Camera module, electronic device and optical image stabilization method thereof

Abstract

The present invention provides a camera module, which includes: a lens assembly for receiving a light signal; a chip assembly, which is arranged opposite to the lens assembly and is used to convert the light signal into an image signal; and a driving assembly, which is connected to the chip assembly and can drive the chip assembly back to a position aligned with the optical axis of the lens assembly when the chip assembly is relatively offset relative to the lens assembly. The present invention also provides an electronic device and an optical image stabilization method thereof. By setting a driving assembly connected to the chip assembly, the driving assembly can drive the chip assembly back to a position aligned with the optical axis of the lens assembly when the chip assembly and the lens assembly are relatively offset, so as to compensate for the influence of the shaking of the camera module during the photographing process on the generated image quality, thereby realizing optical image stabilization when the camera module is photographing, and improving the photographing quality of the electronic device.

Description

Technical Field

[0001] The present invention relates to the field of electronic technology, and in particular to a camera module, an electronic device and an optical image stabilization method thereof. Background Art

[0002] With the development of optical technology, many electronic devices have a camera function. When a user uses an electronic device (such as a camera or a mobile phone) to take a photo, the user's hand shaking may cause the electronic device to shake, resulting in a blurry image taken by the electronic device.

[0003] At present, an optical anti-shake mechanism that can drive the lens to move is usually set in electronic devices to reduce the impact of electronic device shaking on the clarity of the image taken. However, this method cannot eliminate the impact of the camera module rotating around its optical axis on the image quality of the photo. Summary of the invention

[0004] The present invention provides a camera module, an electronic device and an optical anti-shake method thereof, which can eliminate the influence on the image quality of photographs caused by the rotation of the camera module around its optical axis.

[0005] In a first aspect, the present invention provides a camera module, the camera module comprising:

[0006] A lens assembly, used for receiving an optical signal;

[0007] a chip assembly, arranged opposite to the lens assembly, and configured to convert the optical signal into an image signal; and

[0008] A driving component is connected to the chip component, and when the chip component and the lens component are relatively offset, the driving component drives the chip component to return to a position aligned with the optical axis of the lens component.

[0009] The camera module provided in this embodiment is equipped with a driving component connected to the chip component. The driving component can drive the chip component to return to the optical axis position aligned with the lens component when the chip component and the lens component are relatively offset, so as to compensate for the influence of the shaking of the camera module during the shooting process on the generated image quality, thereby realizing optical image stabilization when the camera module is shooting, and improving the photo quality of the electronic device.

[0010] Among them, the driving component has a first movable end that can move relative to the lens assembly, and the first movable end is connected to the chip assembly. The camera module also includes a controller, and the controller is electrically connected to the driving component. When the chip assembly and the lens assembly are relatively offset, the controller controls the first movable end to drive the chip assembly to return to the optical axis position aligned with the lens assembly.

[0011] By setting the first movable end, the controller can drive the chip component to move by driving the first movable end to move. This driving structure can drive the chip component conveniently without affecting the performance of the chip component and has good stability.

[0012] Wherein, the driving assembly includes a first telescopic rod and a second telescopic rod arranged to intersect each other, one end of the first telescopic rod is connected to one end of the second telescopic rod to form the first movable end, and when the chip assembly and the lens assembly are relatively offset, the first telescopic rod and the second telescopic rod are extended and retracted under the control of the controller so that the first movable end drives the chip assembly to return to the optical axis position aligned with the lens assembly.

[0013] By setting two intersecting telescopic rods, the controller controls the extension and retraction amount of the two intersecting telescopic rods, so that the first movable end can move along the X-axis, move along the Y-axis and rotate around the Z-axis. The two intersecting telescopic rods occupy a small space, but generate a large driving force, which can conveniently drive the chip assembly to move, with little impact on the chip assembly and the lens assembly, and also save space for the camera module.

[0014] Wherein, the driving assembly also includes a third telescopic rod and a fourth telescopic rod, the third telescopic rod is arranged opposite to the first telescopic rod, and the fourth telescopic rod is arranged opposite to the second telescopic rod, one end of the third telescopic rod is connected to one end of the fourth telescopic rod to form a second movable end, and the second movable end is connected to the chip assembly; when the chip assembly and the lens assembly are relatively offset, the third telescopic rod and the fourth telescopic rod are extended and retracted under the control of the controller, so that the first movable end and the second movable end drive the chip assembly to return to the optical axis position aligned with the lens assembly.

[0015] By setting four telescopic rods to form two movable ends, the two movable ends drive the chip assembly at the same time, which can increase the driving force of the chip assembly. The two movable ends are connected to different positions of the chip assembly, which can increase the rotation stability of the chip assembly.

[0016] In which, the driving assembly also includes a fifth telescopic rod extending along the optical axis of the lens assembly, one end of the fifth telescopic rod is connected to the chip assembly, and when the chip assembly and the lens assembly are relatively offset, the fifth telescopic rod is extended and retracted along the optical axis of the lens assembly under the action of the controller to drive the chip assembly back to the position before the offset.

[0017] By controlling the extension and retraction of the fifth telescopic rod, the chip assembly is moved closer to or away from the lens assembly, thereby achieving movement of the chip assembly along the Z-axis direction to compensate for the problem of blurred images caused by the movement of the camera module along the Z-axis direction during shooting, thereby improving the shooting stability of the camera module.

[0018] Among them, the camera module also includes a substrate and a bracket, the bottom end of the bracket is fixed on the substrate, the top end of the bracket is fixed to the lens assembly, the driving assembly is connected between the lens assembly and the chip assembly, and the chip assembly is spaced apart from the bracket.

[0019] A bracket is provided to protect and encapsulate the lens assembly, the driving assembly and the chip assembly. In addition, the bracket allows the chip assembly to be suspended, the chip assembly is spaced apart from the bracket, and a movable space is formed between the bracket and the chip assembly, so that the chip assembly can translate, pivot, rotate, tilt, etc. driven by the driving assembly, thereby enabling the camera module to achieve optical image stabilization function.

[0020] On the other hand, the present invention provides an electronic device, including the camera module described above, and the electronic device also includes a shell and a display screen covering the shell, the camera module is arranged in the shell, and the lens assembly of the camera module is aligned with the light hole on the shell or the light hole on the display screen.

[0021] By setting a driving component on the camera module, the driving component can drive the chip component to move relative to the lens component, so that when the shell is offset relative to the lens component, the driving component drives the chip component to return to the position before the offset, so that the chip component is always aligned with the optical axis of the lens component, so as to compensate for the influence of the electronic device rotating a certain angle around the optical axis of the lens component during the photo-taking process on the image quality, thereby realizing optical image stabilization when the electronic device is shooting, and improving the photo-taking quality of the electronic device.

[0022] In another aspect, the present invention provides an optical image stabilization method for an electronic device, the method being applied to an electronic device, the electronic device comprising a camera module, the camera module comprising a lens assembly, a chip assembly arranged opposite to the lens assembly, a drive assembly connected to the chip assembly, and a controller; the method comprising:

[0023] The controller obtains the offset direction, offset angle and offset distance of the chip assembly relative to the lens assembly;

[0024] The controller drives the driving component to deform according to the offset distance, the offset angle and the offset direction, so as to drive the chip component back to a position aligned with the lens component.

[0025] The method provided in this embodiment is that the controller obtains the offset distance, offset angle and offset direction of the chip component relative to the lens component, and calculates the direction, rotation angle and moving distance that the chip component needs to be offset to achieve optical image stabilization based on the offset distance, offset angle and offset direction, thereby obtaining the required extension amount of each telescopic rod in the driving component, and controlling the current passing through the telescopic rod to meet the required extension amount of the telescopic rod, so that the driving component drives the chip component back to a position aligned with the optical axis of the lens assembly, compensating for the problem of blurred images captured due to the shaking of the camera module during shooting, and improving the shooting stability of the camera module.

[0026] The driving assembly includes a first telescopic rod and a third telescopic rod that are arranged opposite to each other, and a second telescopic rod and a fourth telescopic rod that are arranged opposite to each other, one end of the first telescopic rod is connected to one end of the third telescopic rod and connected to the chip assembly, and one end of the second telescopic rod is connected to one end of the fourth telescopic rod and connected to the chip assembly;

[0027] When the chip assembly rotates by the offset angle relative to the lens assembly along the offset direction, the controller drives the first telescopic rod and the third telescopic rod to have the same deformation, the second telescopic rod and the fourth telescopic rod to have the same deformation, and the first telescopic rod and the second telescopic rod to have opposite deformation, so as to drive the chip assembly to rotate by the offset angle in the opposite direction along the offset direction.

[0028] By controlling one of the adjacent telescopic rods to extend and the other to shorten through a controller, the movable end can be subjected to a driving force, and the driving force causes the movable end to rotate around the Z axis to drive the chip assembly back to a position aligned with the optical axis of the lens assembly, thereby compensating for the problem of blurred images caused by the rotation of the camera module around the Z axis during shooting, thereby improving the shooting stability of the camera module; by setting four telescopic rods to form two movable ends, the two movable ends drive the chip assembly at the same time, which can increase the driving force of driving the chip assembly, and the two movable ends are connected to different positions of the chip assembly, which can increase the rotation stability of the chip assembly.

[0029] When the chip assembly moves the offset distance relative to the lens assembly along the offset direction, the controller drives the first telescopic rod and the third telescopic rod to deform oppositely according to the offset distance and the offset direction, so as to drive the chip assembly to move the offset distance in a direction opposite to the offset direction;

[0030] Alternatively, the controller drives the second telescopic rod and the fourth telescopic rod to undergo opposite deformations according to the offset distance and the offset direction, so as to drive the chip assembly to move the offset distance in a direction opposite to the offset direction.

[0031] The above-mentioned optical image stabilization method can make the chip component rotate around the X-axis direction, the Y-axis direction and the Z-axis direction, and can also move along the X-axis direction, the Y-axis direction and the Z-axis direction, so that the camera module can have an optical image stabilization function in six directions, i.e., six degrees of freedom, thereby improving the shooting stability of the camera module. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 It is a schematic diagram of the electronic device provided by an embodiment of the present invention before the chip component moves when the electronic device rotates in the shooting state.

[0034] Figure 2 It is a schematic diagram of a chip component moving when an electronic device rotates in a shooting state provided by an embodiment of the present invention.

[0035] Figure 3 It is a cross-sectional schematic diagram of a camera module provided by one embodiment of the present invention.

[0036] Figure 4 It is a top view of a driving component and a chip component in a camera module provided by an embodiment of the present invention.

[0037] Figure 5 It is a top view of a camera module provided by an embodiment of the present invention, in which a driving component drives a chip component to rotate clockwise.

[0038] Figure 6 It is a top view of a camera module provided by an embodiment of the present invention, in which a driving component drives a chip component to rotate counterclockwise.

[0039] Figure 7It is a top view of a driving component in a camera module provided by an embodiment of the present invention driving a chip component to move along a positive X direction.

[0040] Figure 8 It is a top view of a driving component in a camera module provided by an embodiment of the present invention driving a chip component to move in the X direction.

[0041] Fig. 9 It is a top view of a driving component in a camera module provided by an embodiment of the present invention driving a chip component to move along the positive direction Y.

[0042] Fig.10 It is a top view of a driving component in a camera module provided by an embodiment of the present invention driving a chip component to move in the Y direction.

[0043] Fig.11 It is a cross-sectional schematic diagram of a camera module provided by another embodiment of the present invention.

[0044] Fig.12 It is a cross-sectional schematic diagram of a camera module provided by yet another embodiment of the present invention.

[0045] Fig.13 The present invention is a flowchart of an optical image stabilization method for an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the present invention.

[0047] See also Figure 1 and Figure 2 , Figure 1 and Figure 2 It is a schematic diagram of the state of an electronic device provided by an embodiment of the present invention in an application scenario. The electronic device 100 provided by the present invention is any device with a shooting function, such as: a tablet computer, a mobile phone, a camera, a personal computer, a laptop computer, a vehicle-mounted device, a wearable device and other smart devices. The electronic device 100 is explained by taking a mobile phone as an example. Among them, for the convenience of description, the width direction of the electronic device 100 is defined as the X direction, the length direction of the electronic device 100 is defined as the Y direction, and the thickness direction of the electronic device 100 is also the optical axis of the lens assembly as the Z direction, wherein the Z direction is perpendicular to the XY plane.

[0048] The electronic device 100 includes a housing 1 and a camera module 2. During the shooting process of the electronic device 100, the chip component 21 of the camera module 2 collects light signals and converts the light signals into image signals to generate images. When the user shakes during the shooting process of the handheld electronic device 100 or the user is on a shaking vehicle, the chip component and the lens component are relatively offset. For example, see Figure 1 , the electronic device 100 rotates counterclockwise around the Z axis by an angle of θ, and the chip assembly 21 rotates counterclockwise around the Z axis by an angle of θ relative to the lens assembly. In the process of the camera module 2 generating an image, the chip assembly 21 rotates, which will cause the generated image to be blurred, thereby causing the electronic device 100 to fail to shoot, thereby affecting the reliability of the shooting function of the electronic device 100 and the user's shooting experience. Please refer to Figure 2 In the electronic device 100 provided by the present invention, when the electronic device 100 rotates counterclockwise around the Z axis by an angle of θ, the driving component drives the chip component 21 to rotate clockwise around the Z axis by an angle of θ to compensate for the influence of the electronic device 100 rotating around the Z direction by a certain angle during the photographing process on the image quality, thereby realizing optical image stabilization when the electronic device 100 is photographed, and improving the photographing quality of the electronic device 100.

[0049] See also Figure 3 , an embodiment of the present invention provides a camera module 2. The camera module 2 includes a lens assembly 20, a chip assembly 21 and a driving assembly 22. The lens assembly 20 is used to pass an optical signal. The chip assembly 21 is arranged opposite to the lens assembly 20, and the chip assembly 21 is used to receive the optical signal and convert the optical signal into an image signal to obtain image information. The driving assembly 22 is connected to the chip assembly 21, and the driving assembly 22 can drive the chip assembly 21 to return to the optical axis position aligned with the lens assembly 20 when the chip assembly 21 and the lens assembly 20 are relatively offset. In other words, the driving assembly 22 can drive the chip assembly 21 to return to the position before the offset when the chip assembly 21 and the lens assembly 20 are relatively offset. Specifically, the relative offset between the chip assembly 21 and the lens assembly 20 includes the translation of the chip assembly 21 relative to the lens assembly 20 along the X-axis, the Y-axis and the Z-axis, and also includes the rotation of the chip assembly 21 relative to the lens assembly 20 around the Z-axis, the X-axis and the Y-axis.

[0050] For details, please refer to Figure 3The lens assembly 20 may include a lens 201 and a lens holder 202 for assembling the lens 201, wherein the optical axis of the lens 201 is parallel to the Z-axis direction. The chip assembly 21 is located directly below the lens assembly 20, and the chip assembly 21 has an image sensor 210, which is used to convert the optical signal collected by the lens assembly 20 into an electrical signal, which is processed to finally generate an image signal. In this embodiment, the specific position of the driving component 22 is not limited. Specifically, the driving component 22 can be connected between the lens component 20 and the chip component 21, so that the deformation of the driving component 22 in the X-axis, Y-axis and Z-axis directions can drive the chip component 21 to move relative to the lens component 20; it can also be arranged on the side of the chip component 21 away from the lens component 20, so that the driving component 22 will not block the optical signal projected from the lens component 20 to the chip component 21; it can also be arranged side by side with the chip component 21 in the plane where the chip component 21 is located, which can not only prevent the driving component 22 from blocking the optical signal projected from the lens component 20 to the chip component 21, but also reduce the thickness of the camera module 2.

[0051] When the camera module 2 shakes during the shooting process, it deviates from the optical axis (Z axis) of the lens assembly 20, resulting in that all light cannot be accurately incident on the photosensitive surface of the image sensor 210, thereby causing low image quality. The camera module 2 provided in this embodiment is provided with a driving component 22 connected to the chip component 21. The driving component 22 can drive the chip component 21 to return to the optical axis position aligned with the lens assembly 20 when the chip component 21 and the lens assembly 20 are relatively offset, so as to compensate for the impact of the shaking of the camera module 2 during the shooting process on the generated image quality, thereby achieving optical image stabilization when the camera module 2 is shooting, and improving the shooting quality of the electronic device 100.

[0052] In one possible embodiment, see Figure 3 The driving assembly 22 has a first movable end 22a that can move relative to the lens assembly 20. The first movable end 22a is connected to the chip assembly 21. The camera module 2 also includes a controller 23. The controller 23 is electrically connected to the driving assembly 22. When the chip assembly 21 and the lens assembly 20 are relatively offset, the controller 23 controls the first movable end 22a to drive the chip assembly 21 back to the optical axis position aligned with the lens assembly 20.

[0053] By setting the first movable end 22a, the controller 23 can drive the chip assembly 21 to move by driving the first movable end 22a to move. This driving structure can drive the chip assembly 21 conveniently without affecting the performance of the chip assembly 21 and has good stability.

[0054] For details, please refer to Figure 3 , taking the example that the driving component 22 is disposed between the lens component 20 and the chip component 21, the driving component 22 has fixed ends 22b and 22d, and the fixed ends 22b and 22d can be fixedly connected to the lens component 20, and the first movable end 22a can move along the X-axis, along the Y-axis, and rotate around the Z-axis relative to the fixed ends 22b and 22d under the action of the controller 23, so the chip component 21 can move along the X-axis, along the Y-axis, and rotate around the Z-axis under the drive of the first movable end 22a. Of course, in other embodiments, the driving component 22 is disposed on the side of the chip component 21 away from the lens component 20, and the fixed ends 22b and 22d of the driving component 22 can be fixed relative to the lens component 20.

[0055] Specifically, the driving assembly 22 can be a telescopic member made of a telescopic material. The telescopic member is telescopic under the action of the controller 23, so that the first movable end 22a is away from or close to the fixed ends 22b, 22d; or, the driving assembly 22 can also include a rotating rod / disk and a motor that drives the rotating rod / disk to rotate in the XY plane, one end of the rotating rod / disk forms the first movable end 22a, the other end of the rotating rod / disk is fixed relative to the lens assembly 20, and one end of the rotating rod / disk can move along the X axis, along the Y axis, and rotate around the Z axis relative to the other end of the rotating rod / disk, so as to drive the chip assembly 21 to move along the X axis, along the Y axis, and rotate around the Z axis; or, the driving assembly 22 can also be a plurality of magnets, for example, three magnets, two of which are fixed to the lens assembly 20, another magnet forms the first movable end 22a, and the other magnet moves along the X axis, along the Y axis, and rotates around the Z axis under the action of the two magnets. Of course, specific embodiments of the driving component 22 include but are not limited to the above structures. The driving component 22 provided in this embodiment is any structure that can drive the chip component 21 to move along the X-axis, move along the Y-axis, and rotate around the Z-axis.

[0056] In one possible implementation, see Figure 4 The driving assembly 22 includes a first telescopic rod 221 and a second telescopic rod 222 arranged to intersect. The first end 221a of the first telescopic rod 221 is connected to the first end 222a of the second telescopic rod 222 to form the first movable end 22a. When the chip assembly 21 and the lens assembly 20 are relatively offset, the first telescopic rod 221 and the second telescopic rod 222 are extended and retracted under the control of the controller 23, so that the first movable end 22a drives the chip assembly 21 to return to the optical axis position aligned with the lens assembly 20.

[0057] By setting two intersecting telescopic rods 221, 222, the controller 23 can control the extension and retraction of the two intersecting telescopic rods 221, 222, so that the first movable end 22a can move along the X-axis, along the Y-axis and rotate around the Z-axis. The two intersecting telescopic rods 221, 222 occupy a small space, but generate a large driving force, which can easily drive the chip assembly 21 to move, and has little impact on the chip assembly 21 and the lens assembly 20, and also saves space for the camera module 2.

[0058] For details, please refer to Figure 4 The first end 221a of the first telescopic rod 221 and the first end 222a of the second telescopic rod 222 are connected to form a first movable end 22a, the second end 221b of the first telescopic rod 221 is fixed to the lens assembly 20, and the second end 222b of the second telescopic rod 222 is fixed to the lens assembly 20. It can be understood that only one end of the first telescopic rod 221 can be fixed to the lens assembly 20, and the other part of the first telescopic rod 221 is separated from the lens assembly 20, and the second telescopic rod 222 is also the same, which will not be repeated here.

[0059] Among them, see Figure 4 The material of the first telescopic rod 221 and the second telescopic rod 222 is a telescopic material. Specifically, the material of the first telescopic rod 221 and the second telescopic rod 222 can be electrostrictive, magnetostrictive or thermostrictive. Electrostrictive material is a material that produces a strain proportional to the square of the field strength under the action of an external electric field. Magnetostrictive material refers to a material that changes in linearity and volume due to changes in its magnetization state. Thermostrictive material is a material that deforms with changes in temperature. In other words, the controller 23 can change the telescopic amount of the first telescopic rod 221 and the second telescopic rod 222 by controlling the current, magnetic field or temperature of the first telescopic rod 221 and the second telescopic rod 222, thereby causing the first movable end 22a to move along the X-axis, along the Y-axis and rotate around the Z-axis.

[0060] For details, please refer to Figures 4 to 6 For example, the material of the first telescopic rod 221 and the second telescopic rod 222 is an electrostrictive material. For example, the material of the first telescopic rod 221 and the second telescopic rod 222 is a shape memory alloy (ShapeMemory Alloys), referred to as SMA. Shape memory alloy is an alloy material that can completely eliminate its deformation at a lower temperature after heating and restore its original shape before deformation. The first telescopic rod 221 extends along the X-axis direction, and the second telescopic rod 222 extends along the Y-axis direction. Definition Figure 4 The X-axis arrow points to the positive direction of the X-axis. Figure 4 The direction in which the X-axis arrow points is the opposite direction of the X-axis. Figure 4 The Y-axis arrow points to the positive direction of the Y-axis. Figure 4 The direction in which the Y-axis arrow points is the Y reverse direction.

[0061] See also Figure 5 , the controller 23 controls the first telescopic rod 221 to extend along the X-axis direction (the first end 221a of the first telescopic rod 221 moves along the positive direction of the X-axis), and controls the second telescopic rod 222 to shorten along the Y-axis direction (the first end 222a of the second telescopic rod 222 moves in the negative direction of the Y-axis), so that the first movable end 22a is subjected to the positive force of the X-axis and the negative force of the Y-axis, and these two forces combine to form a moment in the clockwise direction around the Z-axis, so that the first movable end 22a rotates in the clockwise direction around the Z-axis. Correspondingly, please refer to Figure 6 The controller 23 controls the first telescopic rod 221 to shorten along the X-axis direction (the first end 221a of the first telescopic rod 221 moves in the opposite direction along the X-axis), and controls the second telescopic rod 222 to extend along the Y-axis direction (the first end 222a of the second telescopic rod 222 moves in the positive direction along the Y-axis). Therefore, the first movable end 22a is subjected to the force in the opposite direction of the X-axis and the force in the positive direction of the Y-axis. These two forces combine to form a moment in the counterclockwise direction around the Z-axis, so that the first movable end 22a rotates in the counterclockwise direction around the Z-axis.

[0062] By setting the first telescopic rod 221 and the second telescopic rod 222 to intersect, and setting the first telescopic rod 221 and the second telescopic rod 222 to be made of telescopic material, the controller 23 controls one of the first telescopic rod 221 and the second telescopic rod 222 to extend and the other to shorten, so that the first movable end 22a is subjected to a driving force, and the driving force causes the first movable end 22a to rotate around the Z axis, thereby driving the chip component 21 to rotate around the Z axis, thereby compensating for the problem of blurred images caused by the rotation of the camera module 2 around the Z axis during shooting, thereby improving the shooting stability of the camera module 2.

[0063] See also Figure 7 By controlling the first telescopic rod 221 to extend along the X-axis direction (the first end 221a of the first telescopic rod 221 moves in the positive direction of the X-axis), the first movable end 22a drives the chip assembly 21 to move in the positive direction of the X-axis.

[0064] See also Figure 8 By controlling the first telescopic rod 221 to shorten along the X-axis direction (the first end 221a of the first telescopic rod 221 moves in the opposite direction along the X-axis), the first movable end 22a drives the chip assembly 21 to move in the opposite direction along the X-axis.

[0065] See also Fig. 9 By controlling the second telescopic rod 222 to extend along the Y-axis direction (the first end 222a of the second telescopic rod 222 moves in the positive direction along the Y-axis), the first movable end 22a drives the chip assembly 21 to move in the positive direction along the Y-axis.

[0066] See also Fig.10 By controlling the second telescopic rod 222 to shorten along the Y-axis direction (the first end 222a of the second telescopic rod 222 moves in the opposite direction along the Y-axis), the first movable end 22a drives the chip assembly 21 to move in the opposite direction along the Y-axis.

[0067] The driving component 22 provided by the present invention can enable the chip component 21 to move along the X-axis direction and the Y-axis direction, and can also rotate around the Z-axis direction to compensate for the problem of blurred images caused by the camera module 2 rotating around the Z-axis and moving in the XY plane during shooting, thereby improving the shooting stability of the camera module 2.

[0068] In one possible embodiment, see Figure 4 , the driving assembly 22 further includes a third telescopic rod 223 and a fourth telescopic rod 224. The third telescopic rod 223 is arranged opposite to the first telescopic rod 221. The fourth telescopic rod 224 is arranged opposite to the second telescopic rod 222. The first end 223a of the third telescopic rod 223 is connected to the first end 224a of the fourth telescopic rod 224 and forms a second movable end 22c. The second movable end 22c is connected to the chip assembly 21. When the chip assembly 21 is relatively offset from the lens assembly 20, the third telescopic rod 223 and the fourth telescopic rod 224 are extended and retracted under the control of the controller 23, so that the first movable end 22a and the second movable end 22c drive the chip assembly 21 to return to the optical axis position aligned with the lens assembly 20.

[0069] For details, please refer to Figure 4 The first telescopic rod 221 and the third telescopic rod 223 extend along the X-axis direction, and the second telescopic rod 222 and the fourth telescopic rod 224 extend along the Y-axis direction, wherein the first end 221a of the first telescopic rod 221 and the first end 222a of the second telescopic rod 222 are connected to form a first movable end 22a. The first end 223a of the third telescopic rod 223 and the first end 224a of the fourth telescopic rod 224 are connected to form a second movable end 22c. The second end 221b of the first telescopic rod 221 and the second end 224b of the fourth telescopic rod 224 can be connected to form a fixed end 22b, and the second end 222b of the second telescopic rod 222 and the second end 223b of the third telescopic rod 223 can be connected to form a fixed end 22d, and the fixed ends 22b and 22d are fixed to the lens assembly 20.

[0070] By setting four telescopic rods to form two movable ends, the two movable ends drive the chip assembly 21 at the same time, which can increase the driving force of driving the chip assembly 21. The two movable ends are connected to different positions of the chip assembly 21, which can increase the rotation stability of the chip assembly 21.

[0071] For example, see Figure 5 and Figure 6 The controller 23 controls the first end 221a of the first telescopic rod 221 to move forward along the X-axis (the first telescopic rod 221 extends along the X-axis direction), controls the first end 223a of the third telescopic rod 223 to move backward along the X-axis (the third telescopic rod 223 extends along the X-axis direction), controls the first end 222a of the second telescopic rod 222 to move backward along the Y-axis (the second telescopic rod 222 shortens along the Y-axis direction), and controls the first end 224a of the fourth telescopic rod 224 to move forward along the Y-axis (the fourth telescopic rod 224 shortens along the Y-axis direction), so that the first movable end 22a and the second movable end 22c can rotate clockwise around the optical axis direction of the lens assembly 20, so as to generate a larger driving force for the chip assembly 21, so that the chip assembly 21 can rotate stably.

[0072] For details, please refer to Figure 4 The outer surface of the chip assembly 21 is generally rectangular, and the chip assembly 21 has a pair of first sides 211 and a pair of second sides 212 that are oppositely disposed. The first telescopic rod 221 and the third telescopic rod 223 extend along the pair of first sides 211, respectively, and the second telescopic rod 222 and the third telescopic rod 223 extend along the pair of second sides 212, respectively. The first telescopic rod 221, the second telescopic rod 222, the third telescopic rod 223 and the fourth telescopic rod 224 are arranged around the peripheral side of the image sensor 210 on the chip assembly 21, so that the driving assembly 22 will not interfere with the chip assembly 21 receiving the optical signal.

[0073] For further information, see Figure 4 The first telescopic rod 221, the second telescopic rod 222, the third telescopic rod 223 and the fourth telescopic rod 224 can be close to the edge of the chip component 21, so that the driving component 22 is arranged in the area of ​​the edge of the chip component 21, reducing the space occupied by the driving component 22. In addition, the connection between the first movable end 22a and the chip component 21 and the connection between the second movable end 22c and the chip component 21 are far apart, so that the chip component 21 can rotate more stably under the drive of the first movable end 22a and the second movable end 22c.

[0074] In one possible implementation, see Fig.11 The driving assembly 22 further includes a fifth telescopic rod 225 extending along the optical axis of the lens assembly 20. One end of the fifth telescopic rod 225 is connected to the chip assembly 21. When the chip assembly 21 and the lens assembly 20 are relatively offset, the fifth telescopic rod 225 can be extended and retracted along the optical axis of the lens assembly 20 under the action of the controller 23 to drive the chip assembly 21 back to the position before the offset.

[0075] For details, please refer to Fig.11 , the fifth telescopic rod 225 extends along the Z-axis direction. When the driving assembly 22 is disposed between the lens assembly 20 and the chip assembly 21, one end of the fifth telescopic rod 225 can be fixed to the lens assembly 20, and the other end of the fifth telescopic rod 225 can be connected to the chip assembly 21. The fifth telescopic rod 225 is made of a telescopic material. The controller 23 controls the extension and retraction of the fifth telescopic rod 225 to move the chip assembly 21 closer to or away from the lens assembly 20, thereby realizing the movement of the chip assembly 21 along the Z-axis direction, so as to compensate for the problem of blurred images caused by the movement of the camera module 2 along the Z-axis direction during shooting, thereby improving the shooting stability of the camera module 2.

[0076] Further, the number of the fifth telescopic rods 225 can be multiple, and multiple fifth telescopic rods 225 are connected between the chip assembly 21 and the lens assembly 20. Specifically, the number of the fifth telescopic rods 225 is four, namely the first rod, the second rod, the third rod and the fourth rod, wherein the first rod, the second rod, the third rod and the fourth rod are sequentially arranged on each side of the chip assembly 21, and the first rod and the third rod are symmetrically arranged, and the second rod and the fourth rod are symmetrically arranged. In the X-axis direction, by controlling the second rod to extend and the fourth rod to shorten, the chip assembly 21 rotates counterclockwise around the Y-axis; by controlling the second rod to shorten and the fourth rod to extend, the chip assembly 21 rotates clockwise around the Y-axis; by controlling the first rod to extend and the third rod to shorten, the chip assembly 21 rotates counterclockwise around the X-axis; by controlling the first rod to shorten and the third rod to extend, the chip assembly 21 rotates clockwise around the X-axis; by controlling the first rod, the second rod, the third rod and the fourth rod to extend, the chip assembly 21 rotates clockwise around the X-axis; by controlling the first rod, the second rod, the third rod and the fourth rod to extend by the same length or shorten by the same length, the chip assembly 21 is moved closer to or away from the lens assembly 20 along the Z-axis.

[0077] The driving component 22 provided in the embodiment of the present invention can make the chip component 21 rotate around the X-axis direction, the Y-axis direction and the Z-axis direction, and can also move along the X-axis direction, the Y-axis direction and the Z-axis direction, so that the camera module 2 can have an optical image stabilization function in six directions, i.e., six degrees of freedom, thereby improving the shooting stability of the camera module 2.

[0078] In another possible implementation, see Fig.12The lens assembly 20 includes a lens 201 and a lens holder 202 for fixing the lens 201. A voice coil motor 203 is disposed in the lens holder 202. The voice coil motor 203 is connected to the lens 201 and is used to adjust the distance between the lens 201 and the chip assembly 21 or to tilt the lens 201 relative to the chip assembly 21. Specifically, the voice coil motor 203 includes two groups of coils disposed on the lens 201, one group of coils corresponding to one magnet and the other group of coils corresponding to two magnets. After the group of coils corresponding to one magnet is energized, it is subjected to an electromagnetic force perpendicular to the Z-axis direction, thereby generating a translation in the XY plane. After the group of coils corresponding to the two magnets is energized, it is subjected to an electromagnetic force parallel to the Z-axis direction, thereby generating a displacement in the Z-axis direction or a tilt in the horizontal direction, thereby finally realizing the anti-shake function of the camera module 2 in the XY plane, the displacement in the Z-axis direction or the tilt in the horizontal direction.

[0079] In this embodiment, the camera module 1 also includes a gyroscope sensor (not shown) and other devices. The gyroscope sensor senses the shaking direction and amplitude of the camera module 1 through the gyroscope, and then the gyroscope sensor transmits these data to the controller 23 for screening and amplification, calculates the displacement of the chip component 21 that can offset the shaking, and then drives the first active end 22a and the second active end 22c of the driving component 22 to move, thereby driving the chip component 21 to move to achieve an anti-shake effect.

[0080] In one possible implementation, see Figure 3 The camera module 2 further includes a substrate 24 and a bracket 25. The bottom end of the bracket 25 is fixed on the substrate 24. The top end of the bracket 25 is fixed to the lens assembly 20. One end of the driving assembly 22 is fixed to the lens assembly 20. The other end of the driving assembly 22 is connected to the chip assembly 21, and the chip assembly 21 is spaced apart from the bracket 25.

[0081] For details, please refer to Figure 3 and Figure 4The bracket 25 is cylindrical, the top of the bracket 25 fixes the lens assembly 20, the driving assembly 22 is arranged in the bracket 25 and the fixed ends 22b and 22d of the driving assembly 22 are fixed on the lens assembly 20, the first movable end 22a of the driving assembly 22 is connected to the chip assembly 21, and the bottom end of the bracket 25 is fixed on the substrate 24. The bracket 25 is provided to protect and encapsulate the lens assembly 20, the driving assembly 22 and the chip assembly 21. In addition, the bracket 25 enables the chip assembly 21 to be suspended, the chip assembly 21 is spaced from the bracket 25, and an active space is formed between the bracket 25 and the chip assembly 21, so that the chip assembly 21 can be translated, pivoted, rotated, tilted, etc. driven by the driving assembly 22, thereby enabling the camera module 2 to achieve the optical image stabilization function.

[0082] In other embodiments, the driving assembly 22 may also be disposed on a side of the chip assembly 21 away from the lens assembly 20, wherein the fixed ends 22b and 22d of the driving assembly 22 are fixed on the substrate 24, the chip assembly 21 is disposed on the driving assembly 22, and the first movable end 22a of the driving assembly 22 is connected to the chip assembly 21. The lens assembly 20 is fixed on the bracket 25, and the chip assembly 21 is spaced apart from the lens assembly 20, so that the chip assembly 21 can move relative to the lens assembly 20 in the Z-axis direction.

[0083] Please also refer to Figure 3 and Figure 4 The driving assembly 22 includes a light-transmitting area 226 and a peripheral area 227 surrounding the light-transmitting area 226. Specifically, the light-transmitting area 226 may be a through hole. The light-transmitting area 226 faces the lens in the lens assembly 20 and the image sensor 210 of the chip assembly 21. The peripheral area 227 faces the lens holder 202 of the lens assembly 20 and the packaging shell 213 surrounding the image sensor 210 on the chip assembly 21. The telescopic rod of the driving assembly 22 is arranged in the peripheral area 227.

[0084] By providing a light-transmitting area 226 for transmitting light signals in the driving component 22 and arranging the telescopic rod of the driving component 22 outside the light-transmitting area 226 , the driving component 22 will not interfere with the light collection of the chip component 21 , thereby ensuring the shooting quality of the camera module 2 .

[0085] Please also refer to Figure 3 and Figure 4The chip assembly 21 further includes a first circuit board 214 spaced apart from the substrate 24. The image sensor 210 and the package shell 213 are disposed on the first circuit board 214. The camera module 2 further includes a second circuit board 26 and a flexible circuit board 27. The second circuit board 26 is disposed on the substrate 24, and the flexible circuit board 27 electrically connects the first circuit board 214 and the second circuit board 26.

[0086] By spacing the first circuit board 214 of the chip assembly 21 from the substrate 24, a movable space is formed between the chip circuit board and the substrate 24. This movable space allows the chip assembly 21 to tilt relative to the lens assembly 20 and move closer to or away from the lens assembly 20, thereby enabling the camera module 2 to achieve an optical image stabilization function.

[0087] Please also read Figure 1 and Figure 2 The present invention also provides an electronic device 100, comprising any one of the above-mentioned camera modules 2, the electronic device 100 also comprising a shell 1 and a display screen (not shown) covering the shell 1, the camera module 2 is arranged in the shell 1, and the lens assembly 20 of the camera module 2 is aligned with the light-transmitting hole on the shell 1 or the light-transmitting hole on the display screen 3.

[0088] By setting a driving component 22 on the camera module 2, the driving component 22 can drive the chip component 21 to move relative to the lens component 20, so that when the housing 1 is offset relative to the lens component 20, the driving component 22 drives the chip component 21 to return to the position before the offset, so that the chip component 21 is always aligned with the optical axis of the lens component 20, so as to compensate for the influence of the electronic device 100 rotating a certain angle around the optical axis of the lens component 20 during the photo-taking process on the image quality, thereby realizing optical image stabilization when the electronic device 100 is photographed, and improving the photo-taking quality of the electronic device 100.

[0089] See also Fig.13 , and combined with reference Figures 1 to 12 , an optical image stabilization method of an electronic device 100 is provided in a first embodiment of the present invention. The method is applied to the above-mentioned electronic device 100. The electronic device 100 includes a shell 1 and a camera module 2 arranged on the shell 1. The camera module 2 includes a lens assembly 20, a chip assembly 21 arranged opposite to the lens assembly 20, a driving assembly 22 connected to the chip assembly 21, and a controller 23.

[0090] See also Fig.13 , an optical image stabilization method provided in the present application includes but is not limited to the following steps.

[0091] Step S101 : The controller 23 obtains the offset distance, offset angle and offset direction of the chip assembly 21 relative to the lens assembly 20 .

[0092] In step S102 , the controller 23 drives the driving assembly 22 to deform according to the offset distance, the offset angle and the offset direction, so as to drive the chip assembly 21 back to a position aligned with the optical axis of the lens assembly 20 .

[0093] Specifically, the electronic device 100 may be provided with a sensor, which detects the offset distance, offset angle and offset direction of the chip component relative to the lens component 20 and sends the offset distance, offset angle and offset direction to the controller 23 .

[0094] The method provided in this embodiment is that the controller 23 obtains the offset distance, offset angle and offset direction of the chip component 21 relative to the lens component 20, and calculates the direction, rotation angle and moving distance that the chip component 21 needs to be offset to achieve optical image stabilization based on the offset distance, offset angle and offset direction, thereby obtaining the required extension amount of each telescopic rod in the driving component 22, and controlling the current passing through the telescopic rod to meet the required extension amount of the telescopic rod, so that the driving component 22 drives the chip component 21 back to a position aligned with the optical axis of the lens component 20, compensating for the problem of blurred images caused by the shaking of the camera module 2 during shooting, and improving the shooting stability of the camera module 2.

[0095] It can be understood that the driving component 22 includes a first telescopic rod 221 and a third telescopic rod 223 that are relatively arranged, a second telescopic rod 222 and a fourth telescopic rod 224 that are relatively arranged, one end of the first telescopic rod 221 is connected to one end of the third telescopic rod 22321 and connected to the chip component 21, and one end of the second telescopic rod 222 is connected to one end of the fourth telescopic rod 224 and connected to the chip component 21.

[0096] Further, when the chip assembly 21 rotates the offset angle along the offset direction relative to the lens assembly 20, the controller 23 drives the first telescopic rod 221 and the third telescopic rod 223 to have the same deformation, the second telescopic rod 222 and the fourth telescopic rod 224 to have the same deformation, and the first telescopic rod 221 and the second telescopic rod 222 to have opposite deformation, so as to drive the chip assembly 21 to rotate the offset angle in the opposite direction along the offset direction.

[0097] For details, please refer to Figure 5 When the chip assembly 21 is rotated clockwise relative to the lens assembly 20 ( Figure 5When the offset angle θ is rotated (for reference), the controller 23 controls the third telescopic rod 223 and the first telescopic rod 221 to extend by the same length L, and controls the fourth telescopic rod 224 and the second telescopic rod 222 to shorten by the same length L, so that the first movable end 22a and the second movable end 22c drive the chip assembly 21 to rotate counterclockwise by θ. Please refer to Figure 6 When the chip assembly 21 is rotated counterclockwise (in Figure 6 When the offset angle θ is rotated (for reference), the controller 23 controls the third telescopic rod 223 and the first telescopic rod 221 to shorten the same length L, and controls the fourth telescopic rod 224 and the second telescopic rod 222 to extend the same length L, so that the first movable end 22a and the second movable end 22c drive the chip assembly 21 to rotate along the clockwise direction by θ.

[0098] By controlling one of the adjacent telescopic rods to extend and the other to shorten through the controller 23, the movable end can be subjected to a driving force, which causes the movable end to rotate around the Z axis to drive the chip assembly 21 back to a position aligned with the optical axis of the lens assembly 20, thereby compensating for the problem of blurred images caused by the rotation of the camera module 2 around the Z axis during shooting, thereby improving the shooting stability of the camera module 2; by setting four telescopic rods to form two movable ends, the two movable ends drive the chip assembly 21 at the same time, which can increase the driving force of driving the chip assembly 21, and the two movable ends are connected to different positions of the chip assembly 21, which can increase the rotation stability of the chip assembly 21.

[0099] Further, when the chip assembly 21 moves the offset distance relative to the lens assembly 20 along the offset direction, the controller 23 drives the first telescopic rod 221 and the third telescopic rod 223 to undergo opposite deformation according to the offset distance and the offset direction, or the controller 23 drives the second telescopic rod 222 and the fourth telescopic rod 224 to undergo opposite deformation according to the offset distance and the offset direction, so as to drive the chip assembly 21 to move the offset distance in a direction opposite to the offset direction.

[0100] For details, please refer to Figure 7 When the chip assembly 21 moves a distance L in the reverse direction along the X-axis relative to the lens assembly 20, the offset controller 23 controls the first telescopic rod 221 to extend and the third telescopic rod 223 to shorten, which can drive the chip assembly 21 to move a distance L in the forward direction along the X-axis, so that the chip assembly 21 returns to a position aligned with the optical axis of the lens assembly 20.

[0101] For details, please refer to Figure 8When the chip assembly 21 moves a distance L in the positive direction along the X-axis relative to the lens assembly 20, the offset controller 23 controls the first telescopic rod 221 to shorten and the third telescopic rod 223 to extend, which can drive the chip assembly 21 to move a distance L in the reverse direction along the X-axis, so that the chip assembly 21 returns to a position aligned with the optical axis of the lens assembly 20.

[0102] For details, please refer to Fig. 9 When the chip assembly 21 moves a distance L in the reverse direction along the Y axis relative to the lens assembly 20, the offset controller 23 controls the second telescopic rod 222 to extend and the fourth telescopic rod 224 to shorten, which can drive the chip assembly 21 to move a distance L in the forward direction along the Y axis, so that the chip assembly 21 returns to a position aligned with the optical axis of the lens assembly 20.

[0103] For details, please refer to Fig.10 When the chip assembly 21 moves a distance L in the positive direction along the Y axis relative to the lens assembly 20, the offset controller 23 controls the second telescopic rod 222 to shorten and the fourth telescopic rod 224 to extend, which can drive the chip assembly 21 to move a distance L in the reverse direction along the Y axis, so that the chip assembly 21 returns to a position aligned with the optical axis of the lens assembly 20.

[0104] The optical image stabilization method of the electronic device 100 provided in this embodiment enables the chip component 21 to rotate around the X-axis direction, the Y-axis direction and the Z-axis direction, and can also move along the X-axis direction, the Y-axis direction and the Z-axis direction, thereby realizing the optical image stabilization function of the camera module 2 in six directions, i.e., six degrees of freedom, thereby improving the shooting stability of the camera module 2.

[0105] The above are some embodiments of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A camera module, characterized in that: The camera module comprises: A lens assembly, used for receiving an optical signal; a chip assembly, arranged opposite to the lens assembly, and configured to convert the optical signal into an image signal; and A driving component, the driving component is connected to the chip component, and the driving component can drive the chip component to return to a position aligned with the optical axis of the lens component when the chip component and the lens component are relatively offset; the driving component has a first movable end and a second movable end that can move relative to the lens component, and the first movable end and the second movable end are connected to the chip component; the driving component also has a first fixed end and a second fixed end, the first fixed end and the second fixed end are both fixed relative to the lens component, and the movable end can move relative to the first fixed end and the second fixed end; The camera module further includes a controller, the controller is electrically connected to the driving assembly, and when the chip assembly and the lens assembly are relatively offset, the controller controls the movable end to drive the chip assembly back to a position aligned with the optical axis of the lens assembly; The driving assembly includes a first telescopic rod and a third telescopic rod arranged opposite to each other, and a second telescopic rod and a fourth telescopic rod arranged opposite to each other, one end of the first telescopic rod is connected to one end of the second telescopic rod to form the first movable end, one end of the third telescopic rod is connected to one end of the fourth telescopic rod to form the second movable end, the other end of the first telescopic rod is connected to the other end of the fourth telescopic rod to form a first fixed end, and the other end of the second telescopic rod is connected to the other end of the third telescopic rod to form a second fixed end. When the chip assembly and the lens assembly are relatively offset, the first telescopic rod, the second telescopic rod, the third telescopic rod and the fourth telescopic rod are extended and retracted under the control of the controller so that the movable end drives the chip assembly back to the optical axis position aligned with the lens assembly.

2. The camera module according to claim 1, wherein: The driving assembly also includes a fifth telescopic rod extending along the optical axis of the lens assembly, one end of the fifth telescopic rod being connected to the chip assembly. When the chip assembly and the lens assembly are relatively offset, the fifth telescopic rod is extended and retracted along the optical axis of the lens assembly under the action of the controller to drive the chip assembly back to the position before the offset.

3. The camera module according to claim 1 or 2, characterized in that: The camera module also includes a substrate and a bracket, the bottom end of the bracket is fixed on the substrate, the top end of the bracket is fixed to the lens assembly, the driving assembly is connected between the lens assembly and the chip assembly, and the chip assembly is spaced apart from the bracket.

4. An electronic device, characterized in that: The electronic device comprises the camera module as described in any one of claims 1 to 3, and further comprises a shell and a display screen covering the shell, the camera module is arranged in the shell, and the lens assembly of the camera module is aligned with the light hole on the shell or the light hole on the display screen.

5. An optical image stabilization method for an electronic device, characterized in that: The method is applied to an electronic device, which includes a camera module, the camera module includes a lens assembly, a chip assembly arranged opposite to the lens assembly, a driving assembly connected to the chip assembly, and a controller; the driving assembly includes a first telescopic rod and a third telescopic rod arranged opposite to each other, and a second telescopic rod and a fourth telescopic rod arranged opposite to each other, one end of the first telescopic rod and one end of the third telescopic rod are connected to the chip assembly, and the other end of the first telescopic rod and the other end of the third telescopic rod are both fixed relative to the lens assembly; one end of the second telescopic rod and one end of the fourth telescopic rod are connected to the chip assembly, and the other end of the second telescopic rod and the other end of the fourth telescopic rod are both fixed relative to the lens assembly, one end of the first telescopic rod is connected to one end of the second telescopic rod to form a first movable end, the other end of the first telescopic rod is connected to the other end of the fourth telescopic rod to form a first fixed end, one end of the third telescopic rod is connected to one end of the fourth telescopic rod to form a second movable end, the other end of the second telescopic rod is connected to the other end of the third telescopic rod to form a second fixed end, and the movable end can move relative to the fixed end; the method includes: The controller obtains the offset direction, offset angle and offset distance of the chip assembly relative to the lens assembly; The controller drives the driving assembly to deform according to the offset distance, the offset angle and the offset direction, so that the movable end drives the chip assembly back to a position aligned with the lens assembly; Among them, when the chip assembly rotates relative to the lens assembly along the offset direction by the offset angle, the controller drives the first telescopic rod and the third telescopic rod to have the same deformation, the second telescopic rod and the fourth telescopic rod to have the same deformation, and the first telescopic rod and the second telescopic rod to have opposite deformation, so as to drive the chip assembly to rotate in the opposite direction along the offset direction by the offset angle.

6. The optical image stabilization method according to claim 5, wherein: When the chip assembly moves the offset distance relative to the lens assembly along the offset direction, the controller drives the first telescopic rod and the third telescopic rod to deform oppositely according to the offset distance and the offset direction, so as to drive the chip assembly to move the offset distance in a direction opposite to the offset direction; Alternatively, the controller drives the second telescopic rod and the fourth telescopic rod to undergo opposite deformations according to the offset distance and the offset direction, so as to drive the chip assembly to move the offset distance in a direction opposite to the offset direction.

Images