WO2021258868A1

WO2021258868A1 - Micro-gimbal anti-shake device

Info

Publication number: WO2021258868A1
Application number: PCT/CN2021/092078
Authority: WO
Inventors: 刘凡; 高峰
Original assignee: 中兴通讯股份有限公司
Priority date: 2020-06-23
Filing date: 2021-05-07
Publication date: 2021-12-30
Also published as: CN113833941A

Abstract

Provided is a micro-gimbal anti-shake device, comprising: a first support (10), wherein the first support is provided with a first hollow cavity, a camera module (40) is accommodated in the first hollow cavity, and the camera module is fixedly connected to the first support; and a second support (20), wherein the second support is provided with a second hollow cavity, the first support is accommodated in the second hollow cavity, and the first support and the second support are rotatably connected, so that the first support rotate around a first axis. The micro-gimbal anti-shake device enhances the anti-shake capability of a camera of an electronic device.

Description

微云台防抖装置Micro-head anti-shake device

技术领域Technical field

本公开涉及通信领域，具体而言，涉及一种微云台防抖装置。The present disclosure relates to the field of communications, and in particular, to a micro-pan-tilt anti-shake device.

背景技术Background technique

带有摄像头的电子设备一直都被人们所推崇，特别是到了智能电子设备时代，摄像头更是成为了智能电子设备的标配。随着人们大众对拍照效果越来越苛求，很多在专业相机上的技术也运用到了电子设备的摄像头上，例如防抖技术。现在电子设备上的防抖大致分为采用电子防抖和OIS光学防抖。电子防抖主要通过程序对传感器上的图像进行分析和采集，当照片被拍糊时，利用边缘图像对模糊部分进行补偿，从而实现“防抖”，但其实现原理更像是对照片进行“后期处理”，治标不治本，并没有什么实际作用。光学防抖是通过在镜片组中增加一个使用磁力悬浮的镜片，配合陀螺仪工作，当机身发生震动时，能检测到轻微的抖动从而控制镜片浮动对抖动进行一定的位移补偿，从而避免了光路发生抖动，实现光学防抖。但由于摄像头模组结构原理等原因，OIS光学防抖大部分仅支持横向和纵向的平移抖动补偿(两轴防抖)，因此防抖能力有一定的局限性。Electronic devices with cameras have always been admired by people, especially in the era of smart electronic devices, cameras have become the standard configuration of smart electronic devices. As people become more demanding for photo effects, many of the technologies used in professional cameras have also been applied to the cameras of electronic devices, such as anti-shake technology. The anti-shake on electronic equipment is roughly divided into the use of electronic anti-shake and OIS optical anti-shake. Electronic image stabilization mainly analyzes and collects the image on the sensor through a program. When the photo is blurred, the edge image is used to compensate for the blurred part to achieve "anti-shake", but its realization principle is more like a photo. "Post-treatment" means treating the symptoms but not the root cause, and has no practical effect. Optical image stabilization is achieved by adding a magnetically suspended lens to the lens group and working with a gyroscope. When the body shakes, it can detect slight jitter so as to control the floating of the lens to compensate for the jitter to a certain extent, thereby avoiding The optical path is jittered to achieve optical anti-shake. However, due to the structural principle of the camera module and other reasons, most of OIS optical image stabilization only supports horizontal and vertical translational shake compensation (two-axis image stabilization), so the anti-shake capability has certain limitations.

针对相关技术中，电子设备的摄像头的防抖能力不足的技术问题，尚未提出有效的技术方案。Aiming at the technical problem of insufficient anti-shake capability of the camera of an electronic device in the related art, no effective technical solution has been proposed yet.

发明内容Summary of the invention

本公开实施例提供了一种微云台防抖装置，以至少解决相关技术中电子设备的摄像头的防抖能力不足的技术问题。The embodiment of the present disclosure provides a micro-pan-tilt anti-shake device to at least solve the technical problem of insufficient anti-shake capability of the camera of an electronic device in the related art.

根据本公开的一个实施例，提供了一种微云台防抖装置，包括：第一支架，所述第一支架具有第一中空腔，所述第一中空腔容置有摄像头模组，所述摄像头模组与所述第一支架固定连接；第二支架，所述第二支架具有第二中空腔，所述第一支架容置在所述第二中空腔内，所述第一支架与所述第二支架可转动地连接，以使所述第一支架绕第一轴线转动。According to an embodiment of the present disclosure, there is provided an anti-shake device for a micro-pan/tilt head, including: a first bracket, the first bracket having a first hollow cavity, the first hollow cavity contains a camera module, and The camera module is fixedly connected to the first bracket; a second bracket, the second bracket has a second hollow cavity, the first bracket is accommodated in the second hollow cavity, and the first bracket is connected to the The second bracket is rotatably connected, so that the first bracket rotates around a first axis.

在一个示例性实施例中，所述微云台防抖装置还包括第三支架，所述第三支架包括相对平面转动的动盘和静盘，以使所述动盘绕第二轴线转动，所述动盘具有第三中空腔，所述第二支架容置在所述第三中空腔内，所述第二支架与所述动盘可转动地连接，以使所述第二支架绕第三轴线转动，所述第一轴线、所述第二轴线和所述第三轴线之间具有夹角。In an exemplary embodiment, the micro-head anti-shake device further includes a third bracket, and the third bracket includes a movable disk and a static disk that rotate relative to the plane, so that the movable disk rotates around the second axis, so The movable disk has a third hollow cavity, the second bracket is accommodated in the third hollow cavity, and the second bracket is rotatably connected with the movable disk, so that the second bracket is rotatably connected to the third hollow cavity. The axis rotates, and there is an angle between the first axis, the second axis and the third axis.

在一个示例性实施例中，所述第一轴线、所述第二轴线和所述第三轴线均彼此垂直。In an exemplary embodiment, the first axis, the second axis, and the third axis are all perpendicular to each other.

在一个示例性实施例中，所述静盘具有驱动组件，所述动盘、所述第一支架和所述第二支架上均具有与所述驱动组件配合的多个被驱动件。In an exemplary embodiment, the static disk has a driving assembly, and the movable disk, the first bracket, and the second bracket each have a plurality of driven parts that cooperate with the driving assembly.

在一个示例性实施例中，所述驱动组件包括多个间隔设置的线圈，所述被驱动件是驱动磁铁，所述第一支架上的所述驱动磁铁和所述第二支架的所述驱动磁铁错开设置；和/或所述第一支架上的所述驱动磁铁和所述第二支架的所述驱动磁铁分别于所述静盘上的所述线圈一一对应设置；和/或所述动盘上的所述驱动磁铁和所述静盘上的所述线圈错开设置。In an exemplary embodiment, the driving assembly includes a plurality of coils arranged at intervals, the driven part is a driving magnet, the driving magnet on the first support and the driving of the second support The magnets are staggered; and/or the driving magnets on the first bracket and the driving magnets on the second bracket are respectively arranged in a one-to-one correspondence with the coils on the static plate; and/or the The driving magnet on the movable plate and the coil on the static plate are staggered.

在一个示例性实施例中，所述第一支架为四边形框架，所述第一支架的第一组相对设置的两个侧边上分别连接有第一转轴连接件，所述第一支架的第二组相对设置的两个侧边上分别具有所述驱动磁铁；所述第二支架为四边形框架，所述第二支架的第一组相对设置的两个侧边上分别连接有第二转轴连接件，所述第二支架的第二组相对设置的两个侧边上分别具有所述驱动磁铁；其中，所述第一转轴连接件与所述第二支架的第二组相对设置的两个侧边连接，以使所述第一支架能够相对于所述第二支架转动，所述第二转轴连接件与所述动盘的两侧连接，以使所述第二支架能够相对于所述动盘转动。In an exemplary embodiment, the first bracket is a quadrilateral frame, the first set of opposite sides of the first bracket are respectively connected with first shaft connectors, and the first bracket of the first bracket The two sets of opposing sides are respectively provided with the drive magnets; the second bracket is a quadrangular frame, and the first set of the second sets of opposing sides are respectively connected with a second shaft connection The second set of the second bracket is provided with the driving magnets on two opposite sides; wherein the first shaft connecting member is opposite to the second set of the second bracket. The side edges are connected so that the first bracket can rotate relative to the second bracket, and the second rotating shaft connecting piece is connected to both sides of the moving plate, so that the second bracket can be relative to the second bracket. The moving plate rotates.

在一个示例性实施例中，所述第一支架靠近所述静盘一侧的表面上设置有所述驱动磁铁；和/或所述第二支架靠近所述静盘一侧的表面上设置有所述驱动磁铁。In an exemplary embodiment, the driving magnet is provided on the surface of the first bracket near the side of the static plate; and/or the surface of the second bracket near the side of the static plate is provided with The driving magnet.

在一个示例性实施例中，所述第一支架和/或所述第二支架靠近所述静盘一侧的表面上设置容置凸包，所述容置凸包具有朝向所述静盘的开口，所述驱动磁铁容置在所述开口内并与所述开口的平面平齐。In an exemplary embodiment, a accommodating convex hull is provided on the surface of the first bracket and/or the second bracket on the side close to the static plate, and the accommodating convex hull has a surface facing the static plate Opening, the driving magnet is accommodated in the opening and flush with the plane of the opening.

在一个示例性实施例中，所述第三支架还包括转动轴承，所述转动轴承设置在所述动盘与所述静盘之间，以使所述动盘能够相对于所述静盘转动。In an exemplary embodiment, the third bracket further includes a rotating bearing, and the rotating bearing is disposed between the moving plate and the static plate, so that the moving plate can rotate relative to the static plate. .

在一个示例性实施例中，所述第三支架还包括转动轴承，所述转动轴承设置在所述动盘与所述静盘之间，所述转动轴承呈环状且所述线圈位于所述环状的内侧，所述动盘上的所述驱动磁铁位于所述环状的内侧。In an exemplary embodiment, the third bracket further includes a rotating bearing, the rotating bearing is arranged between the moving plate and the static plate, the rotating bearing is ring-shaped and the coil is located in the On the inner side of the ring, the driving magnet on the moving plate is located on the inner side of the ring.

在一个示例性实施例中，所述静盘上具有多个固定柱，所述固定柱上绕设有所述线圈。In an exemplary embodiment, the static plate is provided with a plurality of fixed posts, and the coil is wound on the fixed posts.

在一个示例性实施例中，所述动盘包括：盘体，所述盘体具有避让所述固定柱的避让孔，所述驱动磁铁设置在所述盘体处；围挡结构，所述围挡结构绕所述盘体的周向连续设置以围成所述第三中空腔。In an exemplary embodiment, the movable plate includes: a plate body with an escape hole for avoiding the fixed post, the drive magnet is arranged at the plate body; an enclosure structure, the enclosure The blocking structure is continuously arranged around the circumference of the disc body to enclose the third hollow cavity.

在一个示例性实施例中，所述围挡结构具有钟摆件，以使所述动盘的重心与几何中心不重合。In an exemplary embodiment, the enclosure structure has a pendulum, so that the center of gravity of the moving plate does not coincide with the geometric center.

在一个示例性实施例中，所述动盘上的驱动磁铁和所述静盘上的线圈错开后分别至所述静盘的中心点的连线之间形成的偏置角度小于等于±15度。In an exemplary embodiment, the offset angle formed between the lines connecting the driving magnets on the moving plate and the coils on the stationary plate to the center point of the stationary plate is less than or equal to ±15 degrees after being staggered. .

在一个示例性实施例中，所述偏置角度为±10度。In an exemplary embodiment, the offset angle is ±10 degrees.

在一个示例性实施例中，所述第一支架的转动角度范围为-5度至5度；所述第二支架的转动角度范围为-5度至5度。In an exemplary embodiment, the rotation angle of the first support ranges from -5 degrees to 5 degrees; the rotation angle of the second support ranges from -5 degrees to 5 degrees.

在一个示例性实施例中，所述第三支架还包括柔性电路板，所述柔性电路板设置在所述转动轴承与所述静盘之间，所述柔性电路板与多个所述线圈均电连接以向多个所述线圈供电以形成多个电磁铁，根据所述线圈的通电情况，所述电磁铁与所述驱动磁铁的磁性相同或者相反，所述电磁铁与所述驱动磁铁相互吸引或者排斥以使所述第一支架、所述第二支架和所述动盘转动。In an exemplary embodiment, the third support further includes a flexible circuit board, the flexible circuit board is arranged between the rotating bearing and the static plate, and the flexible circuit board and the plurality of coils are both Electrically connected to supply power to a plurality of the coils to form a plurality of electromagnets. According to the energization of the coils, the electromagnets and the driving magnets have the same or opposite magnetic properties, and the electromagnets and the driving magnets are mutually Attracting or repelling to make the first bracket, the second bracket and the movable plate rotate.

在一个示例性实施例中，所述摄像头模组还包括环形柔性电路板，所述围挡结构还具有缺口部，以使所述环形柔性电路板从所述缺口部处伸出。In an exemplary embodiment, the camera module further includes an annular flexible circuit board, and the enclosure structure further has a notch so that the annular flexible circuit board protrudes from the notch.

通过本公开，所述第一支架与所述第二支架可转动地连接，以使所述第一支架绕第一轴线转动使得所述摄像头模组能够跟随所述第一支架转动，根据所述摄像头模组受到的抖动情况调整转动角度，从而实现转动防抖。因此，可以解决相关技术中电子设备的摄像头的防抖能力不足的技术问题，达到了增强电子设备的摄像头的防抖能力的效果。Through the present disclosure, the first bracket and the second bracket are rotatably connected, so that the first bracket rotates around a first axis so that the camera module can follow the first bracket to rotate, according to the Adjust the rotation angle of the camera module's jitter, so as to realize the anti-shake of the rotation. Therefore, the technical problem of insufficient anti-shake ability of the camera of the electronic device in the related art can be solved, and the effect of enhancing the anti-shake ability of the camera of the electronic device is achieved.

附图说明Description of the drawings

图1是本公开实施例的一种微云台防抖装置的***图；Fig. 1 is an exploded view of a micro-pan-tilt anti-shake device according to an embodiment of the present disclosure;

图2是图1中的第一支架的结构示意图；FIG. 2 is a schematic diagram of the structure of the first bracket in FIG. 1;

图3是图1中的第二支架的结构示意图；FIG. 3 is a schematic diagram of the structure of the second bracket in FIG. 1;

图4是图1中的第三支架的结构示意图；4 is a schematic diagram of the structure of the third bracket in FIG. 1;

图5是图1中的第二支架的剖面图；Figure 5 is a cross-sectional view of the second bracket in Figure 1;

图6是图1中的第二支架的转动示意图；Fig. 6 is a schematic diagram of the rotation of the second bracket in Fig. 1;

图7是图1中的第三支架的转动控制示意图。Fig. 7 is a schematic diagram of the rotation control of the third bracket in Fig. 1.

其中，上述附图包括以下附图标记：Among them, the above drawings include the following reference signs:

10、第一支架；11、第一转轴连接件；20、第二支架；21、第二转轴连接件；30、第三支架；31、动盘；311、盘体；3111、第一驱动磁铁；3112、第二驱动磁铁；3113、第三驱动磁铁；3114、第四驱动磁铁；3115、第一线圈；3116、第二线圈；3117、第三线圈；3118、第四线圈；312、围挡结构；3121、钟摆件；32、静盘；321、线圈；322、固定柱；33、转动轴承；34、柔性电路板；40、摄像头模组；41、环形柔性电路板；50、被驱动件。10. The first bracket; 11. The first shaft connector; 20, the second bracket; 21, the second shaft connector; 30, the third bracket; 31, the moving plate; 311, the plate body; 3111, the first drive magnet 3112, second drive magnet; 3113, third drive magnet; 3114, fourth drive magnet; 3115, first coil; 3116, second coil; 3117, third coil; 3118, fourth coil; 312, enclosure Structure; 3121, pendulum; 32, static plate; 321, coil; 322, fixed column; 33, rotating bearing; 34, flexible circuit board; 40, camera module; 41, ring-shaped flexible circuit board; 50, driven part .

具体实施方式detailed description

下文中将参考附图并结合实施例来详细说明本公开的实施例。Hereinafter, the embodiments of the present disclosure will be described in detail with reference to the drawings and in conjunction with the embodiments.

需要说明的是，本公开的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。It should be noted that the terms “first” and “second” in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence.

本公开实施例中所提供的微云台防抖装置主要设置为普通AF摄像头模组40的转动防抖，当然也可以设置为FF及OIS等其他有转动防抖需求的终端电子设备。以用于普通AF摄像头模组40为例，图1是本公开实施例的一种微云台防抖装置的***图。如图1所示，微云台防抖装置包括第一支架10和第二支架20。所述第一支架10具有第一中空腔，所述第一中空腔容置有摄像头模组40，所述摄像头模组40与所述第一支架10固定连接。所述第二支架20具有第二中空腔，所述第一支架10容置在所述第二中空腔内，所述第一支架10与所述第二支架20可转动地连接，以使所述第一支架10绕第一轴线转动。The micro-pan-tilt anti-shake device provided in the embodiments of the present disclosure is mainly set to the rotation anti-shake of the ordinary AF camera module 40, of course, it can also be set to other terminal electronic devices that require rotation anti-shake, such as FF and OIS. Taking an ordinary AF camera module 40 as an example, FIG. 1 is an exploded view of a micro-pan-tilt anti-shake device according to an embodiment of the present disclosure. As shown in FIG. 1, the anti-shake device of the micro-pan-tilt includes a first bracket 10 and a second bracket 20. The first bracket 10 has a first hollow cavity, the first hollow cavity houses a camera module 40, and the camera module 40 is fixedly connected to the first bracket 10. The second bracket 20 has a second hollow cavity, the first bracket 10 is accommodated in the second hollow cavity, and the first bracket 10 and the second bracket 20 are rotatably connected to make the The first bracket 10 rotates around a first axis.

通过所述第一支架10与所述第二支架20可转动地连接，以使所述第一支架10绕第一轴线转动，使得所述摄像头模组40能够跟随所述第一支架10转动，根据所述摄像头模组40受到的抖动情况调整转动角度，从而实现转动防抖。因此，可以解决相关技术中电子设备的摄像头的防抖能力不足的技术问题，达到了增强电子设备的摄像头的防抖能力的效果。The first support 10 and the second support 20 are rotatably connected, so that the first support 10 rotates around a first axis, so that the camera module 40 can follow the first support 10 to rotate, The rotation angle is adjusted according to the shaking condition of the camera module 40, so as to realize the anti-shake of rotation. Therefore, the technical problem of insufficient anti-shake ability of the camera of the electronic device in the related art can be solved, and the effect of enhancing the anti-shake ability of the camera of the electronic device is achieved.

在一个示例性实施例中，如图1所示，微云台防抖装置还包括第三支架30。所述第三支架30包括相对平面转动的动盘31和静盘32，以使所述动盘31绕第二轴线转动，所述动盘31具有第三中空腔，所述第二支架20容置在所述第三中空腔内，所述第二支架20与所述动盘31可转动地连接，以使所述第二支架20绕第三轴线转动。所述第一轴线、所述第二轴线和所述第三轴线之间具有夹角。In an exemplary embodiment, as shown in FIG. 1, the anti-shake device of the micro-pan-tilt further includes a third bracket 30. The third bracket 30 includes a movable disk 31 and a static disk 32 that rotate relative to a plane, so that the movable disk 31 rotates about a second axis, the movable disk 31 has a third hollow cavity, and the second bracket 20 accommodates Placed in the third hollow cavity, the second bracket 20 is rotatably connected with the movable plate 31 so that the second bracket 20 can rotate around a third axis. There is an included angle between the first axis, the second axis and the third axis.

所述第三支架30包括相对平面转动的动盘31和静盘32，以使所述动盘31绕第二轴线转动，所述第二支架20与所述动盘31可转动地连接，以使所述第二支架20绕第三轴线转动，且所述第一轴线、所述第二轴线和所述第三轴线之间具有夹角，使得所述摄像头模组40能够在三个方向上转动，从而实现三个方向上的防抖。因此，可以解决相关技术中电子设备的摄像头的防抖能力不足的技术问题，达到了增强电子设备的摄像头的防抖能力的效果。The third bracket 30 includes a movable disk 31 and a static disk 32 that rotate relative to a plane, so that the movable disk 31 rotates about a second axis, and the second bracket 20 is rotatably connected with the movable disk 31 to The second bracket 20 is rotated around a third axis, and the first axis, the second axis, and the third axis have an included angle, so that the camera module 40 can move in three directions Rotate to achieve anti-shake in three directions. Therefore, the technical problem of insufficient anti-shake ability of the camera of the electronic device in the related art can be solved, and the effect of enhancing the anti-shake ability of the camera of the electronic device is achieved.

在一个示例性实施例中，所述第一轴线、所述第二轴线和所述第三轴线均彼此垂直。具体的，所述第一轴线相当于三维直角坐标系中的Y轴，所述第二轴线相当于三维直角坐标系中的Z轴，所述第三轴线相当于三维直角坐标系中的X轴。也就是说，通过所述第一支架10绕第一轴线转动，所述动盘31绕第二轴线转动以及所述第二支架20绕第三轴线转动，实现了摄像头模组40在三维空间上的转动，具有很高的转动自由度，使得防抖效果更好。In an exemplary embodiment, the first axis, the second axis, and the third axis are all perpendicular to each other. Specifically, the first axis is equivalent to the Y axis in the three-dimensional rectangular coordinate system, the second axis is equivalent to the Z axis in the three-dimensional rectangular coordinate system, and the third axis is equivalent to the X axis in the three-dimensional rectangular coordinate system. . That is to say, through the rotation of the first bracket 10 about the first axis, the rotation of the movable plate 31 about the second axis, and the rotation of the second bracket 20 about the third axis, the camera module 40 is realized in a three-dimensional space. The rotation has a high degree of freedom of rotation, which makes the anti-shake effect better.

在一个示例性实施例中，如图1和图4所示，所述静盘32具有驱动组件，所述动盘31、所述第一支架10和所述第二支架20上均具有与所述驱动组件配合的多个被驱动件50。通过驱动组件与被驱动件50之间的驱动，从而实现第一支架10绕第一轴线转动、所述动盘31绕第二轴线转动以及所述第二支架20绕第三轴线转动。In an exemplary embodiment, as shown in FIGS. 1 and 4, the static disk 32 has a drive assembly, and the movable disk 31, the first bracket 10, and the second bracket 20 have A plurality of driven parts 50 matched with the driving assembly. Through the driving between the driving assembly and the driven part 50, the rotation of the first bracket 10 about the first axis, the rotation of the movable plate 31 about the second axis, and the rotation of the second bracket 20 about the third axis are realized.

在一个示例性实施例中，如图4所示，所述驱动组件包括多个间隔设置的线圈321，所述被驱动件50是驱动磁铁。所述静盘32上具有多个固定柱322，所述固定柱322上绕设有所述线圈321。当所述线圈321通电时，所述线圈321和所述固定柱322形成电磁铁，电磁铁与驱动磁铁互相吸引或者排斥，从而实现所述第一支架10、所述第二支架20和所述动盘31的转动。In an exemplary embodiment, as shown in FIG. 4, the driving assembly includes a plurality of coils 321 arranged at intervals, and the driven part 50 is a driving magnet. The static plate 32 has a plurality of fixing posts 322, and the coil 321 is wound on the fixing posts 322. When the coil 321 is energized, the coil 321 and the fixed post 322 form an electromagnet, and the electromagnet and the driving magnet attract or repel each other, thereby realizing the first support 10, the second support 20 and the Rotation of the moving plate 31.

在一个示例性实施例中，如图1至图4所示，所述第一支架10上的所述驱动磁铁和所述第二支架20的所述驱动磁铁错开设置。将所述第一支架10上的所述驱动磁铁和所述第二支架20的所述驱动磁铁错开设置，从而使得所述第一支架10能够绕第一轴线转动，所述第二支架20能够绕第三轴线转动，从而实现了摄像头模组40在三维直角坐标系的Y轴和X 轴方向上的转动。所述第一支架10上的所述驱动磁铁和所述第二支架20的所述驱动磁铁分别于所述静盘32上的所述线圈321一一对应设置。所述第一支架10上的所述驱动磁铁与所述静盘32上的所述线圈321一一对应设置，从而使得所述线圈321通电时能够吸引或者排斥所述驱动磁铁，从而实现所述第一支架10绕第一轴线转动。同样的，所述第二支架20上的所述驱动磁铁与所述静盘32上的所述线圈321一一对应设置，从而使得所述线圈321通电时能够吸引或者排斥所述驱动磁铁，从而实现所述第二支架20绕第三轴线转动。所述动盘31上的所述驱动磁铁和所述静盘32上的所述线圈321错开设置。通过将所述驱动磁铁与所述线圈321错开设置，当所述线圈321通电时，所述线圈321与所述驱动磁铁互相吸引或者排斥，从而产生推动所述转盘在所述静盘32上转动的力，也就是所述转盘能够绕第二轴线转动，从而实现了摄像头模组40在三维直角坐标系的Z轴方向上的转动。In an exemplary embodiment, as shown in FIGS. 1 to 4, the driving magnet on the first bracket 10 and the driving magnet on the second bracket 20 are staggered. The driving magnets on the first bracket 10 and the driving magnets of the second bracket 20 are staggered, so that the first bracket 10 can rotate about a first axis, and the second bracket 20 can The rotation around the third axis realizes the rotation of the camera module 40 in the Y-axis and X-axis directions of the three-dimensional rectangular coordinate system. The driving magnets on the first support 10 and the driving magnets of the second support 20 are respectively arranged on the coils 321 on the static plate 32 in a one-to-one correspondence. The driving magnet on the first bracket 10 and the coil 321 on the static plate 32 are arranged in one-to-one correspondence, so that the coil 321 can attract or repel the driving magnet when the coil 321 is energized, thereby achieving the The first bracket 10 rotates around a first axis. Similarly, the driving magnet on the second bracket 20 and the coil 321 on the static plate 32 are arranged in a one-to-one correspondence, so that the coil 321 can attract or repel the driving magnet when the coil 321 is energized, thereby The second bracket 20 is realized to rotate around the third axis. The driving magnet on the movable plate 31 and the coil 321 on the static plate 32 are staggered. By staggering the driving magnet and the coil 321, when the coil 321 is energized, the coil 321 and the driving magnet attract or repel each other, thereby pushing the turntable to rotate on the static disk 32 That is, the turntable can rotate around the second axis, thereby realizing the rotation of the camera module 40 in the Z-axis direction of the three-dimensional rectangular coordinate system.

在一个示例性实施例中，如图2至图3所示，所述第一支架10为四边形框架，所述第一支架10的第一组相对设置的两个侧边上分别连接有第一转轴连接件11，所述第一支架10的第二组相对设置的两个侧边上分别具有所述驱动磁铁。所述第二支架20为四边形框架，所述第二支架20的第一组相对设置的两个侧边上分别连接有第二转轴连接件21，所述第二支架20的第二组相对设置的两个侧边上分别具有所述驱动磁铁。其中，所述第一转轴连接件11与所述第二支架20的第二组相对设置的两个侧边连接，以使所述第一支架10能够相对于所述第二支架20转动，所述第二转轴连接件21与所述动盘31的两侧连接，以使所述第二支架20能够相对于所述动盘31转动。In an exemplary embodiment, as shown in FIGS. 2 to 3, the first bracket 10 is a quadrilateral frame, and the first set of opposite sides of the first bracket 10 are respectively connected with first The rotating shaft connecting piece 11 has the driving magnets on two opposite sides of the second group of the first bracket 10 respectively. The second bracket 20 is a quadrilateral frame, and the two opposite sides of the first group of the second bracket 20 are respectively connected with a second shaft connector 21, and the second group of the second bracket 20 is opposite to each other. The drive magnets are respectively provided on the two sides of the drive magnet. Wherein, the first shaft connecting member 11 is connected to two opposite sides of the second set of the second bracket 20, so that the first bracket 10 can rotate relative to the second bracket 20, so The second rotating shaft connecting member 21 is connected to both sides of the moving plate 31 so that the second bracket 20 can rotate relative to the moving plate 31.

具体的，两个所述第一转轴连接件11同轴设置，两个所述第一转轴连接件11的轴向与第一轴线重合，从而实现了摄像头模组40在三维直角坐标系的Y轴方向上的转动。两个所述第二转轴连接件21同轴设置，两个所述第二转轴连接件21的轴向与第三轴线重合，从而实现了摄像头模组40在三维直角坐标系的X轴方向上的转动。Specifically, the two first rotating shaft connectors 11 are coaxially arranged, and the axial directions of the two first rotating shaft connectors 11 coincide with the first axis, thereby realizing the Y of the camera module 40 in the three-dimensional rectangular coordinate system. Rotation in the direction of the axis. The two second rotating shaft connectors 21 are coaxially arranged, and the axial directions of the two second rotating shaft connectors 21 coincide with the third axis, so that the camera module 40 is in the X-axis direction of the three-dimensional rectangular coordinate system. Rotation.

在一个示例性实施例中，所述第一转轴连接件11和所述第二转轴连接件21均为转轴螺钉。In an exemplary embodiment, the first rotating shaft connecting member 11 and the second rotating shaft connecting member 21 are both rotating shaft screws.

在一个示例性实施例中，如图5所示，所述第二支架20靠近所述静盘32一侧的表面上设置有所述驱动磁铁。同样的，所述第一支架10靠近所述静盘32一侧的表面上设置有所述驱动磁铁。具体的，所述第一支架10和所述第二支架20靠近所述静盘32一侧的表面上设置容置凸包，所述容置凸包具有朝向所述静盘32的开口，所述驱动磁铁容置在所述开口内并与所述开口的平面平齐。In an exemplary embodiment, as shown in FIG. 5, the driving magnet is provided on the surface of the second bracket 20 on the side close to the static plate 32. Similarly, the driving magnet is provided on the surface of the first support 10 on the side close to the static plate 32. Specifically, the first bracket 10 and the second bracket 20 are provided with accommodating convex hulls on the surface on the side close to the static plate 32, and the accommodating convex hull has an opening facing the static plate 32, so The driving magnet is accommodated in the opening and is flush with the plane of the opening.

以所述第二支架20的转动方式为例，如图5所示，本实施例中的第二支架20上的驱动磁铁为两个，左侧的所述线圈321通电形成电磁铁，与其顶部的所述驱动磁铁产生力F1，从而推斥或者吸引所述第二支架20绕所述第一转轴连接件11顺时针或者逆时针转动。同样的，右侧的所述线圈321通电形成电磁铁，与其顶部的所述驱动磁铁产生力F2，从而推斥或者吸引所述第二支架20绕所述第一转轴连接件11顺时针或者逆时针转动。力F1与力F2的大小及方向均能够通过控制所述线圈321的电流大小和方向进行调整，力F1与力F2之间形成动态平衡，从而实现第二支架20绕所述第一转轴连接件11顺时针或者逆时针转动。如图6所示，所述第二支架20的转动角度范围为-5度至5度。同样的，所述第一支架10的转动方式与所述第二支架20的转动方式是一样的，所述第一支架10上的驱动磁铁也为两个，在此不再赘述，所述第一支架10的转动角度范围也为-5度至5度。当然，所述第一支架10的转动角度范围和所述第二支架20的转动角度范围可以根据实际使用需求进行调整，只不过当所述第一支架10的转动角度范围和所述第二支架20的转动角度范围大于±5度时，整个微云台防抖装置的厚度需要相应的增加，以保证第一支架10的转动角度范围和所述第二支架20的转动角度范围较大时微云台防抖装置的内部结构不会产生干涉。Taking the rotation of the second bracket 20 as an example, as shown in FIG. 5, there are two driving magnets on the second bracket 20 in this embodiment, and the coil 321 on the left is energized to form an electromagnet. The driving magnet generates a force F1, thereby repelling or attracting the second bracket 20 to rotate clockwise or counterclockwise around the first shaft connector 11. Similarly, the coil 321 on the right side is energized to form an electromagnet, which generates a force F2 with the driving magnet on the top thereof, thereby repelling or attracting the second bracket 20 clockwise or counterclockwise around the first shaft connector 11 The hour hand turns. The magnitude and direction of the force F1 and the force F2 can be adjusted by controlling the magnitude and direction of the current of the coil 321, and a dynamic balance is formed between the force F1 and the force F2, so as to realize the connection of the second bracket 20 around the first shaft 11 Turn clockwise or counterclockwise. As shown in FIG. 6, the rotation angle of the second bracket 20 ranges from -5 degrees to 5 degrees. Similarly, the rotation mode of the first bracket 10 is the same as the rotation mode of the second bracket 20, and there are two driving magnets on the first bracket 10, which will not be repeated here. The rotation angle of a bracket 10 also ranges from -5 degrees to 5 degrees. Of course, the rotation angle range of the first support 10 and the rotation angle range of the second support 20 can be adjusted according to actual use requirements, but when the rotation angle range of the first support 10 and the second support When the rotation angle range of 20 is greater than ±5 degrees, the thickness of the entire micro-head anti-shake device needs to be increased accordingly to ensure that the rotation angle range of the first bracket 10 and the rotation angle range of the second bracket 20 are relatively large. The internal structure of the gimbal anti-shake device will not interfere.

在一个示例性实施例中，如图1所示，所述第三支架30还包括转动轴承33，所述转动轴承33设置在所述动盘31与所述静盘32之间，以使所述动盘31能够相对于所述静盘32转动。第二轴线垂直于所述静盘32所在的平面，从而实现了摄像头模组40在三维直角坐标系的Z轴方向上的转动。轴承连接具有摩擦力小、运转平稳的优点，从而保证了所述动盘31在所述静盘32上转动的精确性和稳定性。In an exemplary embodiment, as shown in FIG. 1, the third bracket 30 further includes a rotating bearing 33, which is arranged between the moving disk 31 and the static disk 32 to make the The moving disk 31 can rotate relative to the static disk 32. The second axis is perpendicular to the plane where the static plate 32 is located, thereby realizing the rotation of the camera module 40 in the Z-axis direction of the three-dimensional rectangular coordinate system. The bearing connection has the advantages of low friction and stable operation, thereby ensuring the accuracy and stability of the rotating disk 31 on the static disk 32.

在一个示例性实施例中，如图1和图4所示，所述第三支架30还包括转动轴承33，所述转动轴承33设置在所述动盘31与所述静盘32之间，所述转动轴承33呈环状且所述线圈321位于所述环状的内侧，所述动盘31上的所述驱动磁铁位于所述环状的内侧。具体的，所述动盘31的外周缘形状、所述转动轴承33的外周缘形状和所述静盘32的外周缘形状相适配。In an exemplary embodiment, as shown in FIGS. 1 and 4, the third bracket 30 further includes a rotating bearing 33, and the rotating bearing 33 is disposed between the moving disk 31 and the static disk 32, The rotating bearing 33 has a ring shape, the coil 321 is located inside the ring shape, and the driving magnet on the moving plate 31 is located inside the ring shape. Specifically, the shape of the outer periphery of the moving disk 31 and the shape of the outer periphery of the rotating bearing 33 are matched to the shape of the outer periphery of the stationary disk 32.

在一个示例性实施例中，如图4所示，所述动盘31包括盘体311和围挡结构312。所述盘体311具有避让所述固定柱322的避让孔，所述驱动磁铁设置在所述盘体311处；所述围挡结构312绕所述盘体311的周向连续设置以围成所述第三中空腔。所述固定柱322穿过所述避让孔，使得所述固定柱322更接近驱动磁铁，保证所述固定柱322与绕设在所述固定柱322上的线圈321形成的电磁铁与驱动磁铁之间的吸引或者排斥效果。In an exemplary embodiment, as shown in FIG. 4, the moving disk 31 includes a disk body 311 and a surrounding structure 312. The disc body 311 has an escape hole for avoiding the fixed post 322, and the driving magnet is arranged at the disc body 311; the enclosure structure 312 is continuously arranged around the circumference of the disc body 311 to enclose the The third hollow cavity. The fixed post 322 passes through the escape hole, so that the fixed post 322 is closer to the driving magnet, ensuring that the fixed post 322 and the coil 321 formed on the fixed post 322 are formed by the electromagnet and the driving magnet. Attracting or repulsive effect between.

在一个示例性实施例中，如图4所示，所述围挡结构312具有钟摆件3121，以使所述动盘31的重心与几何中心不重合。具体的，钟摆件3121位于所述围挡机构的一段上且具有一定的重量，从而使得所述转盘的重心位于所述钟摆件3121上，从而使得所述转盘的重心与几何中心不重合。当微云台防抖装置不工作时，所述线圈321不通电，因而不会产生推动所述转盘转动的力，在所述钟摆件3121的重力作用下，所述转盘的所述围挡结构312具有所述钟摆件3121的一端保持竖直朝下，从而保证了微云台防抖装置在不工作状态下保持竖直方向。In an exemplary embodiment, as shown in FIG. 4, the enclosure structure 312 has a pendulum 3121, so that the center of gravity of the moving plate 31 does not coincide with the geometric center. Specifically, the pendulum member 3121 is located on a section of the enclosure mechanism and has a certain weight, so that the center of gravity of the turntable is located on the pendulum member 3121, so that the center of gravity of the turntable does not coincide with the geometric center. When the micro-head anti-shake device is not working, the coil 321 is not energized, so no force is generated to push the turntable to rotate. Under the gravity action of the pendulum member 3121, the enclosing structure of the turntable The end of the 312 with the pendulum 3121 is kept upright down, so as to ensure that the anti-shake device of the micro-pan-tilt keeps the vertical direction in the non-working state.

在一个示例性实施例中，如图7所示，所述动盘31上的驱动磁铁和所述静盘32上的线圈321错开后分别至所述静盘32的中心点的连线之间形成的偏置角度小于等于±15度。需要特别说明的是，偏置角度的正负号代表的是转动方向，其中正号为顺时针方向，负号为逆时针方向。在本实施例中，所述偏置角度为±10度。当然，偏置角度也可以大于±15度，可以根据实际使用需求进行选择。In an exemplary embodiment, as shown in FIG. 7, the driving magnet on the moving plate 31 and the coil 321 on the static plate 32 are staggered and connected to the center point of the static plate 32. The formed offset angle is less than or equal to ±15 degrees. It should be noted that the sign of the offset angle represents the direction of rotation, where the positive sign is clockwise and the negative sign is counterclockwise. In this embodiment, the offset angle is ±10 degrees. Of course, the offset angle can also be greater than ±15 degrees, which can be selected according to actual usage requirements.

在一个示例性实施例中，如图7所示，所述动盘31上的驱动磁铁为四个，四个驱动磁铁间隔设置在盘体311上，且四个驱动磁铁与所述静盘32上的对应的四个线圈321错开后分别至所述静盘32的中心点的连线之间形成的偏置角度均为10度。在本实施例中，在所述静盘32的圆周方向上，第一驱动磁铁3111位于第一线圈3115的左侧，第二驱动磁铁3112位于第二线圈3116的右侧，第三驱动磁铁3113位于第三线圈3117的左侧，第四驱动磁铁3114位于第四线圈3118的右侧。四个线圈同时通电，但是第一线圈3115和第三线圈3117的磁性相反，第二线圈3116和第四线圈3118的磁性相反，所述动盘31获得四个转矩，但是四个转矩大小相同但是方向两两不同，因此互相抵消，此时所述动盘31相对于所述静盘32处于静止状态。当所述动盘31需要转动时，以所述动盘31逆时针转动为例，第二线圈3116和第四线圈3118变换磁性改为分别吸引第二驱动磁铁3112和第四驱动磁铁3114，而第一线圈3115和第三线圈3117继续分别推斥第一驱动磁铁3111和第三驱动磁铁3113，从而使得所述动盘31获得逆时针转矩，开始逆时针加速转动。当所述转盘快要转到预定偏置角度时，第二线圈3116和第四线圈3118变换磁性改为分别推斥第二驱动磁铁3112和第四驱动磁铁3114，而第一线圈3115和第三线圈3117变换磁性改为分别吸引第一驱动磁铁3111和第三驱动磁铁3113，从而使得所述动盘31获得顺时针转矩，所述动盘31开始减速转动。当所述动盘31达到预定偏置角度时，所述动盘31的转速为0，同时第二线圈3116和第四线圈3118变化磁性改为推斥第二驱动磁铁3112和吸引第四驱动磁铁3114，第一线圈3115和第三线圈3117也变化磁性改为推斥第一驱动磁铁3111和吸引第三驱动磁铁3113，所述动盘31获得的四个转矩重新相互抵消，所述动盘31停在预定的偏转角度，从而完成三维直角坐标系的Z轴方向上的转动防抖。当然，所述动盘31上的驱动磁铁也可以不止四个，可以根据实际需求进行选择，只要达到上述的转动防抖的效果即可。此外，对所述动盘31上的驱动磁铁相对应的线圈321的控制电流大小和方向的方式也可以是不同的，只要达到转动防抖的效果即可。In an exemplary embodiment, as shown in FIG. 7, there are four driving magnets on the moving disk 31, the four driving magnets are arranged on the disk body 311 at intervals, and the four driving magnets are connected to the static disk 32. The offset angles formed between the connecting lines of the four corresponding coils 321 to the center point of the static plate 32 after staggering are all 10 degrees. In this embodiment, in the circumferential direction of the static plate 32, the first driving magnet 3111 is located on the left side of the first coil 3115, the second driving magnet 3112 is located on the right side of the second coil 3116, and the third driving magnet 3113 Located on the left side of the third coil 3117, the fourth driving magnet 3114 is located on the right side of the fourth coil 3118. The four coils are energized at the same time, but the magnetic properties of the first coil 3115 and the third coil 3117 are opposite, and the magnetic properties of the second coil 3116 and the fourth coil 3118 are opposite. The rotor 31 obtains four torques, but the magnitude of the four torques They are the same but in different directions, so they cancel each other out. At this time, the movable disk 31 is in a static state relative to the static disk 32. When the movable plate 31 needs to be rotated, taking the counterclockwise rotation of the movable plate 31 as an example, the magnetic conversion of the second coil 3116 and the fourth coil 3118 is changed to attract the second driving magnet 3112 and the fourth driving magnet 3114 respectively, and The first coil 3115 and the third coil 3117 continue to repel the first driving magnet 3111 and the third driving magnet 3113, respectively, so that the movable plate 31 obtains a counterclockwise torque and starts to rotate counterclockwise. When the turntable is about to turn to a predetermined bias angle, the second coil 3116 and the fourth coil 3118 change their magnetic fields to repel the second driving magnet 3112 and the fourth driving magnet 3114, and the first coil 3115 and the third coil 3114 The 3117 transforms the magnetism to attract the first driving magnet 3111 and the third driving magnet 3113 respectively, so that the moving disk 31 obtains a clockwise torque, and the moving disk 31 starts to decelerate to rotate. When the moving plate 31 reaches a predetermined bias angle, the rotating speed of the moving plate 31 is 0, and the second coil 3116 and the fourth coil 3118 change their magnetic properties to repel the second drive magnet 3112 and attract the fourth drive magnet. 3114, the first coil 3115 and the third coil 3117 also change their magnetic properties to repel the first drive magnet 3111 and attract the third drive magnet 3113. The four torques obtained by the moving disk 31 cancel each other again, and the moving disk 31 31 stops at a predetermined deflection angle, thereby completing the anti-shake rotation in the Z-axis direction of the three-dimensional rectangular coordinate system. Of course, there may be more than four driving magnets on the moving plate 31, and they can be selected according to actual needs, as long as the above-mentioned anti-shake effect of rotation is achieved. In addition, the method of controlling the current magnitude and direction of the coil 321 corresponding to the driving magnet on the movable plate 31 may also be different, as long as the effect of rotation anti-shake is achieved.

在一个示例性实施例中，如图1和图4所示，所述第三支架30还包括柔性电路板34，所述柔性电路板34设置在所述转动轴承33与所述静盘32之间，所述柔性电路板34与多个所述线圈321均电连接以向多个所述线圈321供电以形成多个电磁铁，根据所述线圈321的通电情况，所述电磁铁与所述驱动磁铁的磁性相同或者相反，所述电磁铁与所述驱动磁铁相互吸引或者排斥以使所述第一支架10、所述第二支架20和所述动盘31转动。具体的，所述柔性电路板34具有与多个固定柱322相应的避让孔，从而使得多个固定柱322穿过所述柔性电路板34。所述固定柱322穿过所述柔性电路板34的避让孔，使得所述固定柱322更接近驱动磁铁，保证所述固定柱322与绕设在所述固定柱322上的线圈321形成的电磁铁与驱动磁铁之间的吸引或者排斥效果。在另一个示例性实施例中，所述静盘32上不具有所述固定柱322，所述柔性电路板34具有多个与所述驱动磁铁相对应的突起柱，突起柱的周缘采用EDA走线的方式形成螺旋线圈。当螺旋线圈通电时形成电磁铁，电磁铁与所述驱动磁铁的磁性相同或者相反，电磁铁与所述驱动磁铁相互吸引或者排斥以使所述第一支架10、所述第二支架20和所述动盘31转动。In an exemplary embodiment, as shown in FIGS. 1 and 4, the third bracket 30 further includes a flexible circuit board 34, and the flexible circuit board 34 is disposed between the rotating bearing 33 and the static plate 32. Meanwhile, the flexible circuit board 34 and the plurality of coils 321 are electrically connected to supply power to the plurality of coils 321 to form a plurality of electromagnets. According to the energization of the coils 321, the electromagnets and the The magnetic properties of the driving magnet are the same or opposite, and the electromagnet and the driving magnet attract or repel each other to make the first bracket 10, the second bracket 20, and the movable plate 31 rotate. Specifically, the flexible circuit board 34 has escape holes corresponding to the plurality of fixing posts 322, so that the plurality of fixing posts 322 pass through the flexible circuit board 34. The fixed post 322 passes through the escape hole of the flexible circuit board 34, so that the fixed post 322 is closer to the driving magnet, ensuring that the electromagnetic formed between the fixed post 322 and the coil 321 wound on the fixed post 322 The attraction or repulsion effect between the iron and the driving magnet. In another exemplary embodiment, the static plate 32 does not have the fixed post 322, the flexible circuit board 34 has a plurality of protruding posts corresponding to the driving magnets, and the periphery of the protruding posts adopts EDA. The way of the wire forms a spiral coil. When the helical coil is energized, an electromagnet is formed. The electromagnet and the driving magnet have the same or opposite magnetic properties. The electromagnet and the driving magnet attract or repel each other so that the first bracket 10, the second bracket 20, and the The moving disk 31 rotates.

在一个示例性实施例中，如图1所示，所述摄像头模组40还包括环形柔性电路板41，所述围挡结构312还具有缺口部，以使所述环形柔性电路板41从所述缺口部处伸出。所述环形柔性电路板41与供电***和控制***连接，从而保证摄像头模组40的正常使用。考虑到摄像头模组40转动时，环形柔性电路板41会对摄像头模组40产生拉扯力，从而会影响摄像头模组40的转动精度，进而影响转动防抖效果，可以将摄像头模组40与供电***和控制***的连接方式由柔性电路板连接改为无线连接，这样防止了摄像头模组40转动时环形柔性电路板41会对摄像头模组40产生拉扯力，保证了摄像头模组40的转动精度，从而保证了转动防抖效果。In an exemplary embodiment, as shown in FIG. 1, the camera module 40 further includes a ring-shaped flexible circuit board 41, and the enclosure structure 312 also has a notch so that the ring-shaped flexible circuit board 41 is The notch is stretched out. The ring-shaped flexible circuit board 41 is connected with the power supply system and the control system, so as to ensure the normal use of the camera module 40. Considering that when the camera module 40 rotates, the ring-shaped flexible circuit board 41 will generate a pulling force on the camera module 40, which will affect the rotation accuracy of the camera module 40, thereby affecting the anti-shake effect of rotation. The camera module 40 can be connected to the power supply. The connection between the system and the control system is changed from flexible circuit board connection to wireless connection, which prevents the ring-shaped flexible circuit board 41 from generating a pulling force on the camera module 40 when the camera module 40 rotates, and ensures the rotation accuracy of the camera module 40 , Thus ensuring the anti-shake effect of rotation.

从以上的描述中，可以看出，本公开的实施例实现了如下技术效果：通过电磁控制，可以实现3个轴的转动防抖，同时可以实现更大的转动角度，同时体积也可做到很小。通过夹持防抖摄像头还能实现5轴的防抖，通过适当增加微小的尺寸便可实现更大角度的防抖，可延展性强。采用模块化设计，可最大程度保持所夹持的摄像头模组40的完整性，互换性及通用性较强。此外，本公开除了用于手机摄像头防抖，若采用更大的尺寸及电流也可应用于其他有防抖需求的终端电子设备。From the above description, it can be seen that the embodiments of the present disclosure achieve the following technical effects: through electromagnetic control, three-axis rotation and anti-shake can be achieved, at the same time, a larger rotation angle can be achieved, and the volume can also be achieved. Very small. By clamping the anti-shake camera, 5-axis anti-shake can also be achieved, and a larger angle of anti-shake can be achieved by appropriately adding a small size, and it is highly malleable. The modular design can maintain the integrity of the clamped camera module 40 to the greatest extent, and has strong interchangeability and versatility. In addition, in addition to being used for anti-shake of mobile phone cameras, the present disclosure can also be applied to other terminal electronic devices that require anti-shake if a larger size and current are used.

以上所述仅为本公开的优选实施例而已，并不用于限制本公开，对于本领域的技术人员来说，本公开可以有各种更改和变化。凡在本公开的原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。The foregoing descriptions are only preferred embodiments of the present disclosure, and are not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

一种微云台防抖装置，包括：An anti-shake device for a micro-head, including:

第一支架(10)，所述第一支架(10)具有第一中空腔，所述第一中空腔容置有摄像头模组(40)，所述摄像头模组(40)与所述第一支架(10)固定连接；The first bracket (10), the first bracket (10) has a first hollow cavity, the first hollow cavity contains a camera module (40), the camera module (40) and the first The bracket (10) is fixedly connected;

第二支架(20)，所述第二支架(20)具有第二中空腔，所述第一支架(10)容置在所述第二中空腔内，所述第一支架(10)与所述第二支架(20)可转动地连接，以使所述第一支架(10)绕第一轴线转动。The second bracket (20), the second bracket (20) has a second hollow cavity, the first bracket (10) is accommodated in the second hollow cavity, and the first bracket (10) is connected to the The second bracket (20) is rotatably connected, so that the first bracket (10) rotates around a first axis.
根据权利要求1所述的微云台防抖装置，其中，所述微云台防抖装置还包括第三支架(30)，所述第三支架(30)包括相对平面转动的动盘(31)和静盘(32)，以使所述动盘(31)绕第二轴线转动，所述动盘(31)具有第三中空腔，所述第二支架(20)容置在所述第三中空腔内，所述第二支架(20)与所述动盘(31)可转动地连接，以使所述第二支架(20)绕第三轴线转动，所述第一轴线、所述第二轴线和所述第三轴线之间具有夹角。The micro-head anti-shake device according to claim 1, wherein the micro-head anti-shake device further comprises a third bracket (30), and the third bracket (30) comprises a movable plate (31) that rotates relative to a plane. ) And a static disc (32) to make the movable disc (31) rotate around a second axis, the movable disc (31) has a third hollow cavity, and the second bracket (20) is accommodated in the first In the three hollow cavities, the second bracket (20) is rotatably connected with the movable plate (31), so that the second bracket (20) rotates around a third axis, and the first axis, the There is an included angle between the second axis and the third axis.
根据权利要求2所述的微云台防抖装置，其中，所述第一轴线、所述第二轴线和所述第三轴线均彼此垂直。The micro-pan-tilt anti-shake device according to claim 2, wherein the first axis, the second axis, and the third axis are all perpendicular to each other.
根据权利要求2所述的微云台防抖装置，其中，所述静盘(32)具有驱动组件，所述动盘(31)、所述第一支架(10)和所述第二支架(20)上均具有与所述驱动组件配合的多个被驱动件(50)。The anti-shake device for a micro-pan/tilt head according to claim 2, wherein the static disk (32) has a drive assembly, the movable disk (31), the first bracket (10) and the second bracket ( Each of 20) has a plurality of driven parts (50) that cooperate with the driving assembly.
根据权利要求4所述的微云台防抖装置，其中，所述驱动组件包括多个间隔设置的线圈(321)，所述被驱动件(50)是驱动磁铁，The anti-shake device for a micro-pan/tilt head according to claim 4, wherein the driving assembly comprises a plurality of coils (321) arranged at intervals, and the driven part (50) is a driving magnet,

所述第一支架(10)上的所述驱动磁铁和所述第二支架(20)的所述驱动磁铁错开设置；和/或The driving magnet on the first bracket (10) and the driving magnet on the second bracket (20) are staggered; and/or

所述第一支架(10)上的所述驱动磁铁和所述第二支架(20)的所述驱动磁铁分别于所述静盘(32)上的所述线圈(321)一一对应设置；和/或The driving magnet on the first bracket (10) and the driving magnet on the second bracket (20) are respectively arranged on the coils (321) on the static plate (32) in a one-to-one correspondence; and / or

所述动盘(31)上的所述驱动磁铁和所述静盘(32)上的所述线圈(321)错开设置。The driving magnet on the moving disk (31) and the coil (321) on the static disk (32) are staggered.
根据权利要求5所述的微云台防抖装置，其中，The anti-shake device for a micro-pan/tilt head according to claim 5, wherein:

所述第一支架(10)为四边形框架，所述第一支架(10)的第一组相对设置的两个侧边上分别连接有第一转轴连接件(11)，所述第一支架(10)的第二组相对设置的两个侧边上分别具有所述驱动磁铁；The first bracket (10) is a quadrilateral frame, and the first set of opposite sides of the first bracket (10) are respectively connected with first shaft connectors (11), and the first bracket ( 10) The driving magnets are respectively provided on the two opposite sides of the second group;

所述第二支架(20)为四边形框架，所述第二支架(20)的第一组相对设置的两个侧边上分别连接有第二转轴连接件(21)，所述第二支架(20)的第二组相对设置的两个侧边上分别具有所述驱动磁铁；The second bracket (20) is a quadrilateral frame, and two opposite sides of the first group of the second bracket (20) are respectively connected with second shaft connectors (21), and the second bracket ( 20) The driving magnets are respectively provided on two opposite sides of the second group;

其中，所述第一转轴连接件(11)与所述第二支架(20)的第二组相对设置的两个侧边连接，以使所述第一支架(10)能够相对于所述第二支架(20)转动，所述第二转轴连接件(21)与所述动盘(31)的两侧连接，以使所述第二支架(20)能够相对于所述动盘(31)转动。Wherein, the first shaft connecting piece (11) is connected to two opposite sides of the second set of the second bracket (20), so that the first bracket (10) can be relative to the first bracket (10). The second bracket (20) rotates, and the second rotating shaft connector (21) is connected to both sides of the moving disk (31), so that the second bracket (20) can be relative to the moving disk (31) Rotate.
根据权利要求5所述的微云台防抖装置，其中，The anti-shake device for a micro-pan/tilt head according to claim 5, wherein:

所述第一支架(10)靠近所述静盘(32)一侧的表面上设置有所述驱动磁铁；和/或The driving magnet is provided on the surface of the first bracket (10) on the side close to the static plate (32); and/or

所述第二支架(20)靠近所述静盘(32)一侧的表面上设置有所述驱动磁铁。The driving magnet is arranged on the surface of the second bracket (20) close to the side of the static plate (32).
根据权利要求5所述的微云台防抖装置，其中，The anti-shake device for a micro-pan/tilt head according to claim 5, wherein:

所述第一支架(10)和/或所述第二支架(20)靠近所述静盘(32)一侧的表面上设置容置凸包，所述容置凸包具有朝向所述静盘(32)的开口，所述驱动磁铁容置在所述开口内并与所述开口的平面平齐。The first bracket (10) and/or the second bracket (20) is provided with an accommodating convex hull on the surface of one side close to the static plate (32), and the accommodating convex hull has a surface facing the static plate In the opening of (32), the driving magnet is accommodated in the opening and is flush with the plane of the opening.
根据权利要求2至8中任一项所述的微云台防抖装置，其中，所述第三支架(30)还包括转动轴承(33)，所述转动轴承(33)设置在所述动盘(31)与所述静盘(32)之间，以使所述动盘(31)能够相对于所述静盘(32)转动。The anti-shake device for a micro-pan/tilt head according to any one of claims 2 to 8, wherein the third bracket (30) further comprises a rotating bearing (33), and the rotating bearing (33) is arranged on the moving bearing (33). Between the disk (31) and the static disk (32), so that the movable disk (31) can rotate relative to the static disk (32).
根据权利要求5所述的微云台防抖装置，其中，所述第三支架(30)还包括转动轴承(33)，所述转动轴承(33)设置在所述动盘(31)与所述静盘(32)之间，所述转动轴承(33)呈环状且所述线圈(321)位于所述环状的内侧，所述动盘(31)上的所述驱动磁铁位于所述环状的内侧。The anti-shake device for a micro-pan/tilt head according to claim 5, wherein the third bracket (30) further comprises a rotating bearing (33), and the rotating bearing (33) is arranged on the movable plate (31) and the rotating bearing (33). Between the static disks (32), the rotating bearing (33) is in the shape of a ring, the coil (321) is located inside the ring, and the driving magnet on the moving disk (31) is located on the Inside the ring.
根据权利要求5所述的微云台防抖装置，其中，所述静盘(32)上具有多个固定柱(322)，所述固定柱(322)上绕设有所述线圈(321)。The micro-head anti-shake device according to claim 5, wherein the static plate (32) is provided with a plurality of fixed posts (322), and the coils (321) are wound on the fixed posts (322) .
根据权利要求11所述的微云台防抖装置，其中，所述动盘(31)包括：The anti-shake device for a micro-pan/tilt head according to claim 11, wherein the movable plate (31) comprises:

盘体(311)，所述盘体(311)具有避让所述固定柱(322)的避让孔，所述驱动磁铁设置在所述盘体(311)处；A disc body (311), the disc body (311) has an escape hole for avoiding the fixed post (322), and the driving magnet is arranged at the disc body (311);

围挡结构(312)，所述围挡结构(312)绕所述盘体(311)的周向连续设置以围成所述第三中空腔。An enclosure structure (312), the enclosure structure (312) is continuously arranged around the circumference of the disc body (311) to enclose the third hollow cavity.
根据权利要求12所述的微云台防抖装置，其中，所述围挡结构(312)具有钟摆件(3121)，以使所述动盘(31)的重心与几何中心不重合。The micro-head anti-shake device according to claim 12, wherein the enclosure structure (312) has a pendulum (3121) so that the center of gravity of the moving plate (31) does not coincide with the geometric center.
根据权利要求5所述的微云台防抖装置，其中，所述动盘(31)上的驱动磁铁和所述静盘(32)上的线圈(321)错开后分别至所述静盘(32)的中心点的连线之间形成的偏置角度小于等于±15度。The anti-shake device for a micro-pan/tilt head according to claim 5, wherein the driving magnet on the movable plate (31) and the coil (321) on the static plate (32) are staggered to the static plate (32). The offset angle formed between the lines of the center points of 32) is less than or equal to ±15 degrees.
根据权利要求14所述的微云台防抖装置，其中，所述偏置角度为±10度。The micro-pan-tilt anti-shake device according to claim 14, wherein the offset angle is ±10 degrees.
根据权利要求2至8中任一项所述的微云台防抖装置，其中，The micro-head anti-shake device according to any one of claims 2 to 8, wherein:

所述第一支架(10)的转动角度范围为-5度至5度；The rotation angle range of the first bracket (10) is -5 degrees to 5 degrees;

所述第二支架(20)的转动角度范围为-5度至5度。The rotation angle of the second bracket (20) ranges from -5 degrees to 5 degrees.
根据权利要求10所述的微云台防抖装置，其中，所述第三支架(30)还包括柔性电路板(34)，所述柔性电路板(34)设置在所述转动轴承(33)与所述静盘(32)之间，所述柔性电路板(34)与多个所述线圈(321)均电连接以向多个所述线圈(321)供电以形成多个电磁铁，根据所述线圈(321)的通电情况，所述电磁铁与所述驱动磁铁的磁性相同或者相反，所述电磁铁与所述驱动磁铁相互吸引或者排斥以使所述第一支架(10)、所述第二支架(20)和所述动盘(31)转动。The anti-shake device for a micro-pan/tilt head according to claim 10, wherein the third bracket (30) further comprises a flexible circuit board (34), and the flexible circuit board (34) is arranged on the rotating bearing (33) Between the static plate (32), the flexible circuit board (34) and the plurality of coils (321) are electrically connected to supply power to the plurality of coils (321) to form a plurality of electromagnets, according to When the coil (321) is energized, the electromagnet and the driving magnet have the same or opposite magnetic properties, and the electromagnet and the driving magnet attract or repel each other so that the first bracket (10), the The second bracket (20) and the moving plate (31) rotate.
根据权利要求12所述的微云台防抖装置，其中，所述摄像头模组(40)还包括环形柔性电路板(41)，所述围挡结构(312)还具有缺口部，以使所述环形柔性电路板(41)从所述缺口部处伸出。The anti-shake device for a micro-pan/tilt head according to claim 12, wherein the camera module (40) further comprises a ring-shaped flexible circuit board (41), and the enclosure structure (312) also has a notch to make the The ring-shaped flexible circuit board (41) protrudes from the notch.