CN113286062B - Camera structure and electronic equipment - Google Patents

Abstract

The application discloses camera structure and electronic equipment belongs to camera technical field. The camera structure includes: the camera comprises a universal shaft, a holder outer support, a holder inner support, a holder carrier, a first driving mechanism, a second driving mechanism, a camera component and a first flexible circuit board; the first flexible circuit board forms a bending elastic structure, the camera component is elastically connected with the holder outer bracket through the first flexible circuit board, and the camera component is fixedly connected with the holder carrier; two supporting parts of the universal shaft are hinged with the outer bracket of the tripod head, and the other two supporting parts of the universal shaft are respectively hinged with the inner bracket of the tripod head; the first driving mechanism is used for driving the inner holder of the holder to rotate along a first shaft and/or rotate along a second shaft relative to the outer holder of the holder; the cradle head carrier is in sliding connection with the bottom of the cradle head inner bracket; the second driving mechanism is used for driving the cradle head carrier to rotate along a third shaft relative to the cradle head inner bracket. According to the embodiment of the application, the shooting performance of the camera can be improved.

Description

Camera structure and electronic equipment

Technical Field

The application belongs to the technical field of cameras, and particularly relates to a camera structure and electronic equipment.

Background

With the continuous development of electronic equipment, the requirements of people on the photographing performance of the electronic equipment are higher and higher, and the application of the micro-holder on the electronic equipment greatly improves the experience of improving the photographing image quality when a consumer holds the photographing; the general hand tremble can be resolved into 3 directions in space X, Y, Z for a total of 6 degrees of freedom (movement along the X/Y/Z axis and rotation about the X/Y/Z axis: rx, ry, rz). Besides the axial shake in the focusing direction (Z axis), shake of 5 degrees of freedom forms larger influence on handheld photographing, especially night photographing and video photographing, and finally influences imaging effect and consumer experience, a micro-cradle head camera used in the current electronic equipment (for example, a mobile phone) is a two-axis cradle head, shake of 4 degrees of freedom can be prevented, shake (Rz) along the Z axis rotation cannot be prevented, and therefore imaging image quality of the micro-cradle head camera is poor when shake in the Rz direction exists.

Therefore, the anti-shake effect of the micro pan-tilt camera in the related art is poor.

Disclosure of Invention

The embodiment of the application aims to provide a camera structure and electronic equipment, which can solve the problem of poor anti-shake effect of a micro-pan-tilt camera in the related technology.

In order to solve the technical problems, the application is realized as follows:

in a first aspect, an embodiment of the present application provides a camera structure, including: the camera comprises a universal shaft, a tripod head outer support, a tripod head inner support accommodated in the tripod head outer support, a tripod head carrier, a first driving mechanism, a second driving mechanism, a camera component and a first flexible circuit board;

the camera component is elastically connected with the holder outer support through the first flexible circuit board, so that the camera component can move relative to the holder outer support, and the camera component is fixedly connected with the holder carrier;

two supporting parts of the universal shaft, which are axially distributed along a first shaft, are respectively hinged with the outer holder of the tripod head, and two supporting parts of the universal shaft, which are axially distributed along a second shaft, are respectively hinged with the inner holder of the tripod head, wherein the first shaft is intersected with the second shaft;

the first driving mechanism is respectively connected with the tripod head outer bracket and the tripod head inner bracket so as to drive the tripod head inner bracket to rotate along the first shaft and/or rotate along the second shaft relative to the tripod head outer bracket;

The cradle head carrier is in sliding connection with the bottom of the cradle head inner bracket;

the second driving mechanism is respectively connected with the cradle head inner support and the cradle head carrier so as to drive the cradle head carrier to rotate along a third shaft relative to the cradle head inner support, wherein the third shaft is respectively perpendicular to the first shaft and the second shaft.

Optionally, a first accommodating space is formed between the inner side wall of the holder outer bracket and the outer side wall of the holder inner bracket, and the first driving mechanism and the second driving mechanism are arranged in the first accommodating space.

Optionally, the first driving mechanism includes: a first yoke, a first driving coil group, and a first magnet group;

the first yoke includes: the first side wall, and the second side wall and the third side wall which are connected to the two opposite sides of the first side wall and extend in the same direction;

the first driving coil group is fixed on the holder outer bracket, the first magnetic yoke is fixed on the holder inner bracket, and the holder inner bracket is at least partially positioned between the second side wall and the third side wall of the first magnetic yoke; the first magnet groups are distributed on the outer sides of the second side wall and the third side wall of the first magnetic yoke, and the first driving coil groups are arranged in an adaptive manner with the first magnet groups;

The coils in the first driving coil group are arranged at intervals along a first direction, the first direction is perpendicular to the third axis, the first driving coil group is distributed on two opposite sides of a symmetry axis of the cradle head inner bracket, and the symmetry axis is in the same direction as the symmetry axis of the first magnetic yoke;

under the condition that current is introduced into the first driving coil group, interaction force is generated between the first driving coil group and the first magnet group, and the first magnet group drives the cradle head inner support to rotate along the first shaft and/or rotate along the second shaft relative to the cradle head outer support based on the interaction force.

Optionally, the camera structure further includes:

the first position feedback element group is used for detecting the rotation quantity of the inner holder of the holder relative to the outer holder of the holder along the first axis or along the second axis, and the first position feedback element group is arranged in the magnetic field range of the first magnet group and the first driving coil group.

Optionally, the second driving mechanism includes: a second yoke, a second driving coil group, and a second magnet group;

the second yoke includes: the device comprises a fourth side wall, and a fifth side wall and a sixth side wall which are connected to two opposite sides of the fourth side wall and extend in the same direction;

The second magnet group is fixed on the fourth side wall of the U-shaped groove of the second magnetic yoke, the second magnetic yoke is fixed on the holder inner bracket, and the holder inner bracket is at least partially positioned between the fifth side wall and the sixth side wall of the second magnetic yoke;

the second driving coil groups are fixed on the holder carrier, coils in the second driving coil groups are arranged at intervals along a first direction, the second driving coil groups are arranged in an adaptive manner with the second magnet groups, the first direction is perpendicular to the third axis, the second driving coil groups are distributed on two opposite sides of a symmetry axis of the holder carrier, and the symmetry axis is in the same direction as the symmetry axis of the second magnetic yoke;

under the condition that current is introduced into the second driving coil group, interaction force is generated between the second driving coil group and the second magnet group, and the second magnet group drives the cradle head carrier to rotate along the third shaft relative to the cradle head inner support based on the interaction force.

Optionally, the camera structure further includes:

the second position feedback element group is used for detecting the rotation quantity of the cradle head carrier relative to the cradle head inner support along the third shaft, and the second position feedback element group is arranged in the magnetic field range of the second magnet group and the second driving coil group.

Optionally, the first flexible circuit board includes: the circuit board comprises a first sub-circuit board, at least two circuit boards with elastic structures, a first elastic arm and a second elastic arm;

the elastic structure circuit board comprises at least two layers of sub-circuit boards which are arranged in a layer-by-layer mode, and gaps are reserved between any two layers of sub-circuit boards to form a bent elastic structure, so that the elastic structure circuit board can be elastically deformed;

the at least two elastic structure circuit boards are distributed around the first sub-circuit board and are connected with the first sub-circuit board through the first elastic arms respectively;

the first sub-circuit board is attached to the bottom of the camera assembly, and the at least two elastic structure circuit boards are fixed to the holder outer support through the second elastic arms.

Optionally, the supporting parts are respectively provided with a first through hole, and the axial direction of the first through hole is perpendicular to the third shaft;

the camera structure further includes: the switching structure comprises a clamping part and a first ball;

the first ball is arranged in the first through hole in a penetrating way and is clamped between the two side walls of the clamping part;

The clamping part is used for being fixedly connected with the holder outer support or the holder inner support.

Optionally, the switching structure further includes: the guide plate is fixedly connected with the first side wall of the clamping part and extends towards the direction close to the second side wall of the clamping part, and the first side wall of the clamping part and the second side wall of the clamping part are opposite side walls of the clamping part;

and/or the number of the groups of groups,

the switching structure further comprises: and the limiting plate is fixed at the bottom of the groove of the clamping part, so that the rotation angle of the supporting part is limited to be smaller than a preset angle when the supporting part rotates relative to the clamping part.

Optionally, the holder outer support and the holder inner support are provided with clamping grooves matched with the clamping parts, and the clamping parts are clamped in the clamping grooves, so that the supporting parts are hinged with the holder outer support or the holder inner support.

Optionally, at least two first arc baffles are arranged at the bottom of the cradle head inner bracket, and a circular ring where the at least two first arc baffles are positioned is coaxial with the third shaft;

the holder carrier is provided with at least two second arc-shaped baffles which are in one-to-one correspondence with the at least two first arc-shaped baffles, and one first arc-shaped baffle and one second arc-shaped baffle form an arc-shaped baffle group;

The camera structure further comprises: a second ball;

and the second balls are clamped in any one of the arc-shaped baffle groups.

Optionally, the method further comprises: a rolling support frame;

the rolling support frame is fixed on the cradle head inner support and is abutted with one side of the cradle head carrier, which is opposite to the cradle head inner support, so as to limit the movement of the cradle head carrier along the direction of the third shaft.

In a second aspect, embodiments of the present application provide an electronic device including a camera structure as described in the first aspect.

In this application embodiment, camera structure includes: the camera comprises a universal shaft, a tripod head outer support, a tripod head inner support accommodated in the tripod head outer support, a tripod head carrier, a first driving mechanism, a second driving mechanism, a camera component and a first flexible circuit board; the camera component is elastically connected with the holder outer support through the first flexible circuit board, so that the camera component can move relative to the holder outer support, and the camera component is fixedly connected with the holder carrier; two supporting parts of the universal shaft, which are axially distributed along a first shaft, are respectively hinged with the outer holder of the tripod head, and two supporting parts of the universal shaft, which are axially distributed along a second shaft, are respectively hinged with the inner holder of the tripod head, wherein the first shaft is intersected with the second shaft; the first driving mechanism is respectively connected with the tripod head outer bracket and the tripod head inner bracket so as to drive the tripod head inner bracket to rotate along the first shaft and/or rotate along the second shaft relative to the tripod head outer bracket; the cradle head carrier is in sliding connection with the bottom of the cradle head inner bracket; the second driving mechanism is respectively connected with the cradle head inner support and the cradle head carrier so as to drive the cradle head carrier to rotate along a third shaft relative to the cradle head inner support, wherein the third shaft is respectively perpendicular to the first shaft and the second shaft. Like this, the camera module can rotate along first axle, second shaft and third axle respectively along the relative cloud platform outer support to promote the degree of freedom of camera module, thereby promote the anti-shake effect of camera.

Drawings

Fig. 1 is a side view of a camera structure provided in an embodiment of the present application;

fig. 2 is a split view of a camera structure according to an embodiment of the present application;

fig. 3a is a top view of a camera structure according to an embodiment of the present application;

FIG. 3b is a cross-sectional view taken along the line A-A in FIG. 3 a;

FIG. 3c is a cross-sectional view taken along the direction B-B in FIG. 3 a;

fig. 3d is a bottom view of a camera structure according to an embodiment of the present disclosure;

FIG. 4a is a block diagram of a cardan shaft;

FIG. 4b is an assembled block diagram of the universal shaft and adapter structure;

FIG. 4c is a side view of the transfer structure;

FIG. 4d is a front view of the adapter structure;

FIG. 4e is a cross-sectional view taken along the direction C-C in FIG. 4 d;

FIG. 5 is an assembly structure diagram of the cardan shaft, the holder inner support, the adapter structure, the second yoke, the first magnet set and the second magnet set;

FIG. 6a is an assembly view of a cardan shaft, an outer holder and an inner holder;

FIG. 6b is a split view of the first drive coil assembly;

FIG. 6c is a split view of the first magnet group, yoke, and second magnet group;

FIG. 7a is an assembly block diagram of a cradle head carrier and a second drive coil assembly;

FIG. 7b is a bottom view of the cradle head inner mount;

FIG. 7c is a diagram showing the assembly of the holder carrier and holder inner support;

FIG. 7d is an assembly block diagram of the pan-tilt carrier, the cradle within the pan-tilt, and the swivel carriage;

fig. 8 is an assembly structure diagram of the first flexible circuit board and the camera module.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

The terms first, second and the like in the description and in the claims, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type and not limited to the number of objects, e.g., the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

The camera structure and the electronic device provided by the embodiment of the application are described in detail below by means of specific embodiments and application scenes thereof with reference to the accompanying drawings.

Referring to fig. 1 to 3d, fig. 1 is a structural diagram of a camera structure according to an embodiment of the present application; fig. 2 is a split view of a camera structure according to an embodiment of the present application; fig. 3a is a top view of a camera structure according to an embodiment of the present application; FIG. 3b is a cross-sectional view taken along the line A-A in FIG. 3 a; FIG. 3c is a cross-sectional view taken along the direction B-B in FIG. 3 a; fig. 3d is a bottom view of a camera structure according to an embodiment of the present application. The camera structure that this application embodiment provided includes: the universal shaft 2, the holder outer support 9, and the holder inner support 5, the holder carrier 10, the first driving mechanism (not numbered), the second driving mechanism (not numbered), the camera module 20 and the first flexible circuit board 23 which are accommodated in the holder outer support 9.

The first flexible circuit board 23 forms a bending elastic structure, the camera component 20 is elastically connected with the holder outer support 9 through the first flexible circuit board 3, so that the camera component 20 can move relative to the holder outer support 9, and the camera component 20 is fixedly connected with the holder carrier 10; two supporting parts 25 of the universal shaft 2 which are axially distributed along a first shaft are respectively hinged with the outer holder 9 of the tripod head, and two supporting parts 25 of the universal shaft 2 which are axially distributed along a second shaft are respectively hinged with the inner holder 5 of the tripod head, wherein the first shaft is intersected with the second shaft; the first driving mechanism is respectively connected with the holder outer support 9 and the holder inner support 5 to drive the holder inner support 5 to rotate along the first shaft and/or rotate along the second shaft relative to the holder outer support 9.

In addition, the cradle head carrier 10 is in sliding connection with the bottom of the cradle head inner bracket 5; the second driving mechanism is respectively connected with the holder internal support 5 and the holder carrier 10, so as to drive the holder carrier 10 to rotate along a third axis relative to the holder internal support 5, wherein the third axis is respectively perpendicular to the first axis and the second axis.

In a specific implementation, the first axis may extend in the same direction as the H-line as shown in fig. 1, the second axis may extend in the same direction as the M-line as shown in fig. 1, and the third axis may be the Z-axis as shown in fig. 1. In this embodiment, the 4 supporting portions 25 of the universal shaft 2 may be located on the 4 top corners of the square, at this time, the first shaft and the second shaft are perpendicular, and of course, in practical applications, the structure of the universal shaft 2 may be diversified, and the first shaft and the second shaft may not be perpendicular to each other, for example: the included angle between the first axis and the second axis is greater than 0 DEG and less than 180 deg.

In practice, the above-mentioned driving of the rotation of the inner holder 5 with respect to the outer holder 9 along the first axis and/or along the second axis may be understood as: the cradle head inner support 5 is driven to rotate along an X axis or a Y axis relative to the cradle head outer support 9, wherein the cradle head outer support 9 can be of a rectangular structure, and the X axis and the Y axis are respectively parallel to two rectangular sides which are mutually perpendicular on the cradle head outer support 9.

Specifically, during the rotation of the holder inner holder 5 relative to the holder outer holder 9 along the first axis, it has rotational components in the X-axis and Y-axis directions; similarly, during rotation of the holder inner 5 relative to the holder outer 9 along the second axis, it also has rotational components in the X-axis and Y-axis directions. At this time, if only the relative rotation of the holder inner support 5 and the holder outer support 9 along the X axis is required, the components along the Y axis direction in the rotation process of the relative rotation of the holder inner support 5 and the holder outer support 9 along the second axis are offset from each other, so as to drive the relative rotation of the holder inner support 5 and the holder outer support 9 along the X axis.

The camera assembly 20 is fixedly connected to the pan-tilt carrier 10, which can be understood as follows: the outer wall of the camera module 20 is attached to and fixedly connected with the inner wall of the pan-tilt carrier 10.

In practical application, as shown in fig. 1 and fig. 2, the camera structure provided in the embodiment of the application may include: a housing 1, the housing 1 may include a top case 1a and a bottom case 1b. The bottom case 1b is recessed away from the top case 1a to form a receiving space between the top case 1a and the bottom case 1b, and the universal shaft 2, the holder outer frame 9, and the holder inner frame 5, the holder carrier 10, the first driving mechanism, the second driving mechanism, the camera module 20, and the first flexible circuit board 23 that are received in the holder outer frame 9 may be received in the receiving space of the case 1. In addition, the top case 1a, the universal shaft 2, the holder outer support 9, the holder inner support 5, and the holder carrier 10 are all provided with light-passing holes, so that the camera module 20 below the holes can collect image information through the light-passing holes, and even the head of the camera module 20 (i.e. above the Z-axis in fig. 1) is exposed out of the top case 1a through the light-passing holes.

In this way, the camera structure provided in the embodiment of the present application may be enclosed by the housing 1 into an integral structure, and the first flexible circuit board 23 and other structures inside the housing 1 may also be protected by the housing 1.

In the embodiment, the first driving mechanism and the second driving mechanism may be motor driving mechanisms, electromagnetic driving mechanisms, or the like, and for convenience of description, only the first driving mechanism and the second driving mechanism are described as examples of electromagnetic driving mechanisms in the following embodiments, and the present invention is not limited thereto.

In addition, in the coordinate axes shown in fig. 2, rx, ry, and Rz represent directions of rotation along the X-axis, Y-axis, and Z-axis, respectively.

In this embodiment, through the independent drive tripod head carrier of second actuating mechanism along Rz axis direction rotation, with realize Rz axle anti-shake, so that Rz axle anti-shake system is independent for the anti-shake system of Rx and Ry, like this, when Rx, ry axle carry out anti-shake function, the position feedback system of Rz is not influenced, thereby effectively improve the anti-shake precision of Rz axle, and then more effectively promote to clap night, the picture quality of shooing under the hand shake condition when video shooting, further promote consumer's use experience.

In addition, the two supporting portions 25 of the universal shaft 2 axially distributed along the first shaft are respectively hinged to the holder outer bracket 9, and the two supporting portions 25 of the universal shaft 2 axially distributed along the second shaft are respectively hinged to the holder inner bracket 5, which can be understood as follows: the two supporting parts 25 of the universal shaft 2 axially distributed along the first shaft form a first rotation shaft, so that when the two supporting parts 25 are hinged on the tripod head outer bracket 9, the universal shaft 2 can rotate along the first rotation shaft relative to the tripod head outer bracket 9; and the two supporting parts 25 axially distributed along the first axis of the universal shaft 2 form a second rotation axis, so that when the two supporting parts 25 are hinged on the tripod head inner support 5, the universal shaft 2 can rotate along the second rotation axis relative to the tripod head inner support 5, and the tripod head inner support 5 can rotate along the first rotation axis and the second rotation axis relative to the tripod head outer support 9 respectively.

On this basis, in view of the fact that the camera assembly 20 is elastically connected with the holder outer support 9 through the first flexible circuit board 23, and the camera assembly 20 is fixed on the holder carrier 10, the camera assembly 20 can rotate along the RZ axis direction along with the holder carrier 10 relative to the holder inner support 5. Thus, rotation of the camera module 103 in the Rx, ry, and Rz axis directions, respectively, is achieved. In actual shooting, shake parameters such as shake direction and shake distance of a camera can be obtained, and accordingly the camera structure provided by the embodiment of the application is controlled to rotate corresponding rotation amounts along Rx, ry and Rz directions respectively, so that anti-shake along the Rx, ry and Rz axes is realized.

Optionally, a first accommodating space 905 is provided between the inner side wall of the holder outer bracket 9 and the outer side wall of the holder inner bracket 5, and the first driving mechanism and the second driving mechanism are disposed in the first accommodating space.

In a specific implementation, the specific shape of the first accommodating space 905 may be adjusted as required, for example: as shown in fig. 5 and 6a, in the case where the first driving mechanism and the second driving mechanism need to drive the cradle 5 to move from opposite sides of the cradle 5, the first accommodating space 905 may contact at least a first outer side wall, a second outer side wall, and a third outer side wall of the cradle 5, where the first outer side wall and the second outer side wall may be opposite sides of the cradle 5, and the third outer side wall is located between the first outer side wall and the second outer side wall.

Of course, when the first driving mechanism and the second driving mechanism only need to drive the cradle 5 to move from one side wall of the cradle 5, the first accommodating space 905 may be disposed between the first outer side wall of the cradle 5 and the first inner side wall of the cradle 9, which is not limited herein.

In a specific implementation, the head of the camera module 20 may extend out of the holder external support 9 through the light passing hole on the upper side of the holder external support 9, that is, the first driving mechanism and the second driving mechanism may be aligned with the tail of the camera module (i.e. along the lower direction of the z axis in fig. 2), so that the electromagnetic driving modules in the first driving mechanism and the second driving mechanism may be disposed in a region far away from the head of the holder, so as to allow more non-magnetic regions in the head of the holder, so that the camera module carried by the holder can select more types of driving motors, for example: an optical anti-shake (Optical Image Stabilization, OIS) camera module may be optionally mounted. Like this, can combine the camera structure that this application embodiment provided along the anti-shake function of Rx, ry and Rz direction with the combination build to 5 anti-shake camera systems (namely along X, Y, rx, ry and the anti-shake of Rz direction respectively), and then can drive the camera system respectively and compensate respectively or make up the compensation to the shake of 5 degrees of freedom, avoid synthesizing the motion compensation to have the influence that time difference and compensation state can not switch in time, make picture and video image quality of taking better, especially can more effectively promote the shooting image quality under the hand shake condition when taking a night, wholly promote consumer's user experience.

Alternatively, as shown in fig. 2 and 3b, the first driving mechanism includes: a first yoke 22, a first driving coil group 7, and a first magnet group 21;

the first yoke includes: the first side wall, and the second side wall and the third side wall which are connected to the two opposite sides of the first side wall and extend in the same direction;

the first driving coil set 7 is fixed on the holder outer bracket 9, the first magnetic yoke 22 is fixed on the holder inner bracket 5, and the holder inner bracket 5 is at least partially located between the second side wall and the third side wall of the first magnetic yoke 22 (i.e. the holder inner bracket 5 is at least partially located in a U-shaped groove formed by the first magnetic yoke 22); the first magnet groups 21 are distributed on the outer sides of the second side wall and the third side wall of the first magnetic yoke 22, and the first driving coil groups 7 are arranged in an adaptive manner with the first magnet groups 21;

the coils in the first driving coil group 7 are arranged at intervals along a first direction, the first direction is perpendicular to the third axis, the first driving coil group 7 is distributed on two opposite sides of a symmetry axis of the holder inner bracket 5, and the symmetry axis is in the same direction as the symmetry axis of the first magnetic yoke 22;

when the first driving coil set 7 is energized, an interaction force is generated between the first driving coil set 7 and the first magnet set 21, and the first magnet set 21 drives the inner holder 5 to rotate along the first axis and/or rotate along the second axis relative to the outer holder 9 based on the interaction force.

In a specific implementation, the first yoke 22 includes: the first side wall, and the second side wall and the third side wall connected to two opposite sides of the first side wall and extending in the same direction, it can be further understood that the first magnetic yoke 22 has a U-shaped groove structure.

In addition, the first magnet set 21 and the first driving coil set 7 are adapted to be understood that the magnetic field generated by the first driving coil set 7 can act on the first magnet set 21, and a magnetic loop is generated between the first yoke 22 and the first magnet set 21, or magnets in the first magnet set 21 and coils in the first driving coil set 7 are in one-to-one correspondence, and magnets and coils corresponding to each other are opposite to each other.

In implementation, currents with controllable sizes and directions can be introduced into the first driving coil set 7, so that a direction-controllable interaction force is generated between the first magnet set 21 fixed on the first magnet yoke 22 and the first driving coil set 7 fixed on the holder outer support 9, and then the first magnet yoke 22 (the first magnet set 21) can be driven to generate a direction-controllable Rx and Ry axis rotary motion relative to the holder outer support 9, and further the holder inner support 5 (the camera module 103) can be directly driven to generate Rx and Ry axis rotary motion to perform Rx and Ry axis anti-shake.

Specifically, as shown in fig. 6B and 6c, the first magnet group 21 includes two first magnets (21A and 21B, respectively), and the first driving coil group 7 includes two first coils (7A and 7B, respectively), so that the first coil 7A is disposed opposite to the first magnet 21A, and the first coil 7B is disposed opposite to the first magnet 21B. At this time, when the force bearing directions of the first magnets 21A and 21B are the same, and are the same as the Z axis or the same as the-Z axis, the cradle head inner bracket 5 is driven to rotate in the Ry direction relative to the cradle head outer bracket 9; when the force receiving directions of the first magnets 21A and 21B are different, i.e., one is in the same direction as the Z axis and the other is in the same direction as the-Z axis, the holder inner support 5 is driven to rotate along the Rx axis direction relative to the holder outer support 9.

In a specific implementation, as shown in fig. 6a, a second through hole 903 may be formed on the holder outer support 9, so that the coils in the first driving coil set 7 are respectively embedded in the second through hole 903, thereby realizing the fixed connection between the first driving coil set 7 and the holder outer support 9.

In addition, the first yoke 22 is fixed to the cradle head inner bracket 5, and the cradle head inner bracket 5 is at least partially located in the U-shaped slot of the first yoke 22, which can be understood as: the opening side of the first yoke 22 faces the holder inner 5, and the outer side wall of the holder inner 5 is fixed to the groove bottom of the U-shaped groove of the first yoke 22.

For example: as shown in fig. 7d, a rolling support 18 fixed to the cradle head inner 5 may be provided such that the first yoke 22 is fixed to the cradle head inner 5 through the rolling support 18.

Further, in order to realize that current with controllable size and direction is introduced into the first driving coil group 7, driving coils in the first driving coil group 7 may be respectively connected with the first driving circuit board 6, the first driving circuit board 6 may be attached to the outer side of the holder outer support 9, and the driving coils in the first driving coil group 7 may be respectively installed on the first driving circuit board 6 after passing through the second through holes 903, so that current with controllable size and direction is respectively provided to the driving coils in the first driving coil group 7 through the first driving circuit board 6.

In implementation, the magnitude and direction of the current flowing into the first driving coil group 7 may be controlled by a controller in an electronic device equipped with the tri-axial cradle head provided in the embodiment of the present application, at this time, a first interface 604 may be further provided on the outer side of the first driving coil group 6 to implement data communication connection with the controller in the electronic device through the first interface 604, specifically, as shown in fig. 6B, the first driving coil group 6 includes a first driving sub-circuit board 601, a second driving sub-circuit board 603, a connection board 602, and a first interface 604, where the first interface 604 is connected to the first driving sub-circuit board 603, and the two sub-circuit boards 601 and 603 are mutually communicated through the connection board 602, and a coil 7A in the first driving coil group 7 is connected to the first driving sub-circuit board 601, and a coil 7B in the first driving coil group 7 is connected to the second driving sub-circuit board 603. The first driving sub-circuit board 601, the second driving sub-circuit board 603, the connection board 602 and the first interface 604 may be an integrally formed circuit board structure.

In addition, in practical application, as shown in fig. 6B, a first position feedback element group 8 (position feedback elements 8A and 8B) may be further assembled on the first driving circuit board 6, so that the rotation amount of the inner holder 5 relative to the outer holder 9 along the Rx axis and the Ry axis can be detected by the first position feedback element group 8, thereby facilitating the precise control of the lifting rotation amount.

In addition, in practical application, as shown in fig. 6B, a first position feedback element group 8 (position feedback elements 8A and 8B) may be further assembled on the first driving circuit board (601 and 603), so as to detect the rotation amount of the inner holder 5 relative to the outer holder 9 along the Rx axis and Ry axis through the first position feedback element group 8, thereby facilitating the precise control of the lifting rotation amount.

In a specific implementation, as shown in fig. 6b, the first position feedback element set 8 may be a hall element, and may be disposed in a magnetic field range of the first magnet set 21 and the first driving coil set 7, so as to determine a displacement amount of the first magnet set 21 relative to the first driving coil set 7 by a change of an induced magnetic field, thereby determining a rotation amount of the inner holder 5 relative to the outer holder 9 along the Rx axis and the Ry axis.

In particular, the first set of position feedback elements 8 may comprise at least two first position feedback elements to be distributed in a first magnetic field between 21A and 7A, and in a second magnetic field between 21B and 7B.

Of course, in a specific implementation, the first position feedback element group 8 may also be a driving chip, and the driving chip can control the current with controllable magnitude and direction to be input to the first driving coil group 7, and also can feedback the rotation amounts of the Rx axis and the Ry axis directions.

Optionally, the second driving mechanism includes: a second yoke (in this embodiment, the second yoke is the same as the first yoke, and therefore the same reference numeral 22), a second drive coil group 15, and a second magnet group 17;

the second yoke 22 includes: a fourth side wall (the first side wall of the first magnetic yoke 22), and a fifth side wall (the second side wall of the first magnetic yoke 22) and a sixth side wall (the third side wall of the first magnetic yoke 22) which are connected to the opposite sides of the fourth side wall and extend in the same direction;

the second magnet group 17 is fixed on the fourth side wall of the second magnetic yoke 22 (i.e. the bottom of the U-shaped groove formed by the second magnetic yoke 22), and the second magnetic yoke 22 is fixed on the cradle 5, and the cradle 5 is at least partially located between the fifth side wall and the sixth side wall of the second magnetic yoke 22 (i.e. the cradle 5 is at least partially located in the U-shaped groove formed by the second magnetic yoke 22);

The second driving coil group 15 is fixed on the holder carrier 10, the coils in the second driving coil group 15 are arranged at intervals along a first direction, the second driving coil group 15 is arranged in an adaptive manner with the second magnet group 17, the first direction is perpendicular to the third axis, the second driving coil group 15 is distributed on two opposite sides of a symmetry axis of the holder carrier 10, and the symmetry axis is in the same direction as the symmetry axis of the second magnetic yoke 22;

when the second driving coil set 17 is energized, an interaction force is generated between the second driving coil set 17 and the second magnet set 15, and the second magnet set 15 drives the pan-tilt carrier 10 to rotate along the third axis relative to the pan-tilt inner holder 5 based on the interaction force.

It should be noted that, in the embodiment of the present application, the first magnetic yoke and the second magnetic yoke are the same magnetic yoke 22, and the first magnet set 21 is fixed on the outer side of the magnetic yoke 22, and the second magnet set 17 is fixed on the inner side of the magnetic yoke 22, so that the number of magnetic yokes in the camera structure provided in the embodiment of the present application can be reduced, so as to reduce the volume and the cost thereof. Of course, the first yoke and the second yoke may be different yokes as the space and cost allow, and are not particularly limited herein.

In implementation, as shown in fig. 6c and 7b, a third through hole 2201 may be formed on the bottom of the slot of the second magnetic yoke 22, so that the fastening structure 502 extending from the outer side wall of the holder inner bracket 5 is fastened to the third through hole 2201, that is, the third through hole 2201 can perform a positioning and fixing function on the second magnetic yoke 22. Meanwhile, the cradle head carrier 10 is movably connected to the bottom of the cradle head inner bracket 5, so that the second driving coil set 15 fixed to the cradle head carrier 10 is located between the outer side wall of the cradle head inner bracket 5 and the bottom of the second magnetic yoke 22, and when the second driving coil set 15 is supplied with current with controllable magnitude and direction, an interaction force is generated between the second driving coil set 15 and the second magnet set 17 fixed to the bottom of the second magnetic yoke 22, so that the cradle head carrier 10 is driven to rotate along the third axis relative to the cradle head inner bracket 5 based on the interaction force of the second magnet set 17.

Further, as shown in fig. 7a, in order to realize that current with controllable magnitude and direction is supplied to the second driving coil group 15, the second driving coil group 15 may be connected to the second driving circuit board 13, the second driving circuit board 13 may be attached to an outer side wall of the pan-tilt carrier 10, the second driving coil group 15 is mounted on the second driving circuit board 13, and a second driving chip 16 connected to the second driving coil group 15 is disposed on the second driving circuit board 13, so that the magnitude and direction of the current supplied to the second driving coil group 15 are controlled by the second driving chip 16.

In addition, in practical application, a second position feedback element group (in this embodiment, the second position feedback element group and the second driving chip 16 may be the same component) may be further assembled on the second driving circuit board 13, so as to obtain the rotation amount of the pan-tilt carrier 10 relative to the pan-tilt inner bracket 5 along the third axis through the second driving chip 16, thereby facilitating the precise control of the Rz axis rotation amount.

Of course, in the implementation, the second position feedback element group may also be a component different from the second driving chip 16, for example: the second position feedback element group includes hall elements, and may be disposed in the magnetic field ranges of the second driving coil group 15 and the second magnet group 17, so as to determine the displacement amount of the second driving coil group 15 relative to the second yoke 22 by the change of the induced magnetic field, thereby determining the rotation amount of the pan-tilt carrier 10 relative to the pan-tilt inner bracket 5 along the Rz axis direction.

Accordingly, in a specific implementation, the first position feedback element group 8 may also be a driving chip, and the driving chip can control the current with controllable magnitude and direction to be input to the second driving coil group 15, and also can feedback the rotation amounts in the Rx and Ry directions.

Further, as shown in fig. 7c, the second driving circuit board 13 may have a bent structure so as to be attached to two adjacent sidewalls of the pan-tilt carrier 10. In addition, a circuit board reinforcement 12 matching the structure of the second driving circuit board 13 may be provided to enhance the structural strength of the second driving circuit board 13 by attaching the second driving circuit board 13 to the circuit board reinforcement 12.

Optionally, as shown in fig. 2, the second driving mechanism 102 further includes: an inner yoke 14; the inner yoke 14 is fixed to the holder carrier 10 and forms a magnetic circuit with the second magnet group 17.

In practice, the inner yoke 14 may be fixed to a side of the second driving circuit board 13 facing away from the second driving coil group 15, for example: as shown in fig. 7a, a groove 1004 is provided on the outer sidewall of the pan-tilt carrier 10, so that the inner yoke 14 is embedded in the groove 1004 and is sandwiched between the pan-tilt carrier 10 and the second driving circuit board 13.

The inner yoke 14 increases the driving force of the second driving mechanism 102 to improve the anti-shake effect of the camera structure along the Rz axis.

Alternatively, as shown in fig. 4a and 4b, the supporting portion 25 is provided with a first through hole 251, and an axial direction of the first through hole 251 is perpendicular to the third shaft;

The camera structure further comprises: an adapter structure comprising a grip portion 3 (e.g., a U-shaped arm) and a first ball 4;

the first ball 4 is inserted into the first through hole 251 and is clamped between two side walls of the clamping part 3;

the clamping part 3 is used for being fixedly connected with the holder outer bracket 9 or the holder inner bracket 5.

As shown in fig. 4a, the 4 corners of the cardan shaft 2 extend in opposite directions of the z-axis to connect with a respective adapter structure. In the assembly process, the first ball 4 may be first clamped in the first through hole 251 and then inserted into the clamping portion 3 together.

In addition, as shown in fig. 4c, the opposite side walls of the clamping portion 3 may be recessed in a direction away from each other, so that when the first ball 4 is clamped in the clamping portion 3, the position of the first ball can be kept unchanged in the clamping portion 3, specifically, the opposite side walls of the clamping portion 3 are respectively provided with ball holding structures 303 and 307, wherein the 307 is located on the opposite side of 303, and the side walls where the 303 and 307 are located are elastically connected, so that the first ball 4 and the supporting portion 25 can be assembled, and an opening 306 is provided at the bottom of the clamping portion 3, so as to reduce the elastic force between the opposite side walls of the clamping portion 3.

Further, as shown in fig. 4c, 4d and 4e, the switching structure further includes: the guide plate 302 is fixedly connected with the first side wall of the clamping part 3, extends towards the direction close to the second side wall of the clamping part 3, and the first side wall of the clamping part 3 and the second side wall of the clamping part 3 are opposite side walls of the clamping part 3;

And/or the number of the groups of groups,

the switching structure further comprises: the limiting plate 304 is fixed to one end (for example, the bottom of the groove of the U-shaped arm) of the clamping portion 3 away from the universal shaft 2, so as to limit the rotation angle of the supporting portion 25 to be smaller than a preset angle when the supporting portion 25 rotates relative to the clamping portion 3.

In practice, the first side wall of the clamping portion 3 may be located on a side of the clamping portion 3 away from the center of the universal shaft 2, and the number of the guide plates 302 is two, and the two guide plates 302 are located on two opposite sides of the first side wall of the clamping portion 3, so that the supporting portion 25 is aligned between the two guide plates 302 during the assembly process, thereby playing a guiding role.

In addition, the end of the limiting plate 304, which is not fixed to the clamping portion 3, may be inclined outward, so that when the supporting portion 25 rotates around the first ball 4 by a predetermined angle, the supporting portion 25 abuts against the limiting plate 304, thereby limiting the supporting portion 25 from further rotating.

Optionally, as shown in fig. 5 and 6a, clamping grooves (501, 901) matched with the clamping parts 3 are formed on the holder outer support 9 and the holder inner support 5, and the clamping parts 3 are clamped in the clamping grooves (501, 901) so that the supporting parts 25 are hinged with the holder outer support 9 or the holder inner support 5.

Specifically, the clamping portions 3 corresponding to the two supporting portions 25 located in the first axial direction of the universal shaft 2 are respectively clamped in the two clamping grooves 901 on the diagonal line of the holder outer bracket 9, and the clamping portions 3 corresponding to the two supporting portions 25 located in the second axial direction of the universal shaft 2 are respectively clamped in the two clamping grooves 501 on the diagonal line of the holder inner bracket 5.

According to the camera structure, the clamping grooves (501 and 901) are formed in the holder outer support 9 and the holder inner support 5, so that the heights of the universal shaft 2, the holder outer support 9 and the holder inner support 5 along the z-axis direction can be reduced, and the overall size of the camera structure provided by the embodiment of the application is reduced.

Optionally, the first flexible circuit board 23 includes: a first sub-circuit board 2301, at least two resilient structure circuit boards 2302, a first resilient arm 2303 and a second resilient arm 2304;

the elastic structure circuit board 2302 comprises at least two layers of sub-circuit boards which are arranged in a layer-by-layer way, and gaps are arranged between any two layers of sub-circuit boards to form a bent elastic structure, so that the elastic structure circuit board 2302 can elastically deform;

at least two elastic structure circuit boards 2302 are distributed around the first sub-circuit board 2301, and the at least two elastic structure circuit boards 2302 are connected with the first sub-circuit board 2301 through first elastic arms 2303 respectively;

the first sub-circuit board 2301 is attached to the bottom of the camera module 20, and at least two elastic circuit boards 2302 are fixed to the holder outer frame 9 through the second elastic arms 2304.

Specifically, as shown in fig. 3d and 8, the first elastic arm 2303 may extend out of the holder outer frame 9 to connect with the elastic structure circuit board 2302 distributed out of the holder outer frame 9, and an end of the second elastic arm 2304 remote from the elastic structure circuit board 2302 may be fixed on an inner wall of the holder outer frame 9.

In practical applications, the first sub-circuit board 2301 is used for conducting with the camera assembly 20 to transmit data signals and electrical signals of the camera assembly 20, and the data signals and the electrical signals are sequentially transmitted to an external circuit through the first elastic arm 2303, the elastic structure circuit board 2302 and the second elastic arm 2304. For example: as shown in fig. 8, a side of the second elastic arm 2304 away from the elastic structure circuit board 2302 is provided with a pad 24 for connection with an external circuit, and the pad 24 extends to the outside of the housing 1 through an opening at the bottom of the housing 1, so that the pad 24 is located outside the housing 1, so that the camera structure provided in the embodiment of the present application is assembled in an electronic device through the pad 24. In implementation, the pad 24 may be designed as an integral structure capable of being unfolded in a plane with the first sub-circuit board 2301, at least two circuit boards 2302 with elastic structures, the first elastic arm 2303 and the second elastic arm 2304, so as to avoid the problem of complex process caused by welding the first flexible circuit board.

In addition, the first flexible circuit board 23 includes two flexible circuit boards 2302, and is distributed on two opposite sides of the first sub-circuit board 2301. In practical applications, when the compression of the resilient structural circuit board 2302 on one side of the first sub-circuit board 2301 is not equal to the compression of the resilient structural circuit board 2302 on the other side of the first sub-circuit board 2301, the camera module 20 rotates in the axial direction of the first shaft; when the compression amount of the side of the two elastic construction circuit boards 2302 near the first elastic arm 2303 is not equal to the compression amount of the side of the elastic construction circuit board 2302 near the second elastic arm 2304, the camera module 20 rotates in the axial direction of the second shaft; when the two resilient structural circuit boards 2302 are displaced laterally, respectively, the camera head assembly 20 rotates in the axial direction of Z.

In summary, the first flexible circuit board 23 can be conducted with the camera assembly 20, and allows the camera assembly 20 to displace or rotate along multiple directions while maintaining the posture of the camera assembly 20, and reduces the resistance of the first flexible circuit board 23 to the driving process of the camera structure, so that the flexibility of the camera assembly 20 is improved.

Of course, in the implementation, the resilient-structure circuit board 2302 in the first flexible circuit board 23 may be configured in other resilient structures or be configured in other positions, which are not described herein.

Optionally, as shown in fig. 7a and fig. 7b, at least two first arc baffles 504 are disposed at the bottom of the holder inner bracket 5, and a ring where the at least two first arc baffles 504 are located is coaxial with the third shaft;

at least two second arc baffles 1002 corresponding to the at least two first arc baffles 504 one by one are arranged on the holder carrier 10, and one first arc baffle 504 and one second arc baffle 504 are an arc baffle group;

the camera structure further comprises: a second ball 11;

and a second ball 11 is clamped in any one of the arc-shaped baffle groups.

The second ball 11 can only rotate around the z axis under the limiting action of the arc baffle group, so that when the holder carrier is stressed, the holder carrier can only rotate around the z axis, and the anti-shake accuracy along the Rz axis direction is improved.

Further, a rotation limiting portion 1003 may be disposed at an end of the second arc-shaped baffle 1002 to limit the rotation amount of the pan-tilt carrier 10 along the Rz axis direction relative to the pan-tilt inner holder 5.

Of course, in the specific implementation, the rotation of the pan-tilt carrier 10 relative to the pan-tilt inner support 5 about the z axis may also be limited by providing a sliding rail and a sliding block between the pan-tilt inner support 5 and the pan-tilt carrier 10, which will not be described herein.

Optionally, as shown in fig. 7d, the camera structure further includes: a rolling support 18;

the rolling support 18 is fixed to the holder inner bracket 5 and abuts against a side of the holder carrier 10 facing away from the holder inner bracket 5, so as to limit the movement of the holder carrier 10 along the third axis.

In this embodiment, the pan-tilt carrier 10 is clamped between the rolling support 18 and the pan-tilt inner bracket 5, so as to limit the pan-tilt inner bracket 5 to drive the camera assembly 20 to move along the axial direction of the Z axis, thereby improving the accuracy of the camera structure.

Further, as shown in fig. 7c, a limiting groove may be formed on the bottom surface of the pan-tilt carrier 10, which is attached to the rolling support 18, and a second ball 19 is disposed in the limiting groove, so that when the second ball 19 moves in the limiting groove, the friction between the rolling support 18 and the pan-tilt carrier 10 is reduced, and the sensitivity of the second driving mechanism for driving the pan-tilt carrier 10 is improved.

Specifically, as shown in fig. 7d, the rolling support 18 has an integral structure, which specifically includes: the clamping structure 1801 for being buckled with the clamping structure 502 on the cradle head inner support 5, the platform 1803 for supporting the second ball 19 and the mounting plate 1805 for fixing the first magnetic yoke 22 are arranged on the mounting plate 1805, and a fourth through hole is formed in the mounting plate 1805, so that the clamping structure 502 on the cradle head inner support 5 passes through the fourth through hole and is fixedly connected with the mounting plate 1805 and the first magnetic yoke 22 respectively. Specifically, the first yoke 22 may be fixed to the cradle head inner bracket 5 by being sandwiched between the cradle head inner bracket 5 and the mounting plate 1805.

Of course, the first magnet group 21 may be fixed to the outer wall of the first yoke 22 by being fixed to the rolling support 18, for example: limit stops 1802 are provided at both ends of the mounting plate 1805, respectively, so that the first magnet group 21 is abutted against the outer side wall of the first yoke 22 by the limit stops 1802.

In summary, the camera structure provided in the embodiment of the present application has the following beneficial effects: the camera module can be driven to rotate in Rx, ry and Rz directions, and can be combined with corresponding algorithm processing to realize translational shake along the X axis and the Y axis besides preventing shake in the Rx, ry and Rz directions, so that the camera module has an anti-shake effect along the 5 axis in total; the electromagnetic driving module (a first driving mechanism and a second driving mechanism) is arranged at the tail part of the camera structure, so that more non-magnetic areas are reserved at the head part of the camera structure, and a plurality of types of camera modules can be conveniently carried; the first flexible circuit board 23 is folded along the S shape so as to reduce the stress of the circuit board in a plurality of directions, and the first flexible circuit board 23 is designed into an integrated structure capable of being unfolded in a plane, thereby avoiding the problem of complex process caused by welding the first flexible circuit board 23; a holder carrier structure capable of rotating in the Rz direction and a driving structure thereof are arranged in the middle of the camera structure; the motion of the device and Rx and Ry are mutually independent, so that the crosstalk influence of triaxial synchronous driving can be effectively reduced; the second driving coil set 15 and the corresponding driving element are arranged on the holder carrier 10 and can be led out through the first flexible circuit board 23 to be connected with an external circuit, while the first driving coil set 7 and the first position feedback element set 8 are arranged on one side of the camera structure and fixed on the holder outer bracket 9 and can be led out directly to be connected with the external circuit. The clamping part supporting structure with the double-sided clamping first ball 4 can reduce the influence of multi-degree-of-freedom serial vibration, so that the variation of external parameters of the camera is reduced, and powerful support is provided for a multi-camera fusion algorithm.

The embodiment of the application also provides electronic equipment, which comprises the camera structure shown in any one of fig. 1 to 8.

The electronic device in the embodiment of the application may be a mobile electronic device or a non-mobile electronic device. By way of example, the mobile electronic device may be a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a netbook or a personal digital assistant (personal digital assistant, PDA), and the like, and the non-mobile electronic device may be a personal computer (personal computer, PC), a Television (TV), a teller machine, a self-service machine, and the like, and the embodiments of the present application are not limited in particular.

The electronic device provided in this embodiment of the present application includes any one of the camera structures shown in fig. 1 to 8, and has the same beneficial effects as any one of the camera structures shown in fig. 1 to 8, so that repetition is avoided, and no further description is given here.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are also within the protection of the present application.

Claims (12)

1. A camera structure, comprising: the camera comprises a universal shaft (2), a tripod head outer support (9), a tripod head inner support (5) accommodated in the tripod head outer support, a tripod head carrier (10), a first driving mechanism, a second driving mechanism, a camera component (20) and a first flexible circuit board (23);

the camera component is elastically connected with the holder outer support through the first flexible circuit board, so that the camera component can move relative to the holder outer support, and the camera component is fixedly connected with the holder carrier;

two supporting parts (25) of the universal shaft, which are axially distributed along a first shaft, are respectively hinged with the outer bracket of the tripod head, and two supporting parts of the universal shaft, which are axially distributed along a second shaft, are respectively hinged with the inner bracket of the tripod head, wherein the first shaft is intersected with the second shaft;

the first driving mechanism is respectively connected with the tripod head outer bracket and the tripod head inner bracket so as to drive the tripod head inner bracket to rotate along the first shaft and/or rotate along the second shaft relative to the tripod head outer bracket;

the cradle head carrier is in sliding connection with the bottom of the cradle head inner bracket;

The second driving mechanism is respectively connected with the cradle head inner support and the cradle head carrier so as to drive the cradle head carrier to rotate along a third shaft relative to the cradle head inner support, wherein the third shaft is respectively perpendicular to the first shaft and the second shaft;

the supporting parts (25) are respectively provided with a first through hole, and the axial direction of the first through holes is perpendicular to the third shaft;

the camera structure further includes: the switching structure comprises a clamping part (3) and a first ball (4);

the first ball is arranged in the first through hole in a penetrating way, is clamped between two side walls of the clamping part, and is elastically connected with the two side walls;

the clamping part is used for being fixedly connected with the holder outer bracket or the holder inner bracket;

the switching structure further comprises: and the limiting plate (304) is fixed at one end, far away from the universal shaft (2), of the clamping part, so that the rotating angle of the supporting part is limited to be smaller than a preset angle when the supporting part rotates relative to the clamping part.

2. The camera structure according to claim 1, wherein a first accommodating space (905) is provided between an inner side wall of the holder outer bracket and an outer side wall of the holder inner bracket, and the first driving mechanism and the second driving mechanism are disposed in the first accommodating space.

3. The camera structure of claim 2, wherein the first drive mechanism comprises: a first yoke (22), a first drive coil group (7), and a first magnet group (21);

the first yoke includes: the first side wall, and the second side wall and the third side wall which are connected to the two opposite sides of the first side wall and extend in the same direction;

the first driving coil group is fixed on the holder outer bracket, the first magnetic yoke is fixed on the holder inner bracket, and the holder inner bracket is at least partially positioned between the second side wall and the third side wall of the first magnetic yoke; the first magnet groups are distributed on the outer sides of the second side wall and the third side wall of the first magnetic yoke, and the first driving coil groups are arranged in an adaptive manner with the first magnet groups;

the coils in the first driving coil group are arranged at intervals along a first direction, the first direction is perpendicular to the third axis, the first driving coil group is distributed on two opposite sides of a symmetry axis of the cradle head inner bracket, and the symmetry axis is in the same direction as the symmetry axis of the first magnetic yoke;

under the condition that current is introduced into the first driving coil group, interaction force is generated between the first driving coil group and the first magnet group, and the first magnet group drives the cradle head inner support to rotate along the first shaft and/or rotate along the second shaft relative to the cradle head outer support based on the interaction force.

4. The camera structure of claim 3, further comprising:

the first position feedback element group (8) is used for detecting the rotation quantity of the inner holder of the cradle head relative to the outer holder of the cradle head along the first axis or along the second axis, and the first position feedback element group is arranged in the magnetic field range of the first magnet group and the first driving coil group.

5. The camera structure of claim 2, wherein the second drive mechanism comprises: a second yoke (22), a second drive coil group (15), and a second magnet group (17);

the second yoke includes: the device comprises a fourth side wall, and a fifth side wall and a sixth side wall which are connected to two opposite sides of the fourth side wall and extend in the same direction;

the second magnet group is fixed on the fourth side wall of the second magnetic yoke, the second magnetic yoke is fixed on the cradle head inner support, and the cradle head inner support is at least partially positioned between the fifth side wall and the sixth side wall of the second magnetic yoke;

the second driving coil groups are fixed on the holder carrier, coils in the second driving coil groups are arranged at intervals along a first direction, the second driving coil groups are arranged in an adaptive manner with the second magnet groups, the first direction is perpendicular to the third axis, the second driving coil groups are distributed on two opposite sides of a symmetry axis of the holder carrier, and the symmetry axis is in the same direction as the symmetry axis of the second magnetic yoke;

Under the condition that current is introduced into the second driving coil group, interaction force is generated between the second driving coil group and the second magnet group, and the second magnet group drives the cradle head carrier to rotate along the third shaft relative to the cradle head inner support based on the interaction force.

6. The camera structure of claim 5, further comprising:

and the second position feedback element group (16) is used for detecting the rotation quantity of the cradle head carrier relative to the cradle head inner bracket along the third shaft, and the second position feedback element group is arranged in the magnetic field range of the second magnet group and the second driving coil group.

7. Camera structure according to claim 1, characterized in that said first flexible circuit board (23) comprises: the circuit board comprises a first sub-circuit board, at least two circuit boards with elastic structures, a first elastic arm and a second elastic arm;

the elastic structure circuit board comprises at least two layers of sub-circuit boards which are arranged in a layer-by-layer mode, and gaps are reserved between any two layers of sub-circuit boards to form a bent elastic structure, so that the elastic structure circuit board can be elastically deformed;

the at least two elastic structure circuit boards are distributed around the first sub-circuit board and are connected with the first sub-circuit board through the first elastic arms respectively;

The first sub-circuit board is attached to the bottom of the camera assembly, and the at least two elastic structure circuit boards are fixed to the holder outer support through the second elastic arms.

8. The camera head structure of claim 1, wherein the adapter structure further comprises: the guide plate (302) is fixedly connected with the first side wall of the clamping part and extends towards the direction close to the second side wall of the clamping part, and the first side wall of the clamping part and the second side wall of the clamping part are opposite side walls of the clamping part.

9. The camera structure according to claim 1 or 8, wherein clamping grooves (501/901) matched with the clamping parts are formed in the holder outer support and the holder inner support, and the clamping parts are clamped in the clamping grooves so that the supporting parts are hinged with the holder outer support or the holder inner support.

10. The camera structure according to claim 1, wherein the bottom of the holder inner bracket is provided with at least two first arc baffles (504), and a ring where the at least two first arc baffles are located is coaxial with the third axis;

At least two second arc-shaped baffles (1002) which are in one-to-one correspondence with the at least two first arc-shaped baffles are arranged on the holder carrier, and one first arc-shaped baffle and one second arc-shaped baffle are an arc-shaped baffle group;

the camera structure further comprises: a second ball (11);

and the second balls are clamped in any one of the arc-shaped baffle groups.

11. The camera structure of claim 10, further comprising: a rolling support (18);

the rolling support frame is fixed on the cradle head inner support and is abutted with one side of the cradle head carrier, which is opposite to the cradle head inner support, so as to limit the movement of the cradle head carrier along the direction of the third shaft.

12. An electronic device comprising a camera structure as claimed in any one of claims 1-11.

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