drive the sliding assembly 20 to move along the first direction; wherein the excited state includes a heating state and/or a magnetized state.

In some embodiments, the motor includes a rotating part (first fitting part 100) and a fixed part (second fitting part 200), and the locking mechanism is used to lock the rotating part and the fixing part relative to each other, and when the locking assembly 10 is in the unlocked state , the rotating part can rotate relative to the fixed part.

In some embodiments, the memory alloy piece 30 is in the shape of a wire, and the fixing part has a cavity for accommodating the memory alloy piece 30 .

In some embodiments, the memory alloy element 30 is disposed on the fixed part and surrounds at least part of the rotating part.

In some embodiments, the locking assembly 10 includes: a locking part 11 for mechanically coupling with the rotating part; an engaging part 12 provided on the fixing part for engaging with the locking part 11; the sliding assembly 20 moves along the first direction When moving, the engaging portion 12 is pushed or released, so that the engaging portion 12 moves toward the locking portion 11 or moves away from the locking portion 11 .

In some embodiments, the locking portion 11 includes a locking gear.

In some embodiments, the locking gear and the engaging portion 12 are locked by bevel tooth engagement.

In some embodiments, the engaging portion 12 includes a first spring piece.

In some embodiments, the engaging portion 12 includes a connecting end for fixed connection with the fixing portion, and a locking end for engaging with the locking portion 11 .

In some embodiments, the engaging part 12 includes a connecting end for rotatably connecting with the fixing part, and a locking end for engaging with the locking part 11, and a first elastic is provided between the engaging part 12 and the fixing part. pieces.

In some embodiments, the locking mechanism further includes a transmission member 40; the transmission member 40 is connected to the sliding assembly 20, and when the sliding assembly 20 moves along the first direction, it can drive the transmission member 40 to rotate, so that the transmission member 40 pushes the card. The engaging portion 12 is moved toward the locking portion 11; when the sliding assembly 20 moves along the second direction, the transmission member 40 remains stationary.

In some embodiments, the transmission member 40 includes a push portion and a release portion 42, the distance from the push portion to the rotation center of the transmission member 40 is greater than the distance from the release portion 42 to the rotation center of the transmission member 40; when the transmission member 40 rotates to When the pushing part and the engaging part 12 abut against each other, the engaging part 12 engages with the locking part 11; When there is a gap, the engaging portion 12 is disengaged from the locking portion 11 .

In some embodiments, the normal line of the resisting surface of the resisting portion 41 in contact with the engaging portion 12 points to the rotation center of the transmission member 40 .

In some embodiments, transmission member 40 includes a cam.

In some embodiments, the cam includes a plurality of protrusions, and the plurality of protrusions are circumferentially spaced around the rotation center of the transmission member 40 ; the protrusions form a resisting portion, and a release portion 42 is formed between two adjacent protrusions.

In some embodiments, the transmission member 40 includes a force receiving portion 43 that abuts against the sliding assembly 20; when the sliding assembly 20 moves in the first direction, the sliding assembly 20 abuts against the force receiving portion 43, so that the transmission member 40 turns.

In some embodiments, the force receiving portion 43 includes a force receiving protrusion extending along the direction of the rotation axis of the transmission member 40 .

In some embodiments, the sliding assembly 20 includes a slider and a force application part. One side of the slider is connected to the memory alloy part 30, and the other side is connected to the force application part. When the memory alloy part 30 shrinks, it can drive the force application part along the The first direction moves to abut against the force-receiving portion 43 , so that the transmission member 40 rotates at a preset angle.

In some embodiments, the force-receiving part 43 includes a plurality of force-receiving parts 43 uniformly arranged around the rotation center of the transmission member 40; the preset angle is the rotation of the transmission member 40 when two adjacent force-receiving parts 43 Angle.

In some embodiments, it also includes an elastic reset part, which is respectively connected with the fixed part and the sliding assembly 20; during the contraction process of the memory alloy part 30, the elastic return part produces elastic deformation; when the memory alloy part 30 is elongated During the process, the elastic reset member restores its deformation and drives the sliding assembly 20 to move in the second direction, so that the force applying part is separated from the force receiving part 43 .

In some embodiments, a flexible connection line 60 is also included, and the elastic reset member 50 is connected to the sliding assembly 20 through the flexible connection line 60 .

In some embodiments, the fixing part has a limiting part 70 for guiding the memory alloy part 30 and/or the flexible connecting wire 60 to extend in a predetermined direction.

In some embodiments, the limiting portion 70 includes a limiting post.

In some embodiments, the memory alloy piece 30 , the flexible connecting wire 60 and the elastic reset piece 50 surround the rotating part.

In some embodiments, the force applying portion 22 includes a second spring piece.

In some embodiments, the transmission member 40 includes a turntable 44 fixedly connected to the cam, the force-receiving part 43 is arranged on the turntable 44, and the second spring piece is inclined relative to the turntable 44, so that the sliding assembly 20 moves in the second direction. In this case, the inclined surface of the second spring piece can go over the end surface of the force receiving portion 43 and keep the force receiving portion 43 stationary.

In some embodiments, the transmission member 40 includes a turntable fixedly connected with the cam, and a plurality of force-receiving parts 43 are uniformly arranged on the turntable 44 .

It should be noted that the structure and function of the locking mechanism in the motor locking system provided by this embodiment are the same as those of the locking mechanism provided by the above-mentioned embodiment. For details, please refer to the description of the above-mentioned embodiment, and this embodiment will not repeat.

Some embodiments of the present application also provide a cloud platform, including: a shaft arm; a motor for driving the shaft arm to rotate, and a locking mechanism, the locking mechanism includes: a locking mechanism, the locking mechanism includes a locking assembly 10, a sliding Component 20 and memory alloy piece 30.

The structure and function of the locking mechanism in the pan/tilt provided by the embodiment of the present application are the same as the locking mechanism provided by the above embodiment. For details, reference may be made to the description of the above embodiment, and details will not be described in this embodiment.

The shaft arm motor of the pan/tilt provided by the embodiment of the present application achieves the purpose of locking and unlocking the motor through the built-in memory alloy 30. The structure is simple, and the space in the motor can be rationally used to form a motor system with a built-in locking mechanism. The pan/tilt of the embodiment of the present application can lock the shaft arm in the storage state, and only need to activate the memory alloy part 30 again when it needs to be used again.

In some embodiments, the locking assembly 10 includes: a locking part 11 for mechanically coupling with the rotating part; an engaging part 12 provided on the fixing part for engaging with the locking part 11; the sliding assembly 20 moves along the first direction When moving, the engaging portion 12 is pushed or released, so that the engaging portion 12 moves toward the locking portion 11 or away from the locking portion 11 .

In some embodiments, the locking portion 11 includes a locking gear.

In some embodiments, the engaging portion 12 includes a first spring piece.

In some embodiments, transmission member 40 includes a cam.

In some embodiments, the limiting portion 70 includes a limiting post.

It should be noted that the structure and function of the locking mechanism in the pan-tilt provided by this embodiment are the same as those provided by the above-mentioned embodiment. For details, reference may be made to the description of the above-mentioned embodiment, and details will not be repeated in this embodiment. FIG. 6 is a schematic diagram of the internal structure of a motor locking system including a locking mechanism provided by another embodiment of the present application. Please refer to FIG. 1 or FIG. 6 , the locking mechanism provided by some embodiments of the present application includes: a locking component 10 , a transmission component 40 , a sliding component 20 and a memory alloy component 30 .

The locking assembly 10 includes an engaging portion 12; the sliding assembly 20 is connected to the transmission member 40; the memory alloy piece 30 is connected to the sliding assembly 20, and when the memory alloy piece 30 is in an excited state, the length of the memory alloy piece 30 changes to drive the sliding assembly 20 Moving, the transmission member 40 drives the engaging portion 12 to move, so that the locking assembly 10 is in a locked state or an unlocked state.

In some embodiments, the transmission member 40 is in contact with the engaging portion 12 to drive the engaging portion 12 to move, so that the locking assembly 10 is in a locked state.

In some embodiments, the transmission member 40 is separated from the engaging portion 12 to drive the engaging portion 12 to move so that the locking assembly 10 is in an unlocked state.

In some embodiments, the transmission member 40 is in contact with the engaging portion 12 to drive the engaging portion 12 to move so that the locking assembly 10 is in an unlocked state.

The length of the memory alloy part 30 changes to drive the sliding assembly 20 to move, and the transmission part 40 presses the engaging part 12 or the transmission part 40 releases the engaging part 12, so that the locking assembly 10 switches between the locked state and the unlocked state.

In some embodiments, the locking mechanism is used to lock the first fitting 100 and the second fitting 200 relative to each other. When the locking assembly 10 is in an unlocked state, the first fitting 100 can rotate relative to the second fitting 200 .

When the locking assembly 10 is installed between two fittings that can rotate relatively, the locking assembly 10 can be controlled to be in a locked state so that the two fittings cannot rotate relative to each other. When the locking assembly 10 is in the unlocked state, the two matching parts can rotate relative to each other. When the locking assembly 10 is installed between two fittings that can move relatively, the locking assembly 10 can be controlled to be in a locked state so that the two fittings cannot move relative to each other. When the locking assembly 10 is in the unlocked state, the two matching parts can move relative to each other.

It should be noted that the performance and principle of the memory alloy part 30 described in this embodiment are the same, for details, reference may be made to the description of the principle of the memory alloy part 30 in the above embodiment, and no further details are given here.

Similarly, the excitation state is not limited, and may specifically include in some embodiments, the above-mentioned excitation state may include a heating state, and in some embodiments, the excitation state may include a magnetization state, the so-called magnetization state is an applied magnetic field, Make the memory alloy piece 30 in the magnetic field.

In this embodiment, the principle of using the memory alloy piece 30 to drive the sliding assembly 20 to move is the same as that of the locking mechanism provided in the above embodiment, and details can be referred to the description of the above embodiment.

In some embodiments, the moving direction of the sliding assembly 20 is not consistent with the moving direction of the engaging part 12 . It should be noted that the locking assembly 10 also includes a locking portion 11 , and the moving direction of the engaging portion 12 refers to the direction in which the engaging portion 12 moves toward the locking portion 11 when the sliding assembly 20 drives the engaging portion 12 to move. As shown in FIG. 1 , the moving direction of the engaging portion 12 is substantially radially inward, and the moving direction of the sliding assembly 20 is substantially tangential to the radially inward direction.

The length of the memory alloy part 30 changes to drive the sliding assembly 20 to move, and the transmission part 40 rotates (as shown in FIG. 1 ) or moves (as shown in FIG. 6 ), so that the transmission part 40 presses the engaging part 12 or the transmission part 40 Release the engaging part 12.

When the transmission member 40 presses the engaging portion 12 , the engaging portion 12 engages the locking portion 11 to lock the locking portion 11 . When the transmission member 40 releases the engaging portion 12 , the engaging portion 12 disengages from the locking portion 11 , so that the locking portion 11 can rotate freely.

Exemplarily, as shown in FIG. 1 or FIG. 6 , the engaging portion 12 includes a first locking tooth, and the locking portion includes a second locking tooth; when the locking assembly 10 is in a locked state, the first locking tooth and the second locking tooth The two locking teeth are engaged with each other; when the locking assembly 10 is in an unlocked state, the first locking tooth and the second locking tooth are in a disengaged state. Exemplarily, the locking part 11 includes a locking gear.

The locking gear and the engaging portion 12 are locked by bevel toothed engagement.

The engaging part 12 includes a connection end for fixedly connecting with the second fitting part 200 , and a locking end for engaging with the locking part 11 . The engaging portion 12 includes a first spring piece.

The engaging part 12 includes a connection end 12a for rotatably connecting with the second matching part 200 and a locking end 12b for engaging with the locking part 11, and a second fitting part 200 is provided between the engaging part 12 an elastic member. The transmission member 40 includes a cam.

The locking mechanism provided in the above embodiments may include the exemplary embodiment shown in FIG. 1 , and may also include the exemplary embodiment shown in FIG. 6 .

For the relevant description of the specific components in the locking mechanism provided in this embodiment, reference may be made to the description of the above embodiments, and details will not be repeated in this embodiment.

The locking mechanism provided by the exemplary embodiment shown in Fig. 6 includes: a locking assembly 10, a sliding assembly 20, a first memory alloy part 30a and a second memory alloy part 30b.

The sliding assembly 20 is connected with the locking assembly 10 . Wherein, the locking assembly 10 can be switched between a locked state and an unlocked state. When the locking assembly 10 is installed between two fittings that can rotate relatively, the locking assembly 10 can be controlled to be in a locked state so that the two fittings cannot rotate relative to each other. When the locking assembly 10 is in the unlocked state, the two matching parts can rotate relative to each other. When the locking assembly 10 is installed between two fittings that can move relatively, the locking assembly 10 can be controlled to be in a locked state so that the two fittings cannot move relative to each other. When the locking assembly 10 is in the unlocked state, the two matching parts can move relative to each other.

The first memory alloy piece 30a is connected with the sliding assembly 20; when the first memory alloy piece 30a is in an excited state, the length of the first memory alloy piece 30a changes to drive the sliding assembly 20 to move along the first direction, so that the sliding assembly 20 can drive The locking assembly 10 is in a locked state.

The second memory alloy piece 30b is connected with the sliding assembly 20; when the second memory alloy piece 30b is in an excited state, the length of the second memory alloy piece 30b changes to drive the sliding assembly 20 to move along the second direction, so that the sliding assembly 20 can drive The locking assembly 10 is in an unlocked state; wherein, the first direction and the second direction are opposite.

It should be noted that the connection between the sliding component 20 and the locking component 10 may be that the sliding component 20 abuts against the locking component 10, or that the sliding component 20 is directly connected with the locking component 10, but the sliding component 20 moves along the first direction, which can make The locking assembly 10 is switched between a locked state and an unlocked state.

It should be noted that the performance and principle of the first memory alloy part 30a and the second memory alloy part 30b described in this embodiment are the same as those of the memory alloy part 30 described in the above embodiment. The description of the principle of the memory alloy part 30 will not be repeated here.

In this embodiment, the principle of using the memory alloy to drive the sliding assembly 20 to move is the same as that of the locking mechanism provided in the above embodiment, and details can be referred to the description of the above embodiment.

The difference between this embodiment and the above-mentioned embodiments is that the memory alloy part of this embodiment includes two memory alloy parts, which are respectively a first memory alloy part 30a and a second memory alloy part 30b. While the first memory alloy part 30a and the second memory alloy part 30b are all connected with the sliding assembly 20, when the two memory alloy parts are in the excited state, the opposite difference in the movement of the pulled sliding assembly 20 realizes the locking and locking of the locking mechanism. unlock.

The locking mechanism provided in this embodiment can respectively control the two memory alloy pieces to be in the excited state, so that the first memory alloy piece can drive the sliding assembly to move along the first direction when the first memory alloy piece is in the excited state, and then drive the locking assembly to be in the locked state . And controlling the second memory alloy part to be in the excited state can drive the sliding assembly to move along the second direction, and then drive the locking assembly to be in the unlocked state. Since the memory alloy parts are very small in size and occupy less space in the device, even two memory alloy parts can realize unlocking and locking of a device with a smaller volume.

In some embodiments, when the first memory alloy part 30a is switched from the excited state to the normal state, the length of the first memory alloy part 30a changes and the sliding assembly 20 remains stationary. In some embodiments, when the second memory alloy part 30b is switched from the activated state to the normal state, the length of the second memory alloy part 30b changes and the sliding assembly 20 remains stationary. Specifically, when the first memory alloy part 30a is in an excited state, the first memory alloy part 30a contracts to drive the sliding assembly 20 to move along the first direction; when the second memory alloy part 30b is in an excited state, the second memory alloy part 30b contracts And the sliding assembly 20 is driven to move along the second direction. Thus, the first memory alloy part 30a is excited, so that the sliding assembly 20 moves along the first direction, and the locking assembly 10 is locked. The second memory alloy part 30b is excited, so that the sliding assembly 20 moves along the second direction, and the locking assembly 10 is unlocked.

Specifically, the above-mentioned switching from the excitation state to the normal state may be cooling the memory alloy piece (the first memory alloy piece 30a or the second memory alloy piece 30b) from a heated state to a room temperature state, or from applying a magnetic field to the memory alloy piece. , to the state where the magnetic field applied to the memory alloy piece disappears, etc. When the first memory alloy part 30a is switched from the excited state to the normal state, the sliding assembly 20 remains motionless, and the state of the locking assembly 10 remains unchanged. When the second memory alloy part 30b is switched from the excited state to the normal state, the sliding assembly 20 also remains stationary, and the state of the locking assembly 10 also remains unchanged. The state change of the locking assembly 10 is only based on the first memory alloy piece 30a being in the activated state, or when the second memory alloy piece 30b is in the activated state, thus, as long as the memory alloy piece is in a normal state, the state of the locking assembly 10 will not change. Will change, can effectively improve the reliability of the locking mechanism.

The locking mechanism can be used to lock the first fitting 100 and the second fitting 200 relative to each other, and when the locking assembly 10 is in an unlocked state, the first fitting 100 can rotate relative to the second fitting 200 . Specifically, the first matching part 100 may be the rotating part (including the rotor) of the motor, and the second matching part 200 may be the fixed part (including the stator) of the motor. Alternatively, the first matching part 100 and the second matching part are other parts that can rotate relatively, for example, two parts that are pivotally connected to each other.

The first memory alloy part 30a and/or the second memory alloy part 30b may be in the shape of a wire, and the second matching part 200 has a cavity X for accommodating the first memory alloy part 30a and/or the second memory alloy part 30b. The above-mentioned cavity X can be formed by a groove opened on the second fitting 200 , or surrounded by some protruding features on the second fitting 200 . As long as the cavity X for accommodating the memory alloy part 30 can be formed on the second matching part 200 . Specifically, the contour track of the cavity X can define the extension tracks of the first memory alloy part 30a and the second memory alloy part 30b, so as to install the memory alloy part of a predetermined length on the second matching part 200 according to the predetermined extension track. In this way, it is ensured that the memory alloy part 30 drives the sliding assembly 20 to move a preset displacement along a preset direction under a preset excitation state, thereby ensuring that the locking assembly 10 can switch states reliably. Avoid the situation that the displacement of the sliding assembly 20 is not enough to change the state of the locking assembly 10 when the memory alloy piece is excited by a preset excitation parameter (eg, preset current) due to improper installation positions of the two memory alloy pieces.

In some embodiments, the first memory alloy part 30 a may be disposed on the second matching part 200 and surround at least part of the first matching part 100 . In some embodiments, the second memory alloy part 30b may be disposed on the second matching part 200 and surround at least part of the first matching part 100 .

Specifically, one end of the first memory alloy part 30 a can be fixedly connected with the second matching part 200 , and the other end of the first memory alloy part 30 a can be connected with the sliding assembly 20 . One end of the second memory alloy part 30 b is fixedly connected to the second matching part 200 , and the other end of the second memory alloy part 30 b is connected to the sliding assembly 20 .

As shown in FIG. 6 , the first memory alloy part 30 a and the second memory alloy part 30 b can be disposed on the second matching part 200 in cross-symmetry. The first memory alloy piece 30a and the second memory alloy piece 30b are not arranged on the second fitting 200 in a straight line, so that a longer memory alloy piece can be accommodated in the limited space of the second fitting 200, while the memory alloy The longer the memory alloy piece is, the more its length changes when the memory alloy piece is equally excited, and the greater the displacement of the sliding assembly 20 driven by the memory alloy piece is. It can be understood that the closer the memory alloy part is to the edge of the second matching part 200 , the longer the memory alloy part can be arranged in the limited space of the second matching part 200 . Those skilled in the art can design the specific location of the memory alloy part on the second matching part 200 according to actual needs, which is not strictly limited in this embodiment.

In order to realize that the locking assembly 10 can switch between the locked state and the unlocked state, please continue to refer to FIG. 6 , in some embodiments, the locking assembly 10 may include: a locking portion 11 and an engaging portion 12 .

The locking part 11 is used to mechanically couple with the first fitting 100; the locking part 11 is mechanically coupled to the first fitting 100, specifically, the locking part 11 and the first fitting 100 are formed separately, but the two are fixedly connected . Or, the locking part 11 and the first matching part 100 are circumferentially fixed, but axially movable; or, the locking part 11 and the first matching part 100 are integrally formed; That is to say, there is a mechanical coupling relationship between the locking part 11 and the first fitting 100, as long as the locking part 11 can move, the first fitting 100 can move, and the movement of the locking part 11 is restricted, then the first fitting 100 can also move. restricted movement.

The engaging part 12 is movably arranged on the second fitting part 200 for engaging with the locking part 11; since the locking part 11 and the engaging part 12 are respectively provided on the first fitting part 100 and the second fitting part 200, therefore, through the locking The engaging part 12 is engaged with the locking part 11 , so that the relative locking of the first matching part 100 and the second matching part 200 can be realized when the engaging part 12 and the locking part 11 are in the engaged state.

The transmission member 40 is used to abut against the engaging portion 12 to move the engaging portion 12 toward the locking portion. Since the transmission member 40 is connected to the sliding assembly 20 , the transmission member 40 can follow the movement of the sliding assembly 20 . When the sliding assembly 20 moves along the first direction, the transmission member 40 also moves along the first direction with the sliding assembly 20 , and when the sliding assembly 20 moves along the second direction, the transmission member 40 also moves along the second direction along with the sliding assembly 20 .

As shown in FIG. 6 , the engaging portion 12 may include: a first resisting portion 121 and a first releasing portion 122 . When the transmission member 40 abuts against the first resisting portion 121 , the engaging portion 12 engages with the locking portion 11 . When the transmission member 40 abuts against or faces the first releasing portion 122 , the engaging portion 12 is separated from the locking portion 11 .

Wherein, when the engaging portion 12 is in a natural state, the first resisting portion 121 is closer to the transmission member 40 than the first releasing portion 122 . Those skilled in the art can design the curved shape of the engaging portion 12 when specifically designing the engaging portion 12, so that the engaging portion 12 has the above-mentioned first resisting portions 121 respectively used to cooperate with the transmission member 40, and The first release part 122 .

When the first memory alloy part 30 a is in the excited state, the transmission part 40 can move along the first direction to the first resisting part 121 against the engaging part 12 , so that the engaging part 12 is engaged with the locking part 11 . When the second memory alloy part 30 b is in the excited state, the transmission part 40 can move to the first release part 122 along the second direction, so that the engaging part 12 is separated from the locking part 11 .

Like the above-mentioned embodiments, the locking portion 11 may include a locking gear. When the locking part 11 adopts the setting method, advantages and effects of locking gears, reference may be made to the description of the embodiments shown in FIGS. 1 to 5 above, and details will not be repeated in this embodiment. In addition, the locking part 11 can also adopt other structural forms, and details can be referred to the description of the above-mentioned embodiments, which will not be repeated in this embodiment.

Further, the locking gear and the engaging portion 12 are locked by bevel tooth-shaped engagement. The specific way of locking between the locking part 11 and the engaging part 12 using the bevel tooth-shaped engagement, as well as the specific effects and functions are the same as those shown in Figures 1 to 5 above. For details, please refer to the description of the above-mentioned embodiment, and this embodiment does not repeat.

The engaging portion 12 may include a first spring piece. When the engaging portion 12 adopts the first spring piece, the arrangement, advantages and effects can refer to the description of the above-mentioned embodiments shown in FIGS. 1-5 , which will not be repeated in this embodiment. In addition, the engaging portion 12 may also adopt other structural forms, for details, please refer to the description of the above-mentioned embodiments, which will not be repeated in this embodiment.

The locking mechanism provided in this embodiment is basically the same as the locking mechanism provided in the above-mentioned embodiments, the difference is that the locking mechanism in this embodiment drives the sliding assembly along the first direction or The movement in the second direction drives the locking component to lock when the sliding component moves in the first direction, and drives the locking component to unlock when the sliding component moves in the second direction. And because the locking mechanism in this embodiment is not an intermittent mechanism, the transmission member can be directly arranged on the sliding assembly, and the locking and unlocking of the locking assembly requires the sliding assembly to move in two different directions. Furthermore, the transmission member may only be a block-shaped structure provided on the sliding assembly, and the structure may be simpler, and the pushing or releasing of the engaging portion 12 may be realized through different abutment positions on the engaging portion 12, so as to achieve Locking and unlocking of locking components.

Another embodiment of the present application provides another motor locking system, including: a motor and a locking mechanism, and the locking mechanism includes: a locking assembly 10 , a transmission member 40 , a sliding assembly 20 and a memory alloy member.

The locking assembly 10 includes an engaging part 12; the sliding assembly 20 is connected with the transmission member 40; the memory alloy part is connected with the sliding assembly 20, and when the memory alloy part is in an excited state, the length of the memory alloy part changes to drive the sliding assembly 20 to move, and the transmission The member 40 presses the engaging portion 12 or the transmission member 40 releases the engaging portion 12, so that the locking assembly 10 is switched between the locked state and the unlocked state, so that the motor is switched between the locked state and the free state.

In some embodiments, the motor includes a rotating part and a fixing part, and the locking mechanism is used to lock the rotating part and the fixing part relative to each other, and when the locking assembly 10 is in an unlocked state, the rotating part can rotate relative to the fixing part.

In some embodiments, the moving direction of the sliding assembly 20 is not consistent with the moving direction of the engaging part 12 .

In some embodiments, the length of the memory alloy part changes to drive the sliding assembly 20 to move, and the transmission part 40 rotates or moves, so that the transmission part 40 presses the engaging part 12 or the transmission part releases the engaging part 12 .

In some embodiments,

The locking assembly 10 further includes a locking portion 11 , and when the transmission member 40 presses the engaging portion 12 , the engaging portion 12 engages the locking portion 11 to lock the locking portion 11 .

When the transmission member 40 releases the engaging portion 12 , the engaging portion 12 disengages from the locking portion, so that the locking portion 11 can rotate freely.

In some embodiments, the engaging portion 12 includes a first locking tooth, and the locking portion 11 includes a second locking tooth; when the locking assembly 10 is in a locked state, the first locking tooth and the second locking tooth are in mutual Engaged state: when the locking assembly 10 is in the unlocked state, the first clamping tooth and the second clamping tooth are in a disengaged state.

In some embodiments, the locking portion 11 includes a locking gear.

In some embodiments, the engaging portion 12 includes a connecting end 12 a for fixedly connecting with the fixing portion, and a locking end 12 b for engaging with the locking portion 11 .

In some embodiments, the engaging portion 12 includes a first spring piece.

In some embodiments, the engaging portion 12 includes a connecting end for rotatably connecting with the fixing portion, and a locking end for engaging with the locking portion, and a first elastic member is provided between the engaging portion 12 and the fixing portion. .

In some embodiments, transmission member 40 includes a cam.

The motor locking system provided in the embodiment of the present application controls the memory alloy part to be in an excited state, so that the memory alloy part drives the sliding assembly to move, and the sliding assembly moves to drive the locking assembly to switch between the unlocked state and the locked state, that is to say The unlocking and locking of the locking component is realized through memory alloy parts. Since the memory alloy piece is very small in size and occupies less space in the device, it can realize unlocking and locking of a device with a smaller size.

In some embodiments, the locking mechanism includes: a locking assembly 10, a sliding assembly 20, a first memory alloy part 30a and a second memory alloy part 30b.

The locking assembly 10; the sliding assembly 20 is connected to the locking assembly 10; the first memory alloy part 30a is connected to the sliding assembly 20; when the first memory alloy part 30a is in an excited state, the length of the first memory alloy part 30a changes to drive the sliding assembly 20 Move along the first direction, so that the sliding assembly 20 can drive the locking assembly 10 to be in the locked state, the moving direction of the sliding assembly 20 is consistent with the length change direction of the first memory alloy part 30a; Connection; when the second memory alloy part 30b is in the excited state, the length of the second memory alloy part 30b changes to drive the sliding assembly 20 to move along the second direction, so that the sliding assembly 20 can drive the locking assembly to be in the unlocked state; the second memory alloy The length change direction of the part 30b is consistent with the moving direction of the sliding assembly 20; wherein, the first direction is opposite to the second direction, when the locking assembly 10 is in the locked state, the motor is in the locked state; when the locking assembly 10 is in the unlocked state, the motor is in the free state.

The locking assembly 10, the sliding assembly 20, the first memory alloy part 30a, and the second memory alloy part 30b in the motor locking system provided by the embodiment of the present application can constitute a locking mechanism, and the structure and function of the locking mechanism are the same as those described above. The locking mechanisms provided in the embodiments are the same, for details, reference may be made to the descriptions of the above embodiments, and details will not be described in this embodiment.

The motor locking system provided by the embodiment of the present application achieves the purpose of locking and unlocking the motor by building two memory alloy parts. It has a simple structure and can rationally utilize the space in the motor to form a motor system with a built-in locking mechanism.

In some embodiments, when the first memory alloy part 30a switches from the excited state to the normal state, the length of the first memory alloy part 30a changes and the sliding assembly 20 remains stationary; and/or, when the second memory alloy part During the process of switching the part 30b from the activated state to the normal state, the length of the second memory alloy part 30b changes and the sliding assembly 20 remains stationary.

In some embodiments, when the first memory alloy part 30a is in the excited state, the first memory alloy part 30a contracts to drive the sliding assembly 20 to move in the first direction; when the second memory alloy part 30b is in the excited state, the second memory alloy part 30b The contraction of the part 30b drives the sliding assembly 20 to move along the second direction;

Wherein, the excitation state includes a heating state and/or a magnetization state.

In some embodiments, the first memory alloy piece 30a and/or the second memory alloy piece 30b is in the shape of a wire, and the fixing portion has a cavity for accommodating the first memory alloy piece 30a and/or the second memory alloy piece 30b.

In some embodiments, the first memory alloy part 30a is disposed on the fixed part and surrounds at least part of the rotating part; and/or the second memory alloy part 30b is disposed on the fixed part and surrounds at least part of the rotating part.

In some embodiments, one end of the first memory alloy part 30a is fixedly connected to the fixed part, and the other end of the first memory alloy part 30a is connected to the sliding assembly 20; and/or, one end of the second memory alloy part 30b is fixed to the fixed part The other end of the second memory alloy piece 30b is connected to the sliding assembly 20 .

In some embodiments, the first memory alloy piece 30a and the second memory alloy piece 30b are arranged symmetrically on the fixing portion.

In some embodiments, locking assembly 10 includes:

The locking part 11 is used for mechanical coupling with the rotating part;

The engaging part 12 is movably arranged on the fixed part for engaging with the locking part 11;

The sliding assembly 20 is connected with a transmission member 40 , and the transmission member 40 is used to abut against the engaging portion 12 to move the engaging portion 12 toward the locking portion 11 .

In some embodiments, the engaging part 12 includes: a first resisting part, when the transmission member 40 abuts against the first resisting part, the engaging part 12 engages with the locking part 11; When the member 40 abuts against or faces the first releasing part, the engaging part 12 is separated from the locking part 11; wherein, when the engaging part 12 is in a natural state, the first resisting part is closer to the first releasing part than the first releasing part. transmission member 40 .

In some embodiments, when the first memory alloy part 30a is in the excited state, the transmission part 40 can move along the first direction to the first resisting part against the transmission part 40, so that the engaging part 12 and the locking part 11 Snap;

When the second memory alloy part 30 b is in the excited state, the transmission part 40 can move to the first release part along the second direction, so that the engaging part 12 is separated from the locking part 11 .

In some embodiments, the locking portion 11 includes a locking gear.

In some embodiments, the locking portion 11 and the engaging portion 12 are locked by beveled teeth.

In some embodiments, the engaging portion 12 includes a first spring piece.

Some embodiments of the present application also provide another cloud platform, a shaft arm; a motor for driving the shaft arm to rotate, and a locking mechanism, and the locking mechanism includes:

The locking assembly 10, the transmission part 40, the sliding assembly 20 and the memory alloy part.

In some embodiments,

In some embodiments, the locking portion 11 includes a locking gear.

In some embodiments, the engaging portion 12 includes a first spring piece.

In some embodiments, transmission member 40 includes a cam.

In some embodiments, the platform includes: a shaft arm; a motor for driving the shaft arm to rotate, and a locking mechanism, the locking mechanism includes a locking assembly 10, a sliding assembly 20, a first memory alloy part 30a and a second memory alloy part 30b. The locking assembly 10; the sliding assembly 20 is connected to the locking assembly 10; the first memory alloy part 30a is connected to the sliding assembly 20; when the first memory alloy part 30a is in an excited state, the length of the first memory alloy part 30a changes to drive the sliding assembly 20 Move along the first direction, so that the sliding assembly 20 can drive the locking assembly 10 to be in the locked state, the moving direction of the sliding assembly 20 is consistent with the length change direction of the first memory alloy part 30a; Connection; when the second memory alloy part 30b is in the excited state, the length of the second memory alloy part 30b changes to drive the sliding assembly 20 to move along the second direction, so that the sliding assembly 20 can drive the locking assembly to be in the unlocked state; the second memory alloy The length change direction of the part 30b is consistent with the moving direction of the sliding assembly 20; wherein, the first direction is opposite to the second direction, when the locking assembly 10 is in the locked state, the motor is in the locked state; when the locking assembly 10 is in the unlocked state, the motor is in the free state.

The shaft arm motor of the pan/tilt provided by the embodiment of the present application achieves the purpose of locking and unlocking the motor through built-in two memory alloy parts. The structure is simple, and the space in the motor can be rationally used to form a motor system with a built-in locking mechanism. The pan/tilt of the embodiment of the present application can lock the shaft arm by energizing the first memory alloy part in the stored state, and only need to activate the second memory alloy part to unlock the shaft arm when it needs to be used again.

In some embodiments, locking assembly 10 includes:

The locking part 11 is used for mechanical coupling with the rotating part;

In some embodiments, the locking portion 11 includes a locking gear.

In some embodiments, the engaging portion 12 includes a first spring piece.

It should be noted that the structure and function of the locking mechanism in the pan-tilt provided by this embodiment are the same as those provided by the above-mentioned embodiment. For details, reference may be made to the description of the above-mentioned embodiment, and details will not be repeated in this embodiment. Any of the above pan/tilts can be installed on a movable platform. The mobile platform includes unmanned vehicles, unmanned aerial vehicles or other mobile devices.

Exemplarily, the movable platform includes a drone, and the drone includes a multi-rotor drone, a fixed-wing drone, an unmanned helicopter, and the like.

In several embodiments provided in this application, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not separate the essence of the corresponding technical solutions from the technical solutions of the various embodiments of the present application. scope.

Claims

A locking mechanism, characterized in that it comprises:

a locking assembly, including a snap-in portion;

Transmission Parts;

a sliding assembly connected to the transmission member;

The memory alloy part is connected with the sliding assembly. When the memory alloy part is in an excited state, the length of the memory alloy part changes to drive the sliding assembly to move, and the transmission part drives the engaging part to move, so that the locking assembly is in a locked state or an unlocked state.
The locking mechanism according to claim 1, wherein the locking mechanism is used to relatively lock the first fitting and the second fitting, and when the locking assembly is in an unlocked state, the first The fitting part can rotate relative to the second fitting part.
The locking mechanism according to claim 1, wherein the moving direction of the sliding assembly is not consistent with the moving direction of the engaging part.
The locking mechanism according to claim 1, wherein the length of the memory alloy part changes to drive the sliding assembly to move, and the transmission part rotates or moves, so that the transmission part presses the engaging part Or the transmission member releases the engaging part.
The locking mechanism according to claim 2, characterized in that,

The locking assembly further includes a locking part, and when the transmission member presses the engaging part, the engaging part clamps the locking part to lock the locking part;

When the transmission member releases the engaging portion, the engaging portion disengages from the locking portion, so that the locking portion can rotate freely.
The locking mechanism according to claim 5, wherein the engaging portion includes a first locking tooth, and the locking portion includes a second locking tooth;

When the locking assembly is in the locked state, the first clamping teeth and the second clamping teeth are engaged with each other;

When the locking assembly is in an unlocked state, the first clamping tooth and the second clamping tooth are in a disengaged state.
The locking mechanism according to claim 5, wherein the locking portion comprises a locking gear.
The locking mechanism according to claim 7, characterized in that, the locking gear and the engaging portion adopt a bevel tooth-shaped engagement to lock.
The locking mechanism according to claim 2, characterized in that,

The engaging portion includes a connecting end for fixedly connecting with the second fitting, and a locking end for engaging with the locking portion.
The locking mechanism according to claim 9, wherein the engaging portion comprises a first spring piece.
The locking mechanism according to claim 2, wherein the engaging portion includes a connecting end for rotatably connecting with the second fitting, and a locking end for engaging with the locking portion , a first elastic member is provided between the engaging portion and the second matching member.
The locking mechanism according to claim 1, wherein the transmission member comprises a cam.
The locking mechanism according to claim 5, wherein the memory alloy piece comprises:

The first memory alloy part is connected with the sliding assembly; when the first memory alloy part is in an excited state, the length of the first memory alloy part changes to drive the sliding assembly to move along the first direction, so that the The sliding assembly can drive the locking assembly to be in a locked state;

The second memory alloy part is connected with the sliding assembly; when the second memory alloy part is in an excited state, the length of the second memory alloy part changes to drive the sliding assembly to move along the second direction, so that the The sliding assembly can drive the locking assembly to be in an unlocked state;

Wherein, the first direction is opposite to the second direction.
The locking mechanism according to claim 13, characterized in that, when the first memory alloy part switches from the excited state to the normal state, the length of the first memory alloy part changes and the sliding assembly maintains Do not move;

And/or, when the second memory alloy part is switched from the activated state to the normal state, the length of the second memory alloy part changes and the sliding assembly remains stationary.
The locking mechanism according to claim 14, characterized in that,

When the first memory alloy part is in an excited state, the first memory alloy part contracts to drive the sliding assembly to move along the first direction;

When the second memory alloy part is in an excited state, the second memory alloy part contracts to drive the sliding assembly to move along the second direction;

Wherein, the excitation state includes a heating state and/or a magnetization state.
The locking mechanism according to claim 13, characterized in that, the first memory alloy part and/or the second memory alloy part are in the shape of a wire, and the second matching part has a function for accommodating the first The memory alloy part and/or the cavity of the second memory alloy part.
The locking mechanism according to claim 16, wherein the first memory alloy part is arranged on the second matching part and surrounds at least part of the first matching part;

And/or, the second memory alloy part is disposed on the second matching part and surrounds at least part of the first matching part.
The locking mechanism according to claim 13, wherein one end of the first memory alloy part is fixedly connected to the second matching part, and the other end of the first memory alloy part is connected to the sliding assembly;

And/or, one end of the second memory alloy part is fixedly connected to the second matching part, and the other end of the second memory alloy part is connected to the sliding assembly.
The locking mechanism according to claim 13, wherein the first memory alloy part and the second memory alloy part are symmetrically arranged on the second matching part.
The locking mechanism according to claim 13, characterized in that,

The locking part is used to mechanically couple with the first fitting;

The engaging part is movably arranged on the second matching part, and is used for engaging with the locking part;

The transmission member is used to abut against the engaging portion, so as to move the engaging portion toward the locking portion.
The locking mechanism according to claim 5, wherein the engaging part comprises:

a first resisting portion, when the transmission member abuts against the first resisting portion, the engaging portion engages with the locking portion;

a first release part, when the transmission member abuts against or faces the first release part, the engaging part is separated from the locking part;

Wherein, when the engaging portion is in a natural state, the first resisting portion is closer to the transmission member than the first releasing portion.
The locking mechanism of claim 21, wherein:

When the first memory alloy part is in the excited state, the transmission part can move along the first direction to abut against the first resisting part of the transmission part, so that the engaging part and the locking part engage combine;

When the second memory alloy part is in an activated state, the transmission part can move to the first releasing part along the second direction, so that the engaging part is separated from the locking part.
A locking mechanism, characterized in that it comprises:

lock components;

a sliding component connected to the locking component;

A memory alloy piece connected to the sliding assembly. When the memory alloy piece is in an excited state, the length of the memory alloy piece changes to drive the sliding assembly to move along the first direction, so that the sliding assembly can drive The locking component switches from the locked state to the unlocked state, and when the sliding component moves along the first direction again, the sliding component can drive the locking component to switch from the unlocked state to the locked state.
The locking mechanism according to claim 23, wherein:

When the memory alloy part is switched from the excited state to the normal state, the length of the memory alloy part changes and the sliding assembly moves along the second direction, and the state of the locking assembly remains unchanged;

Wherein, the first direction is opposite to the second direction.
The locking mechanism according to claim 24, wherein:

When the memory alloy part is in an excited state, the memory alloy part contracts to drive the sliding assembly to move along the first direction;

Wherein, the excitation state includes a heating state and/or a magnetization state.
The locking mechanism according to claim 25, wherein the locking mechanism is used to lock the first fitting and the second fitting relative to each other, and when the locking assembly is in an unlocked state, the first The fitting part can rotate relative to the second fitting part.
The locking mechanism according to claim 26, wherein the memory alloy part is in the shape of a wire, and the second matching part has a cavity for accommodating the memory alloy part.
The locking mechanism according to claim 27, wherein the memory alloy part is disposed on the second matching part and surrounds at least part of the first matching part.
The locking mechanism of claim 26, wherein said locking assembly comprises:

a locking part, configured to be mechanically coupled with the first fitting;

an engaging portion, provided on the second fitting, for engaging with the locking portion;

When the sliding assembly moves along the first direction, the engaging portion is pushed or released, so that the engaging portion moves toward the locking portion or moves away from the locking portion.
The locking mechanism of claim 29, wherein the locking portion comprises a locking gear.
The locking mechanism according to claim 30, characterized in that, the locking gear and the engaging portion are locked by bevel tooth-shaped engagement.
The locking mechanism according to claim 29, wherein the engaging portion comprises a first spring piece.
A locking mechanism according to claim 32, wherein:

The engaging portion includes a connecting end for fixedly connecting with the second fitting, and a locking end for engaging with the locking portion.
The locking mechanism according to claim 29, wherein the engaging portion includes a connecting end for rotatably connecting with the second fitting, and a locking end for engaging with the locking portion , a first elastic member is provided between the engaging portion and the second matching member.
The locking mechanism according to claim 29, further comprising a transmission member;

The transmission member is connected with the sliding assembly, and when the sliding assembly moves along the first direction, it can drive the transmission member to rotate, so that the transmission member pushes or releases the engaging part, and makes the The engaging part moves toward the locking part, or moves away from the locking part;

When the sliding assembly moves along the second direction, the transmission member remains stationary.
The locking mechanism according to claim 35, wherein the transmission member includes a resisting portion and a release portion, and the distance from the resisting portion to the rotation center of the transmission member is greater than the distance from the release portion to the The distance from the center of rotation of the transmission member;

When the transmission member rotates until the pushing portion abuts against the engaging portion, the engaging portion engages with the locking portion;

When the transmission member rotates to the point where the releasing portion contacts the engaging portion, or the releasing portion separates from the engaging portion, the engaging portion disengages from the locking portion.
The locking mechanism according to claim 36, characterized in that, the normal line of the resisting surface where the resisting portion is in contact with the engaging portion points to the rotation center of the transmission member.
The locking mechanism of claim 36, wherein said transmission member comprises a cam.
The locking mechanism according to claim 38, wherein the cam includes a plurality of protrusions, and the plurality of protrusions are circumferentially spaced around the rotation center of the transmission member; the protrusions form the The pushing portion is formed, and the release portion is formed between two adjacent protrusions.
The locking mechanism according to claim 38, wherein the transmission member includes a force-receiving part that abuts against the sliding assembly;

During the movement of the sliding assembly along the first direction, the sliding assembly abuts against the force-receiving part to rotate the transmission member.
The locking mechanism according to claim 40, wherein the force-receiving portion comprises a force-receiving protrusion extending along the direction of the rotation axis of the transmission member.
The locking mechanism according to claim 40, wherein the sliding assembly comprises a slider and a force application part, one side of the slider is connected with the memory alloy part, and the other side is connected with the force application part. When the memory alloy part shrinks, it can drive the force applying part to move along the first direction and abut against the force receiving part, so that the transmission part can rotate a preset angle.
The locking mechanism according to claim 42, wherein the force-receiving part includes a plurality of force-receiving parts, and the plurality of force-receiving parts are evenly arranged around the rotation center of the transmission member; The angle at which the transmission element rotates between the two force-receiving parts.
The locking mechanism according to claim 43, further comprising an elastic reset member, the elastic reset member is respectively connected with the second matching member and the sliding assembly;

During the contraction process of the memory alloy part, the elastic reset part produces elastic deformation;

During the elongation process of the memory alloy part, the elastic restoration part restores its deformation and drives the sliding assembly to move in the second direction, so that the force applying part is separated from the force receiving part.
The locking mechanism according to claim 44, further comprising a flexible connection line, the elastic reset member is connected to the sliding assembly through the flexible connection line.
The locking mechanism according to claim 45, characterized in that, the second matching part has a limiting part, and the limiting part is used to guide the memory alloy part and/or the flexible connecting line to extend in a predetermined direction .
The locking mechanism according to claim 46, wherein the limiting portion comprises a limiting post.
The locking mechanism according to claim 46, wherein the memory alloy piece, the flexible connecting wire and the elastic return piece surround the first matching piece.
The locking mechanism according to claim 42, wherein the force applying portion comprises a second spring piece.
The locking mechanism according to claim 49, wherein the transmission member includes a turntable fixedly connected to the cam, the force-receiving part is arranged on the turntable, and the second spring piece is opposite to the turntable The slope is arranged so that when the sliding assembly moves along the second direction, the inclined surface of the second spring piece can pass over the end surface of the force-receiving part and keep the force-receiving part stationary.
The locking mechanism according to claim 49, wherein the transmission member includes a turntable fixedly connected to the cam, and a plurality of the force-receiving parts are uniformly arranged on the turntable.
A motor locking system, characterized in that it includes: a motor and a locking mechanism, wherein the locking mechanism includes:

a locking assembly, including a snap-in portion;

Transmission Parts;

a sliding assembly connected to the transmission member;

The memory alloy part is connected with the sliding assembly. When the memory alloy part is in an excited state, the length of the memory alloy part changes to drive the sliding assembly to move, and the transmission part drives the engaging part to move, The locking assembly is in a locked state or an unlocked state, so that the motor is switched between a locked state and a free state.
The motor locking system according to claim 52, wherein the motor includes a rotating part and a fixed part, and the locking mechanism is used to lock the rotating part and the fixing part relative to each other, and when the When the locking assembly is in an unlocked state, the rotating part can rotate relative to the fixing part.
The motor locking system according to claim 52, wherein the moving direction of the sliding assembly is not consistent with the moving direction of the engaging part.
The motor locking system according to claim 52, wherein the length of the memory alloy part changes to drive the sliding assembly to move, and the transmission part rotates or moves, so that the transmission part is compressed and engaged part or the transmission part releases the engaging part.
The motor locking system according to claim 53, wherein:

The locking assembly further includes a locking part, and when the transmission member presses the engaging part, the engaging part clamps the locking part to lock the locking part;

When the transmission member releases the engaging portion, the engaging portion disengages from the locking portion, so that the locking portion can rotate freely.
The motor locking system according to claim 56, wherein the engaging portion includes first locking teeth, and the locking portion includes second locking teeth;

When the locking assembly is in the locked state, the first clamping teeth and the second clamping teeth are engaged with each other;

When the locking assembly is in an unlocked state, the first clamping tooth and the second clamping tooth are in a disengaged state.
The motor locking system according to claim 56, wherein the locking part comprises a locking gear.
The motor locking system according to claim 58, characterized in that, the locking gear and the engaging portion are locked by bevel tooth-shaped engagement.
The motor locking system according to claim 53, wherein:

The engaging portion includes a connecting end for fixed connection with the fixing portion, and a locking end for engaging with the locking portion.
The motor locking system according to claim 60, wherein the engaging portion comprises a first spring piece.
The motor locking system according to claim 53, wherein the engaging part includes a connecting end for rotatably connecting with the fixing part, and a locking end for engaging with the locking part, A first elastic member is disposed between the engaging portion and the fixing portion.
The motor locking system according to claim 52, wherein the transmission member comprises a cam.
The motor locking system according to claim 56, wherein the memory alloy part comprises:

The first memory alloy part is connected with the sliding assembly; when the first memory alloy part is in an excited state, the length of the first memory alloy part changes to drive the sliding assembly to move along the first direction, so that the The sliding assembly can drive the locking assembly to be in a locked state;

The second memory alloy part is connected with the sliding assembly; when the second memory alloy part is in an excited state, the length of the second memory alloy part changes to drive the sliding assembly to move along the second direction, so that the The sliding assembly can drive the locking assembly to be in an unlocked state;

Wherein, the first direction is opposite to the second direction.
The motor locking system according to claim 64, characterized in that, when the first memory alloy part is switched from the excited state to the normal state, the length of the first memory alloy part changes and the sliding assembly stand still;

And/or, when the second memory alloy part is switched from the activated state to the normal state, the length of the second memory alloy part changes and the sliding assembly remains stationary.
The motor locking system according to claim 65, characterized in that,

When the first memory alloy part is in an excited state, the first memory alloy part contracts to drive the sliding assembly to move along the first direction;

When the second memory alloy part is in an excited state, the second memory alloy part contracts to drive the sliding assembly to move along the second direction;

Wherein, the excitation state includes a heating state and/or a magnetization state.
The motor locking system according to claim 64, characterized in that, the first memory alloy part and/or the second memory alloy part are in the shape of a wire, and the second matching part has a function for accommodating the first A memory alloy part and/or the cavity of the second memory alloy part.
The motor locking system according to claim 67, characterized in that, the first memory alloy part is arranged at the fixed part and surrounds at least part of the rotating part;

And/or, the second memory alloy piece is disposed on the fixed part and surrounds at least part of the rotating part.
The motor locking system according to claim 64, wherein one end of the first memory alloy part is fixedly connected to the fixing part, and the other end of the first memory alloy part is connected to the sliding assembly;

And/or, one end of the second memory alloy part is fixedly connected to the fixing part, and the other end of the second memory alloy part is connected to the sliding assembly.
The motor locking system according to claim 64, wherein the first memory alloy piece and the second memory alloy piece are arranged symmetrically on the fixing portion.
The motor locking system according to claim 64, characterized in that,

The locking part is used to mechanically couple with the rotating part;

The engaging part is movably arranged on the rotating part for engaging with the locking part;

The transmission member is used to abut against the engaging portion, so as to move the engaging portion toward the locking portion.
The motor locking system according to claim 56, wherein the engaging part comprises:

a first resisting portion, when the transmission member abuts against the first resisting portion, the engaging portion engages with the locking portion;

a first release part, when the transmission member abuts against or faces the first release part, the engaging part is separated from the locking part;

Wherein, when the engaging portion is in a natural state, the first resisting portion is closer to the transmission member than the first releasing portion.
The motor locking system according to claim 72, characterized in that,

When the first memory alloy part is in the excited state, the transmission part can move along the first direction to abut against the first resisting part of the transmission part, so that the engaging part and the locking part engage combine;

When the second memory alloy part is in an activated state, the transmission part can move to the first releasing part along the second direction, so that the engaging part is separated from the locking part.
A motor locking system, characterized in that it includes: a motor and a locking mechanism, wherein the locking mechanism includes:

lock components;

a sliding component connected to the locking component;

A memory alloy piece connected to the sliding assembly. When the memory alloy piece is in an excited state, the length of the memory alloy piece changes to drive the sliding assembly to move along the first direction, so that the sliding assembly can drive The locking component switches from the locked state to the unlocked state, and when the sliding component moves along the first direction again, the sliding component can drive the locking component to switch from the unlocked state to the locked state, so that the motor Toggle between locked state and free state.
The motor locking system according to claim 74, characterized in that,

When the memory alloy part is switched from the excited state to the normal state, the length of the memory alloy part changes and the sliding assembly moves along the second direction, and the state of the locking assembly remains unchanged;

Wherein, the first direction is opposite to the second direction.
The motor locking system according to claim 75, characterized in that,

When the memory alloy part is in an excited state, the memory alloy part contracts to drive the sliding assembly to move along the first direction;

Wherein, the excitation state includes a heating state and/or a magnetization state.
The motor locking system according to claim 76, wherein the motor includes a rotating part and a fixed part, and the locking mechanism is used to relatively lock the rotating part and the fixing part, and when the When the locking assembly is in an unlocked state, the rotating part can rotate relative to the fixing part.
The motor locking system according to claim 77, wherein the memory alloy piece is in the shape of a wire, and the fixing part has a cavity for accommodating the memory alloy piece.
The motor locking system according to claim 78, characterized in that, the memory alloy part is arranged on the fixed part and surrounds at least part of the rotating part.
The motor locking system according to claim 77, wherein the locking assembly comprises:

The locking part is used to mechanically couple with the rotating part;

an engaging portion, provided on the fixing portion, for engaging with the locking portion;

When the sliding assembly moves along the first direction, the engaging portion is pushed or released, so that the engaging portion moves toward the locking portion or moves away from the locking portion.
The motor locking system according to claim 80, wherein the locking portion comprises a locking gear.
The motor locking system according to claim 81, characterized in that, the locking gear and the engaging portion are locked by bevel tooth-shaped engagement.
The motor locking system according to claim 80, wherein the engaging portion comprises a first spring piece.
The motor locking system of claim 83, wherein:

The engaging portion includes a connecting end for fixed connection with the fixing portion, and a locking end for engaging with the locking portion.
The motor locking system according to claim 80, wherein the engaging part includes a connecting end for rotatably connecting with the fixing part, and a locking end for engaging with the locking part, A first elastic member is disposed between the engaging portion and the fixing portion.
The motor locking system according to claim 79, wherein the locking mechanism further comprises a transmission member;

The transmission member is connected to the sliding assembly, and when the sliding assembly moves along the first direction, it can drive the transmission member to rotate, so that the transmission member pushes against the engaging part and makes the engaging part the joint moves toward the locking portion;

When the sliding assembly moves along the second direction, the transmission member remains stationary.
The motor locking system according to claim 86, wherein the transmission member includes a resisting portion and a release portion, and the distance from the resisting portion to the rotation center of the transmission member is greater than the distance from the release portion to the The distance from the center of rotation of the transmission member;

When the transmission member rotates until the pushing portion abuts against the engaging portion, the engaging portion engages with the locking portion;

When the transmission member rotates to the point where the releasing portion contacts the engaging portion, or the releasing portion is opposite to the engaging portion with a gap, the engaging portion disengages from the locking portion.
The motor locking system according to claim 87, characterized in that, the normal line of the resisting surface of the resisting portion in contact with the engaging portion points to the rotation center of the transmission member.
The motor locking system of claim 87, wherein the transmission member comprises a cam.
The motor locking system according to claim 89, wherein the cam includes a plurality of protrusions, and the plurality of protrusions are arranged at intervals around the rotation center of the transmission member; the protrusions form In the resisting portion, the release portion is formed between two adjacent protrusions.
The motor locking system according to claim 89, wherein the transmission member includes a force-receiving part that abuts against the sliding assembly;

During the movement of the sliding assembly along the first direction, the sliding assembly abuts against the force-receiving part to rotate the transmission member.
The motor locking system according to claim 91, wherein the force-receiving portion comprises a force-receiving protrusion extending along the direction of the rotation axis of the transmission member.
The motor locking system according to claim 91, wherein the sliding assembly comprises a slider and a force application part, one side of the slider is connected with the memory alloy part, and the other side is connected with the force application part. The force part is connected, and when the memory alloy part shrinks, it can drive the force applying part to move along the first direction and abut against the force receiving part, so that the transmission part rotates at a preset angle.
The motor locking system according to claim 93, wherein the force-receiving part includes a plurality of force-receiving parts, and the plurality of force-receiving parts are uniformly arranged around the rotation center of the transmission member; the preset angle is The angle at which the transmission member rotates when the two force-receiving parts are adjacent to each other.
The motor locking system according to claim 94, further comprising an elastic reset member, the elastic reset member is respectively connected with the fixing part and the sliding assembly;

During the contraction process of the memory alloy part, the elastic reset part produces elastic deformation;

During the elongation process of the memory alloy part, the elastic restoration part restores its deformation and drives the sliding assembly to move in the second direction, so that the force applying part is separated from the force receiving part.
The motor locking system according to claim 95, further comprising a flexible connection line, the elastic reset member is connected to the sliding assembly through the flexible connection line.
The motor locking system according to claim 96, wherein the fixing part has a limiting part, and the limiting part is used to guide the memory alloy piece and/or the flexible connecting wire to extend in a predetermined direction.
The motor locking system according to claim 97, wherein the limiting portion comprises a limiting post.
The motor locking system according to claim 97, characterized in that, the memory alloy piece, the flexible connection wire and the elastic reset piece surround the rotating part.
The motor locking system according to claim 93, wherein the force applying portion comprises a second spring piece.
The motor locking system according to claim 100, wherein the transmission member includes a turntable fixedly connected to the cam, the force-receiving part is arranged on the turntable, and the second spring piece is opposite to the turntable. The turntable is inclined so that during the movement of the sliding assembly in the second direction, the inclined surface of the second spring piece can pass over the end surface of the force-receiving part and keep the force-receiving part stationary.
The motor locking system according to claim 100, wherein the transmission member includes a turntable fixedly connected to the cam, and a plurality of the force-receiving parts are uniformly arranged on the turntable.
A cloud platform is characterized in that it includes: a shaft arm; a motor for driving the shaft arm to rotate, and a locking mechanism, and the locking mechanism includes:

a locking assembly, including a snap-in portion;

Transmission Parts;

a sliding assembly connected to the transmission member;

The memory alloy part is connected with the sliding assembly. When the memory alloy part is in an excited state, the length of the memory alloy part changes to drive the sliding assembly to move, and the transmission part drives the engaging part to move, The locking assembly is in a locked state or an unlocked state, so that the motor is switched between a locked state and a free state.
The cloud platform according to claim 103, wherein the motor includes a rotating part and a fixed part, and the locking mechanism is used to lock the rotating part and the fixing part relative to each other, and when the locking assembly When in an unlocked state, the rotating part can rotate relative to the fixing part.
The cloud platform according to claim 103, wherein the moving direction of the sliding assembly is not consistent with the moving direction of the engaging part.
The cloud platform according to claim 103, wherein the length of the memory alloy part changes to drive the sliding assembly to move, and the transmission part rotates or moves, so that the transmission part presses the engaging part or The transmission member releases the engaging part.
The cloud platform according to claim 104, wherein,

The locking assembly further includes a locking part, and when the transmission member presses the engaging part, the engaging part clamps the locking part to lock the locking part;

When the transmission member releases the engaging portion, the engaging portion disengages from the locking portion, so that the locking portion can rotate freely.
The cloud platform according to claim 107, wherein the engaging portion includes first locking teeth, and the locking portion includes second locking teeth;

When the locking assembly is in the locked state, the first clamping teeth and the second clamping teeth are engaged with each other;

When the locking assembly is in an unlocked state, the first clamping tooth and the second clamping tooth are in a disengaged state.
The cloud platform according to claim 107, wherein the locking part comprises a locking gear.
The cloud platform according to claim 109, characterized in that, the locking gear and the engaging part are locked by bevel tooth-shaped engagement.
The cloud platform according to claim 104, wherein,

The engaging portion includes a connecting end for fixed connection with the fixing portion, and a locking end for engaging with the locking portion.
The cloud platform according to claim 111, wherein the engaging portion comprises a first spring piece.
The cloud platform according to claim 104, wherein the engaging part includes a connecting end for rotatably connecting with the fixing part, and a locking end for engaging with the locking part, the A first elastic member is provided between the engaging portion and the fixing portion.
The cloud platform according to claim 103, wherein the transmission member comprises a cam.
The cloud platform according to claim 107, wherein the memory alloy part comprises:

The first memory alloy part is connected with the sliding assembly; when the first memory alloy part is in an excited state, the length of the first memory alloy part changes to drive the sliding assembly to move along the first direction, so that the The sliding assembly can drive the locking assembly to be in a locked state;

The second memory alloy part is connected with the sliding assembly; when the second memory alloy part is in an excited state, the length of the second memory alloy part changes to drive the sliding assembly to move along the second direction, so that the The sliding assembly can drive the locking assembly to be in an unlocked state;

Wherein, the first direction is opposite to the second direction.
The platform according to claim 115, characterized in that, when the first memory alloy part is switched from the excited state to the normal state, the length of the first memory alloy part changes and the sliding assembly remains constant move;

And/or, when the second memory alloy part is switched from the activated state to the normal state, the length of the second memory alloy part changes and the sliding assembly remains stationary.
The cloud platform according to claim 116, wherein,

When the first memory alloy part is in an excited state, the first memory alloy part contracts to drive the sliding assembly to move along the first direction;

When the second memory alloy part is in an excited state, the second memory alloy part contracts to drive the sliding assembly to move along the second direction;

Wherein, the excitation state includes a heating state and/or a magnetization state.
The cloud platform according to claim 115, characterized in that, the first memory alloy part and/or the second memory alloy part are in the shape of a wire, and the second matching part has a function for accommodating the first memory alloy The alloy part and/or the cavity of the second memory alloy part.
The platform according to claim 118, characterized in that, the first memory alloy part is arranged on the fixed part and surrounds at least part of the rotating part;

And/or, the second memory alloy piece is disposed on the fixed part and surrounds at least part of the rotating part.
The cloud platform according to claim 115, wherein one end of the first memory alloy part is fixedly connected to the fixing part, and the other end of the first memory alloy part is connected to the sliding assembly;

And/or, one end of the second memory alloy part is fixedly connected to the fixing part, and the other end of the second memory alloy part is connected to the sliding assembly.
The platform according to claim 115, wherein the first memory alloy part and the second memory alloy part are arranged symmetrically on the fixing part.
The cloud platform according to claim 115, wherein,

The locking part is used to mechanically couple with the rotating part;

The engaging part is movably arranged on the rotating part for engaging with the locking part;

The transmission member is used to abut against the engaging portion, so as to move the engaging portion toward the locking portion.
The cloud platform according to claim 107, wherein the engaging part comprises:

a first resisting portion, when the transmission member abuts against the first resisting portion, the engaging portion engages with the locking portion;

a first release part, when the transmission member abuts against or faces the first release part, the engaging part is separated from the locking part;

Wherein, when the engaging portion is in a natural state, the first resisting portion is closer to the transmission member than the first releasing portion.
The cloud platform according to claim 123, wherein,

When the first memory alloy part is in the excited state, the transmission part can move along the first direction to abut against the first resisting part of the transmission part, so that the engaging part and the locking part engage combine;

When the second memory alloy part is in an activated state, the transmission part can move to the first releasing part along the second direction, so that the engaging part is separated from the locking part.
A cloud platform, characterized in that it includes: a shaft arm; a motor for driving the shaft arm to rotate, and a locking mechanism, and the locking mechanism includes: a locking assembly;

a sliding component connected to the locking component;

A memory alloy piece connected to the sliding assembly. When the memory alloy piece is in an excited state, the length of the memory alloy piece changes to drive the sliding assembly to move along the first direction, so that the sliding assembly can drive The locking component switches from the locked state to the unlocked state, and when the sliding component moves along the first direction again, the sliding component can drive the locking component to switch from the unlocked state to the locked state, so that the motor Toggle between locked state and free state.
The cloud platform according to claim 125, wherein,

When the memory alloy part is switched from the excited state to the normal state, the length of the memory alloy part changes and the sliding assembly moves along the second direction, and the state of the locking assembly remains unchanged;

Wherein, the first direction is opposite to the second direction.
The cloud platform according to claim 126, wherein,

When the memory alloy part is in an excited state, the memory alloy part contracts to drive the sliding assembly to move along the first direction;

Wherein, the excitation state includes a heating state and/or a magnetization state.
The cloud platform according to claim 127, wherein the motor includes a rotating part and a fixed part, and the locking mechanism is used to lock the rotating part and the fixing part relative to each other, and when the locking assembly When in an unlocked state, the rotating part can rotate relative to the fixing part.
The platform according to claim 128, wherein the memory alloy part is in the shape of a wire, and the fixing part has a cavity for accommodating the memory alloy part.
The platform according to claim 129, characterized in that, the memory alloy part is arranged on the fixed part and surrounds at least part of the rotating part.
The platform according to claim 128, wherein said locking assembly comprises:

The locking part is used to mechanically couple with the rotating part;

an engaging portion, provided on the fixing portion, for engaging with the locking portion;

When the sliding assembly moves along the first direction, the engaging portion is pushed or released, so that the engaging portion moves toward the locking portion or away from the locking portion.
The platform according to claim 131, wherein the locking part comprises a locking gear.
The platform according to claim 132, characterized in that, the locking part and the engaging part are locked by a beveled tooth-shaped engagement.
The cloud platform according to claim 131, wherein the engaging portion comprises a first spring piece.
The cloud platform according to claim 134, wherein,

The engaging portion includes a connecting end for fixed connection with the fixing portion, and a locking end for engaging with the locking portion.
The cloud platform according to claim 131, wherein the engaging part includes a connecting end for rotatably connecting with the fixing part, and a locking end for engaging with the locking part, the A first elastic member is provided between the engaging portion and the fixing portion.
The cloud platform according to claim 131, wherein the locking mechanism further comprises a transmission member;

The transmission member is connected with the sliding assembly, and when the sliding assembly moves along the first direction, it can drive the transmission member to rotate, so that the transmission member pushes or releases the engaging part, and makes the The engaging part moves toward the locking part, or moves away from the locking part;

When the sliding assembly moves along the second direction, the transmission member remains stationary.
The cloud platform according to claim 137, wherein the transmission part comprises a resisting part and a release part, and the distance between the resisting part and the rotation center of the transmission part is greater than that between the release part and the transmission part. The distance from the center of rotation of the part;

When the transmission member rotates until the pushing portion abuts against the engaging portion, the engaging portion engages with the locking portion;

When the transmission member rotates to the point where the releasing portion contacts the engaging portion, or the releasing portion is opposite to the engaging portion with a gap, the engaging portion disengages from the locking portion.
The cloud platform according to claim 138, characterized in that, the normal line of the resisting surface where the resisting portion is in contact with the engaging portion points to the rotation center of the transmission member.
The platform according to claim 138, wherein the transmission member comprises a cam.
The cloud platform according to claim 140, wherein the cam includes a plurality of protrusions, and the plurality of protrusions are circumferentially spaced around the rotation center of the transmission member; the protrusions form the As for the resisting part, the releasing part is formed between two adjacent protrusions.
The cloud platform according to claim 140, wherein the transmission member includes a force-receiving part that abuts against the sliding assembly;

During the movement of the sliding assembly along the first direction, the sliding assembly abuts against the force-receiving part to rotate the transmission member.
The cloud platform according to claim 142, wherein the force-receiving portion includes a force-receiving protrusion extending along the direction of the rotation axis of the transmission member.
The cloud platform according to claim 142, wherein the sliding assembly comprises a slider and a force application part, one side of the slider is connected with the memory alloy part, and the other side is connected with the force application part When the memory alloy part shrinks, it can drive the force applying part to move along the first direction and abut against the force receiving part, so that the transmission part can rotate at a predetermined angle.
According to the cloud platform according to claim 144, it is characterized in that, the force-receiving part includes a plurality of force-receiving parts, and the plurality of force-receiving parts are evenly arranged around the rotation center of the transmission member; The angle at which the transmission member rotates when the force-receiving part is opened.
The cloud platform according to claim 145, further comprising an elastic reset member, the elastic reset member is respectively connected with the fixing part and the sliding assembly;

During the contraction process of the memory alloy part, the elastic reset part produces elastic deformation;

During the elongation process of the memory alloy part, the elastic restoration part restores its deformation and drives the sliding assembly to move in the second direction, so that the force applying part is separated from the force receiving part.
The cloud platform according to claim 146, further comprising a flexible connection line, the elastic reset member is connected to the sliding assembly through the flexible connection line.
The cloud platform according to claim 147, wherein the fixed part has a limiting part, and the limiting part is used to guide the memory alloy piece and/or the flexible connecting wire to extend in a predetermined direction.
The cloud platform according to claim 148, wherein the limiting portion comprises a limiting post.
The platform according to claim 148, characterized in that, the memory alloy piece, the flexible connecting line and the elastic return piece surround the rotating part.
The cloud platform according to claim 144, wherein the force application part comprises a second spring piece.
The cloud platform according to claim 151, wherein the transmission member includes a turntable fixedly connected to the cam, the force-receiving part is arranged on the turntable, and the second spring piece is inclined relative to the turntable It is set so that during the movement of the sliding assembly along the second direction, the inclined surface of the second spring piece can pass over the end surface of the force-receiving part, so that the force-receiving part remains stationary.
The cloud platform according to claim 151, wherein the transmission member includes a turntable fixedly connected to the cam, and a plurality of the force-receiving parts are uniformly arranged on the turntable.