A driving module, a micro-pan head and a control method of the driving module

Abstract

The present invention discloses a driving module, a micro-pan head and a control method of the driving module, wherein the driving module comprises a base, a supporting component, a transmission component and a driving component, wherein the supporting component is rotatably connected to the base, and the direction in which the supporting component rotates on the base is a first rotation direction; the transmission component is arranged on the supporting component for fixing a load; a through hole is provided on the supporting component, the transmission component is inserted into the through hole, and the transmission component can rotate in the through hole, and the rotation direction of the transmission component is a second rotation direction, which is different from the first rotation direction; the driving component is arranged on the base, and the driving component is connected to the transmission component, and is used to simultaneously drive the rotation of the transmission component and the supporting component. The present application can flexibly control the load by simultaneously driving the transmission component and the supporting component to rotate in different directions through the driving component.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical transmission devices, and in particular to a driving module, a micro pan-tilt head, and a control method for the driving module. Background Art

[0002] At present, various types of PTZ structures are widely used in various aspects of people's daily life, including mobile phones, public transportation, airplanes, cars, etc. The PTZ is a supporting device for installing and fixing cameras. It is used to control the rotation of the camera and expand the monitoring range of the camera. Even under the control of the control signal, the camera on the PTZ can automatically scan the monitoring area, and can also track the monitored object under the control of the on-duty personnel in the monitoring center.

[0003] However, most of the existing gimbal structures on the market are series structures, which control the movement of the gimbal through a multi-stage series connection. Each level of the control structure can only control the movement of the gimbal in one direction, so it is necessary to adjust step by step. The control structure of the upper level must synchronously control the control structure of the lower level and the load, which consumes high energy and takes a long time. In addition, it is affected by the limited driving force, and has the defects of limited range of movement of the driving structure, insufficient driving force, and inflexible control.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a driving module, a micro gimbal and a control method for the driving module, aiming to improve the driving force of the driving module and make the control of the gimbal more flexible.

[0006] The technical solution of the present invention is as follows:

[0007] A driving module, wherein the driving module comprises a base, a supporting component, a transmission component and a driving component, the supporting component is rotatably connected to the base, and the direction in which the supporting component rotates on the base is a first rotation direction; the transmission component is arranged on the supporting component and is used to fix a load; the supporting component is provided with a through hole, the transmission component is inserted into the through hole, and the transmission component can rotate in the through hole, and the rotation direction of the transmission component is a second rotation direction, which is different from the first rotation direction; the driving component is arranged on the base, and the driving component is connected to the transmission component, and is used to simultaneously drive the rotation of the transmission component and the supporting component.

[0008] The driving module, wherein the driving component includes an elastic member, a first driving unit and a second driving unit, the first driving unit and the second driving unit are both arranged on the base, and the first driving unit and the second driving unit are both connected to the transmission component to form a parallel driving mechanism to drive the transmission component to rotate.

[0009] The driving module, wherein the driving component also includes an elastic member, one end of which is arranged on the base, and the other end is connected to the supporting member, and is used to push the supporting member in a direction away from the base; the first driving unit and the second driving unit push the transmission component in a direction toward the base, driving the supporting member to rotate.

[0010] The driving module described above, wherein the transmission component includes a main rod, a transition plate, a first connecting head and a second connecting head, the main rod is plugged into the through hole, and one end of the main rod is used to fix the load; an axial hole is provided in the middle position of the transition plate, and the other end of the main rod is plugged into the axial hole; the first connecting head and the second connecting head are respectively arranged at both ends of the transition plate; the first connecting head is connected to the first driving unit, and the second connecting head is connected to the second driving unit.

[0011] The driving module, wherein the first and / or second driving unit includes a driving motor, a transmission screw, a fixing rod and a linkage plate, wherein the driving motor is arranged on the base; the transmission screw is connected to the output shaft of the driving motor; the fixing rod is arranged on the base, and the axial extension direction of the fixing rod is parallel to the axial extension direction of the transmission screw; one end of the linkage plate is connected to the transmission screw, and the other end is connected to the fixing rod; the linkage plate overlaps with the corresponding connecting head on the side facing the base.

[0012] The driving module, wherein the driving motor includes at least one of a stepping motor and an ultrasonic motor.

[0013] The driving module described above, wherein the linkage plate includes an annular block and a flat plate, and the annular block is slidably connected to the fixed rod; one end of the flat plate is connected to the annular block, and the other end is provided with a transmission hole, and the transmission screw is inserted into the transmission hole; a first contact surface is provided on the side wall of the annular block, and the first contact surface is located on the side of the annular block facing the transmission screw, and the first contact surface is located on the side of the flat plate facing the base; the first contact surface is a plane or a concave curved surface, and the first connecting head is in contact with the first contact surface.

[0014] In the driving module, the surface on the flat plate that contacts the first connector is a second contact surface, the second contact surface is located on a side of the flat plate that faces the base, and the second contact surface is a convex curved surface.

[0015] The present application also discloses a micro gimbal, which includes any of the drive modules described above.

[0016] The present application also discloses a control method of a drive module as described above, which comprises:

[0017] The driving component is controlled to drive the supporting component and the transmission component simultaneously, so that the transmission component drives the load to rotate along the second rotation direction while following the supporting component to rotate along the first rotation direction.

[0018] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0019] The driving module disclosed in the present application is provided with a driving component on the base to adjust the posture of the transmission component. During use, when the load (such as a mobile phone camera) is fixed on the transmission component and the angle and height of the load are adjusted, the driving component drives the transmission component to rotate, and the rotation of the transmission component can drive the load to rotate along the second rotation direction synchronously. Because the supporting component is rotatably connected to the base and is not fixed, the driving force transmitted when the transmission component rotates will cause the supporting component to rotate along the first rotation direction, and the load is also driven to rotate along the first rotation direction; in summary, the driving component of the present application drives the load to rotate in multiple directions at the same time, thereby improving the flexibility of the driving module; and can provide sufficient driving force to the load, and can drive the load to rotate in a larger range. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is an assembly diagram of the driving module and the load in the present invention;

[0022] Figure 2 It is a structural exploded diagram of the driving module and the load in the present invention;

[0023] Figure 3 It is a structural exploded diagram of the driving module and the load in the present invention from another angle;

[0024] Figure 4 It is a structural explosion diagram of the elastic member in the present invention;

[0025] Figure 5 It is a structural schematic diagram of the transmission component in the present invention;

[0026] Figure 6 It is a structural schematic diagram of the linkage plate in the present invention.

[0027] Among them, 10, base; 11, mounting hole; 12, hollow hole; 13, protective block; 20, support component; 21, support; 211, convex block; 212, through hole; 22, rotating frame; 221, perforation; 222, convex shaft; 223, raised part; 30, transmission component; 31, main rod; 32, transition plate; 321, shaft hole; 33, first connector; 34, second connector; 35, connecting plate; 40, driving component; 41, elastic member; 411, drilling; 412, arc-shaped reinforcement section; 413, bending Folding portion; 42, first driving unit; 421, driving motor; 422, transmission screw; 4221, transmission thread; 423, fixing rod; 424, linkage plate; 4241, annular block; 4241a, first contact surface; 4242, flat plate; 4242a, transmission hole; 4242b, second contact surface; 4242c, groove; 43, second driving unit; 50, connecting seat; 51, reinforcing rib; 52, reinforcing protrusion; 60, load; 70, first rotation direction; 80, second rotation direction. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] It should be noted that the load object 60 disclosed in the embodiments of the present application includes but is not limited to cameras used on objects such as mobile phones, computers, drones, airplanes, and cars; the present invention takes the camera of a smart phone as an example to introduce the specific structure and working principle of the present invention, but the application of the present invention is not limited to cameras, and can also be applied to other structures that also require sufficient driving force for precise control. The drive module disclosed in the embodiments of the present application can be widely used in mobile phone camera modules, projectors, medical treatment, smart door locks, car probes, monitoring, scanning, unmanned driving and other fields; for example, the drive module can be used to control objects such as scalpels and sutures, which can undoubtedly achieve more flexible and precise control effects.

[0030] See also Figure 1 and Figure 2 In one embodiment of the present invention application, a driving module is disclosed, wherein the driving module includes a base 10, a supporting component 20, a transmission component 30 and a driving component 40. The base 10 can be used to be installed and fixed to a corresponding device. The supporting component 20 is arranged on the base 10 and is rotatably connected to the base 10. The direction in which the supporting component 20 rotates on the base 10 is a first rotation direction 70.

[0031] The transmission component 30 may be, but is not limited to, a rotating shaft, which is disposed on the supporting component 20 and is used to fix a load 60. The load 60 may be formed on a bottom module and rotate together with the transmission component 30. The load 60 may be, but is not limited to, a camera or a sensor, etc., and is basically oriented in the direction normal to the plane of the base 10.

[0032] The support member 20 may be provided in a semi-frame structure, in a C-shape or an open semi-square shape, and is provided with a through hole 221, such as Figure 2 As shown, the transmission component 30 is inserted into the through hole 221 ( Figure 2 The transmission component 30 in the figure has been prematurely assembled on the substrate of the load 60. In fact, it should first pass through the through hole 221 and then be assembled on the substrate of the load 60. The transmission component 30 can rotate in the through hole 221.

[0033] The rotation direction of the transmission component 30 is a second rotation direction 80. Figure 1 As shown, the second rotation direction 80 is different from the first rotation direction 70, and preferably, in a certain set initial state, they are perpendicular to each other. The driving component 40 is arranged on the base 10 and is located at the side of the base 10. The driving component 40 is connected to the transmission component 30 and is used to simultaneously drive the rotation of the transmission component 30 and the support component 20, so as to drive the load 60 to perform compound rotation in the first rotation direction 70 and the second rotation direction 80 in a parallel mechanical driving manner.

[0034] Specifically, the driving component 40 can drive the supporting component 20 together with the load 60 and the transmission component 30 to have a certain rotation angle in the first rotation direction 70, and at the same time, the orientation of the load 60 can be further realized on the supporting component 20 through the rotation of the transmission component 30, and a deflection at a certain angle to the normal of the base 10 in the initial state can be formed, and the direction of the deflection can be any direction under controlled conditions.

[0035] Moreover, due to the parallel mechanical drive arrangement of the present invention, the drive component 40 is simpler to implement and the assembly position is more concise. The maximum deflection angle can be achieved within 5 to 8 degrees, which is much larger than the deflection range that can be achieved by the prior art implementation scheme.

[0036] The driving module disclosed in the present application is provided with a driving component 40 on the base 10 to adjust the position of the transmission component 30. During use, the load 60 (such as a mobile phone camera) is fixed on the transmission component 30 and can rotate coaxially relative to the support component 20. When the angle and height of the load 60 are to be adjusted (i.e., the orientation and angle deviating from the normal), the driving component 40 can offset the linear displacement of the load 60 by rotating and lifting the support component 20 while driving the transmission component 30 to rotate.

[0037] The transmission component 30 rotates under the drive of the driving component 40, and can drive the load 60 to rotate along the second rotation direction 80. Synchronously, because the support component 20 is rotatably connected to the base 10, not fixed, the driving force transmitted by the rotation of the transmission component 30 will cause the support component 20 to rotate along the first rotation direction 70, and the load 60 is also driven to rotate along the first rotation direction 70. Therefore, the driving component 40 of the present application can drive the load 60 to finally realize deflection in any direction deviating from the normal direction, which improves the flexibility of the driving module; and can provide sufficient driving force to the load 60, which can drive the load 60 to rotate in a larger range.

[0038] The driving module of the present invention can realize the rotation of the micro gimbal, especially in a small space, such as the camera anti-shake of a mobile phone, and can well realize the control of the camera deflection angle. Of course, the calculation method of the control needs to adopt a corresponding control algorithm. The control algorithm is known in the prior art, and its essence is the control algorithm for parallel mechanical drive.

[0039] In a preferred embodiment of the driving module of the present invention, the driving component 40 needs to be configured as two driving units on both sides, such as motors. It is preferred to use an ultrasonic motor with sufficiently large force, and the control of the rotation angle itself is very precise, and the size can be very small. Therefore, it is more suitable for driving and controlling high-end products.

[0040] The two driving units of the driving component 40 control the transmission component 30 from both sides. The transmission component 30 is at least provided with a fork structure at a certain distance from the central axis (the axial direction of the second rotation direction 80) to facilitate the driving unit to drive and control the fork from both sides.

[0041] Specifically, as an implementation of this embodiment, it is disclosed that the first rotation direction 70 and the second rotation direction 80 are initially set to be two directions perpendicular to each other.

[0042] First, when the first rotation direction 70 is perpendicular to the second rotation direction 80, the operation and processing of the drive control by the two driving units of the driving component 40 is simpler, and it is convenient to disassemble and adjust. For the control algorithm of the control unit, it is actually equivalent to the longitudinal displacement (input) of the two driving units and the azimuth and angle problem (output) of the load 60 deviating from the normal after transmission through the supporting component 20 and the transmission component 30, or, conversely, the longitudinal displacement value problem (output) of the two driving units is calculated by the azimuth and angle (input) of the load 60 deviating from the normal, and this processing can be achieved through the corresponding algorithm of the computer.

[0043] Secondly, the first rotation direction 70 and the second rotation direction 80 are combined to form the motion trajectory of the transmission component 30, that is, the direction and angle of the load 60 that deviates from the normal. When the first rotation direction 70 and the second rotation direction 80 are perpendicular to each other in the initial state, any direction within the two-dimensional angle can be completely covered, which is convenient for calculation and control processing, so that the adjustable angle range of the load 60 is maximized, which is beneficial to improving the flexibility of the driving module.

[0044] like Figure 1 As shown, as another implementation of the present embodiment, a further implementation of the driving component 40 is disclosed, including an elastic member 41, a first driving unit 42 and a second driving unit 43, wherein the first driving unit 42 and the second driving unit 43 are both arranged on the base 10, and the first driving unit 42 and the second driving unit 43 are both drivingly connected to the transmission component 30 to form a parallel driving mechanism to drive the rotation of the transmission component 30 and the supporting component 20.

[0045] One end of the elastic member 41 is arranged to abut against the base 10, and the other end is fixedly connected to the bottom side of the frame arm of the support component 20, so as to push the support component 20 to rotate in the direction away from the base 10. During actual assembly, the elastic member 41 can adopt a spring, a spring sheet, a pair of magnets with the same magnetic properties, and the like. It only needs to have a corresponding elastic force, which can be used to maintain the tendency of the support component 20 to deflect to one side, thereby facilitating the compact driving of the driving component 40 and ensuring that the support component 20 is always against and driven by the driving component 40.

[0046] The first driving unit 42 and the second driving unit 43 can be configured to control the rotation angle of the transmission component 30 and drive the rotation of the support component 20 by respectively driving the longitudinal displacement in a direction perpendicular to the base 10 .

[0047] The first driving unit 42 and the second driving unit 43 cooperate with the elastic member 41 , and the elastic member 41 always maintains elastic force on the supporting component 20 to drive the supporting component 20 to rotate.

[0048] During use, the load 60 is coaxially fixed on the transmission component 30. The elastic member 41 itself provides elastic force in the direction away from the base 10, so the load 60 can be pushed against the support component 20, so that the load 60 is always above the base 10 and avoids collision between the load 60 and the base 10.

[0049] Then, when the offset angle and orientation of the load 60 are to be adjusted, the first drive unit 42 and the second drive unit 43 are simultaneously connected to the transmission component 30 to form a parallel drive mechanism for compound drive. The parallel drive mechanism is a mechanism in which two or more drive units are arranged in parallel to jointly complete mechanical movement. The use of a parallel mechanism can improve the rigidity of the mechanical system, increase the load-bearing capacity of the mechanical device, and also has a series of advantages such as high motion accuracy and good dynamic performance.

[0050] The first drive unit 42 and the second drive unit 43 apply downward pressure from different directions of the transmission component 30, and the transmission component 30 transmits the pressure to the support component 20, so that the support component 20 is also subjected to a force toward the base 10; that is, the elastic force of the elastic member 41 that is always away from the base 10 is opposite to the direction of the force of the first drive unit 42 and the second drive unit 43, forming a pair of forces on the support component 20. Through preliminary testing and regulation, the appropriate force can be adjusted to make the rotation amplitude of the support component 20 controllable, and by overcoming the elastic force of the elastic member 41, the transmission component 30 and the support component 20 are rotated along the first rotation direction 70, and at the same time, the load 60 fixed on the transmission component 30 is also rotated together.

[0051] When the first driving unit 42 and the second driving unit 43 perform different longitudinal displacement control on the transmission component 30 at different rotation angles, the transmission component 30 will deflect while the supporting component 20 rotates. Therefore, the transmission component 30 can also drive the load 60 to rotate along the second rotation direction 80, thereby increasing the multi-dimensional control of the deviation angle and orientation of the load 60.

[0052] In addition, the first drive unit 42 and the second drive unit 43 are in direct contact with the transmission component 30, which can transmit power well, avoid the loss of driving force during the transmission process, and reduce the transmission error; in summary, through the parallel driving method, the drive module disclosed in the present application reduces the transmission level, so it can drive the load 60 to move with a greater driving force, and can drive the load 60 to rotate in a larger range, thereby improving the flexibility of the drive module.

[0053] See also Figure 2 As another implementation of this embodiment, it is disclosed that the supporting component 20 includes a support 21 and a rotating frame 22, and the support 21 is two and is arranged on the base 10; the rotating frame 22 can be rotatably installed on the support 21, the transmission component 30 is installed in the through hole 221 on the rotating frame 22, and the elastic member 41 is installed between the transmission component 30 and the base 10.

[0054] A support 21 is set on the base 10 as an axis and a through hole 212 is set. Then, a rotating frame 22 is installed on the support 21 so that the rotating frame 22 can rotate freely with the support 21 as the axis. Therefore, the transmission component 30 installed on the rotating frame 22 can approach or move away from the surface of the base 10 with the rotating frame 22 to achieve the purpose of rotating along the first rotation direction 70.

[0055] See also Figure 3 In another implementation of the present embodiment, it is disclosed that the support 21 can be stably mounted on the base 10 by setting a mounting hole 11 on the base 10 and setting an adaptive protrusion 211 on the support 21, and the stability of the support 21 can be enhanced by means of snap connection, bonding, welding, interference fit or bolt fixing. Of course, the support 21 can also be integrally formed with the base 10 to form a stable and firm structure, which is more conducive to ensuring the overall structural strength, avoiding sliding or displacement of the support 21, and extending the service life of the drive module.

[0056] like Figure 2 and Figure 3 As shown, in another implementation of the present embodiment, in order to make the rotating frame 22 more stable when rotating, it is disclosed that two supports 21 are provided, which are relatively arranged on both sides of the base 10, and the rotating frame 22 is arranged between the two supports 21, and a through hole 212 is provided on the support 21, and a convex shaft 222 is provided at a position corresponding to the through hole 212 on the rotating frame 22, and the assembly of the rotating frame 22 and the support 21 is achieved by plugging the convex shaft 222 with the through hole 212, while keeping the rotating frame 22 rotatable. The structures of the rotating frame 22, the base 10, the support 21, etc. disclosed in the present embodiment can be made of plastic or metal after comprehensively considering the material properties and costs.

[0057] Specifically, in another implementation of the present embodiment, it is disclosed that the rotating frame 22 is a U-shaped frame, the U-shaped frame includes two parallel side edges and a bottom edge perpendicular to the side edges, the ends of the two side edges away from the bottom edge are respectively connected to the two supports 21, and the transmission component 30 is installed on the bottom edge. On current industrial equipment, various functions are required, but the space occupied by the machinery is indeed limited, so it is necessary to save space. The rotating frame 22 is set as a U-shaped frame, and the load 60 fixed by the transmission component 30 can be located in the middle of the U-shaped frame, which not only saves space, but also surrounds the outer periphery of the load 60, and can protect the load 60 and reduce the collision damage of the load 60. In order to prevent the load 60 from colliding with the U-shaped frame when rotating and moving, the transmission component 30 can be installed in the middle position of the bottom edge and connected to the middle position of the load 60, so that the load 60 will not be lateral when rotating. As long as the width of the U-shaped frame is greater than the width of the load 60 during design, the load 60 can only rotate in the U-shaped frame during use to avoid collision.

[0058] like Figure 3 and Figure 4 As shown, in another implementation of the present embodiment, in order to make the force transmission between the elastic member 41 and the rotating frame 22 more stable, it is disclosed that the elastic member 41 is a spring formed by sheet metal, which can be a metal spring, a plastic spring, or a spring made of other materials; a plurality of drill holes 411 are provided on a section of the spring facing the rotating frame 22, and matching protrusions 223 (or bolts) are provided at positions corresponding to the drill holes 411 on the rotating frame 22. After the protrusions 223 and the drill holes 411 are assembled, the elastic member 41 cannot slide on the surface of the base 10 relative to the rotating frame 22, thereby improving the stability of the connection between the rotating frame 22 and the elastic member 41 during the rotation process.

[0059] See also Figure 4 In another implementation of the present embodiment, in order to make the force transmission between the elastic member 41 and the rotating frame 22 more stable, a section of the elastic member 41 close to the base 10 is also disclosed, and an arc-shaped reinforcement section 412 is provided at the end away from the base 10 to prevent the elastic member 41 from breaking during repeated extrusion; and a bending portion 413 is provided at the end in contact with the base 10, so that the contact surface between the elastic member 41 and the base 10 is a curved surface, so as to avoid the elastic member 41 extruding the base 10 and causing damage to the base 10. The elastic member 41 described in the present invention is provided with two, but not limited to this number, and one or more can be provided if necessary.

[0060] like Figure 2 and Figure 5As shown, as another implementation method of this embodiment, it is disclosed that the transmission component 30 also includes a main rod 31, a transition plate 32, a first connecting head 33 and a second connecting head 34, and the main rod 31 is pivotally engaged with the through hole 221, and one end of the main rod 31 is used to fix the load 60, for example, fixedly connected by a connecting plate 35.

[0061] An axial hole 321 is provided in the middle position of the transition plate 32, and the other end of the main rod 31 is plugged into the axial hole 321 for being assembled on the transition plate 32; the first connecting head 33 and the second connecting head 34 are respectively arranged at both ends of the transition plate 32 to form a lever structure; the first connecting head 33 is connected to the first driving unit 42, and the second connecting head 34 is connected to the second driving unit 43.

[0062] By connecting the first connecting head 33 and the second connecting head 34 to the first driving unit 42 and the second driving unit 43 respectively, the first driving unit 42 and the second driving unit 43 can apply forces from both sides of the main rod 31. These two forces are both toward the base 10, which are opposite to the force of the elastic member 41. The deflection angle and orientation of the load 60 can be controlled by regulating these three forces and the size of the longitudinal displacement of another driving unit.

[0063] At the same time, the two driving units are controlled by a control unit. By driving different longitudinal displacements, the deflection of the main rod 31 and the deflection of the supporting component 20 can be achieved, and the deflection angle and orientation of a load 60 can be uniquely determined, which actually corresponds to the solvability and uniqueness of the control algorithm mathematically.

[0064] like Figure 5 As shown, as another implementation of this embodiment, a connecting plate 35 is provided on the side of the main rod 31 facing the load 60. The connection of the connecting plate 35 with the load 60 can increase the contact area and make the connection more stable. Of course, a clamping structure, an adhesive structure, a magnetic connection structure, etc. can also be provided on the connecting plate 35 to make the connection between the load 60 and the connecting plate 35 more firmly. In addition, a clamp can also be provided on the side of the main rod 31 facing the load 60. The clamp clamps the load 60 so that the load 60 is fixed and stable, and is convenient for disassembly and assembly.

[0065] Specifically, as another implementation of this embodiment, an integrally formed structure of the main rod 31, the transition plate 32, the first connector 33 and the second connector 34 is disclosed. The integrally formed structure is more solid and stable, reduces assembly gaps, reduces stress concentration during use, prevents the transmission component 30 from breaking, and prolongs its service life.

[0066] like Figure 2As shown, as another implementation method of this embodiment, the first and / or second driving unit is disclosed to include a driving motor 421, a transmission screw 422, a fixing rod 423 and a linkage plate 424. The driving motor 421 is arranged on the base 10. The driving motor 421 in this embodiment can use at least one of a stepping motor and an ultrasonic motor. The stepping motor can convert an electrical pulse signal into a corresponding angular displacement or linear displacement. For each input of a pulse signal, the rotor rotates an angle or moves forward one step. The output angular displacement or linear displacement is proportional to the input number of pulses, and the rotation speed is proportional to the pulse frequency. Therefore, the height of the linkage plate 424 can be driven to control, that is, each of the aforementioned driving units controls the longitudinal displacement of the drive, thereby realizing the rotation and displacement drive of the transmission component 30 through the linkage drive of the linkage plate 424 and the corresponding connector 33 or 34.

[0067] In a preferred embodiment of the present invention, the driving motor 421 preferably uses an ultrasonic motor. The ultrasonic motor has high precision and can achieve an accuracy of one ten-thousandth. It will not be disturbed by the magnetic field, can achieve large-angle rotation, and is smaller in size, at least 2 mm smaller than other motors currently on the market. The ultrasonic motor has a greater driving force and can drive the load 60 to achieve a deflection angle of ±8 degrees, or even higher.

[0068] In addition, the ultrasonic motor does not need a flexible printed circuit (FPC) for wiring, and the process is simple, so the motor can be made smaller and driven directly by a motor or a screw. The transmission screw 422 is connected to the output shaft of the drive motor 421, and the fixing rod 423 is arranged on the base 10. The axial direction of the fixing rod 423 is parallel to the axial direction of the transmission screw 422, and preferably perpendicular to the plane where the base 10 is located.

[0069] One end of the linkage plate 424 is connected to the transmission screw 422, and the other end is slidably connected to the fixed rod 423; the first connecting head 33 or the second connecting head 34 corresponds to the corresponding linkage plate 424 overlapping the side facing the base 10 (the following only takes the first connecting head 33 as an example, and the same symmetrical structure is also applicable to the second connecting head 34).

[0070] When the driving motor 421 of this embodiment is driven, the transmission screw 422 is driven to rotate. The transmission screw 422 is provided with a transmission thread 4221. Figure 3As shown, the transmission thread 4221 can be a full thread or a half thread, and the half-threaded transmission screw 422 has the advantage of being more convenient to install the linkage plate 424. The linkage plate 424 is screwed with the transmission screw 422, and whenever the transmission screw 422 rotates, the linkage plate 424 will change the corresponding height value, so that the adjustment sensitivity of the drive module is high, and the regulation of small angles is more precise.

[0071] Since the axial extension direction of the fixing rod 423 and the axial extension direction of the transmission screw 422 are both perpendicular to the plane where the base 10 is located, the axial direction of the fixing rod 423 is parallel to the axial direction of the transmission screw 422. The linkage plate 424 spanning the two will be restricted when moving and can only move up and down parallel to the plane where the base 10 is located without tilting, thereby avoiding the situation where one end of the linkage plate 424 close to the transmission screw 422 rises or falls while the other end does not move. Whenever the transmission screw 422 rotates, the linkage plate 424 moves as a whole, so that the force of the drive motor 421 can be better transmitted to the first connecting head 33, so that the moving distance of the first connecting head 33 and the matching accuracy of the drive motor 421 are higher.

[0072] Specifically, during the driving process, the driving component 40 needs to press down the first connecting head 33, and the first connecting head 33 is fixed on the supporting component 20. When the supporting component 20 is pressed on the base 10 and rotates, it will not only move perpendicular to the surface of the base 10, but also move parallel to the surface of the base 10. Therefore, the transmission component 30 will be driven by the elastic member 41 to produce a lateral movement parallel to the plane of the base 10. If the first connecting head 33 is fixedly connected to the linkage plate 424, the linkage plate 424 will be further pulled. However, the linkage plate 424 is mounted on the fixed rod 423, especially when the axial direction of the fixed rod 423 and the axial direction of the transmission screw 422 are both perpendicular to the surface of the base 10, the linkage plate 424 cannot move along the surface parallel to the base 10. Therefore, from the perspective of the specific working process, it is not suitable to fix the linkage plate 424 to the first connecting head 33.

[0073] In this embodiment, the first connecting head 33 is overlapped on the linkage plate 424, and the first connecting head 33 is always kept in contact with the linkage plate 424 through the elastic member 41, so as to maintain the transmission of the driving force. However, the linkage plate 424 does not limit the movement of the first connecting head 33 along the surface parallel to the base 10, thereby achieving flexible cooperation between the first connecting head 33 and the linkage plate 424.

[0074] like Figure 2 and Figure 6As shown, as another implementation method of this embodiment, the linkage plate 424 is disclosed to include an annular block 4241 and a flat plate 4242, and the annular block 4241 is slidably connected to the fixed rod 423 to form positioning and limiting; one end of the flat plate 4242 is connected to the annular block 4241, and the other end is provided with a transmission hole 4242a, and the transmission screw 422 is inserted into the transmission hole 4242a and screwed to drive the adapter.

[0075] A first contact surface 4241a is provided on the side wall of the annular block 4241, and the first contact surface 4241a is located on the side of the annular block 4241 facing the transmission screw 422, and the first contact surface 4241a is located on the side of the flat plate 4242 facing the base 10. The first contact surface 4241a is a plane or a concave curved surface, and the first connector 33 contacts the first contact surface 4241a.

[0076] In one implementation of the present embodiment, the transmission hole 4242a is a threaded hole, and the thread of the threaded hole matches the thread on the transmission screw 422. When the transmission screw 422 rotates, because the other end of the flat plate 4242 is fixed on the annular block 4241, and the annular block 4241 is sleeved on the fixed rod 423, the linkage plate 424 cannot rotate as a whole, so it can only move in the direction toward or away from the base 10, thereby realizing the conversion of the torque of the first driving component 40 into a compressive force in a linear direction, so that the first connector 33 moves in the linear direction toward or away from the base 10. In a specific implementation, the flat plate 4242 can also be set as a semi-threaded hole at the transmission hole 4242a, that is, the transmission hole 4242a forms an opening, which has only a partial thread and is adapted to the transmission screw 422.

[0077] The annular block 4241 is cylindrical as a whole, and the flat plate 4242 protrudes vertically from the upper half of the outer side wall of the annular block 4241, so that the linkage plate 424 forms a corner as a whole, which is conducive to more stable movement up and down along the axial direction of the fixed rod 423. However, the side wall of the annular block 4241 is a curved surface, and if it contacts with the straight rod, the contact area is small and not stable enough. Therefore, the first contact surface 4241a can be set on the annular block 4241 as a concave curved surface. Because the side wall of the annular block 4241 is originally a convex side wall, both sides of the concave curved surface can contact the first connecting head 33, increasing the connection stability between the first connecting head 33 and the linkage plate 424, which is conducive to better power transmission and more accurate control of the movement of the transmission component 30; the first contact surface 4241a can also be set as a plane, which is parallel to the axial direction of the first connecting head 33, and the first connecting head 33 can be better attached to the surface of the annular block 4241 and will not move laterally.

[0078] like Figure 2and Figure 6 As shown, as another implementation of this embodiment, the surface of the flat plate 4242 in contact with the first connector 33 is disclosed as a second contact surface 4242b, the second contact surface 4242b is located on the side of the flat plate 4242 facing the base 10, and the second contact surface 4242b is a convex curved surface. The first contact surface 4241a and the second contact surface 4242b limit the first connector 33 from two different directions, so that the first connector 33 is stably controlled. Setting the second contact surface 4242b as a convex curved surface can reduce the contact surface area between the flat plate 4242 and the first connector 33, so that when the flat plate 4242 presses down the first connector 33, the friction resistance between the first connector 33 and the second contact surface 4242b is reduced, so that the first connector 33 is more sensitive when moving along the surface parallel to the base 10, avoiding the situation of being stuck when adjusting the height and angle of the load 60.

[0079] Specifically, as another implementation of this embodiment, a groove 4242c is provided on one side of the flat plate 4242 facing the base 10, and the transmission hole 4242a is located in the middle of the groove 4242c. The groove 4242c is provided to make it more stable when assembled with the transmission screw 422. The transmission screw 422 first passes through the groove 4242c and then is inserted into the transmission hole 4242a. At the same time, the groove 4242c can also avoid the transmission screw 422 to prevent the flat plate 4242 from colliding with the transmission screw 422 during movement.

[0080] See also Figure 1 , Figure 2 and Figure 3 As another implementation of this embodiment, it is disclosed that the second driving unit 43 has the same structure as the first driving unit 42 , and the first driving unit 42 and the second driving unit 43 are arranged on the base 10 opposite to each other.

[0081] First, providing two identical structures can save the types of parts and facilitate manufacturing.

[0082] Second, the first drive unit 42 and the second drive unit 43 have the same structure, and their driving force, stroke, and minimum adjustable unit are all the same. In actual applications, the first drive unit 42 and the second drive unit 43 are more convenient to cooperate with each other to jointly adjust the angle and height of the transmission component 30.

[0083] Third, when the first drive unit 42 and the second drive unit 43 have the same structure, the first connector 33 and the second connector 34 can also be set to the same structure. The two are connected in the same way as the first drive unit 42 and the second drive unit 43, which is convenient for assembly. Moreover, the first connector 33 and the second connector 34 are respectively arranged at both ends of the transition plate 32. When the structure is the same, the weight distribution on the transition plate 32 is uniform, and the center of gravity is located in the middle part, that is, the part connected to the main rod 31. Therefore, it is more stable when the main rod 31 rotates. In the natural state, the transmission component 30 can remain stable and will not deflect. When adjusting, the driving force output by the first drive unit 42 and the second drive unit 43 does not need to have a tendency, which is convenient for adjustment.

[0084] Fourth, in this embodiment, with the plane perpendicular to the base 10 where the main rod 31 is located as the axial plane, when the first drive unit 42 and the second drive unit 43 are relatively arranged, the lateral distance from the assembly position of the first connecting head 33 and the first drive unit 42 to the main rod 31 is equal to the lateral distance from the assembly position of the second connecting head 34 and the second drive unit 43 to the main rod 31, and the lengths on both sides of the transition plate 32 are equal, which is conducive to better maintaining balance and reducing unnecessary deflection.

[0085] like Figure 2 As shown, in another implementation of the present embodiment, it is also disclosed that the driving module also includes a connecting seat 50, one end of the connecting seat 50 is connected to the transmission screw 422 of the first driving unit 42, and the other end is connected to the transmission screw 422 of the second driving unit 43; the fixing rod 423 of the first driving unit 42 and the fixing rod 423 of the second driving unit 43 are arranged in parallel on the connecting seat 50.

[0086] When the first drive unit 42 and the second drive unit 43 have the same structure, the first drive unit 42 and the second drive unit 43 are connected together through the connecting seat 50, and can be assembled simultaneously during assembly, which simplifies the assembly process, increases assembly efficiency, and increases the stability of the first drive unit 42 and the second drive unit 43 during use.

[0087] Secondly, reinforcing ribs 51 can also be provided on the connecting seat 50, and the reinforcing ribs 51 are provided between the transmission screw 422 of the first driving unit 42, the transmission screw 422 of the second driving unit 43, the fixing rod 423 of the first driving unit 42 and the fixing rod 423 of the second driving unit 43 to increase the stability of the structure.

[0088] Secondly, if Figure 3As shown, a plurality of reinforcing protrusions 52 may be further provided on the side of the connecting seat 50 facing the base 10, and a hollow hole 12 is provided on the base 10 at a position opposite to the reinforcing protrusion 52. By plugging the reinforcing protrusion 52 into the hollow hole 12 during assembly, an assembly relationship is generated between the connecting seat 50 and the base 10, thereby improving the stability of the overall structure and preventing the first drive unit 42 or the second drive unit 43 from shaking or shifting during use.

[0089] like Figure 2 As shown, in another implementation of the present embodiment, a protective block 13 is also disclosed at the edge of the base 10. For example, when the base 10 is rectangular, the protective blocks 13 are arranged at the four corners of the base 10; the protective blocks 13 reduce collisions during use and transportation, and protect the elastic member 41, the transmission component 30, the first drive unit 42, the second drive unit 43, the load 60 and other structures on the base 10. The protective block 13 can be integrally formed with the base 10 to form a more stable and firm integrated structure.

[0090] As another embodiment of the present application, a micro gimbal is disclosed, which includes a driving module as described above. The micro gimbal of the present invention adopts a motor drive with a parallel structure, and can be driven by two or more ultrasonic motors to obtain a greater driving force, and can drive and adjust the rotation angle of the load 60 in a limited space. For example, when applied to a mobile phone camera, the camera can be driven to rotate by a maximum of ±8 degrees or even higher; different from the voice coil motor used on a conventional gimbal, the driving module disclosed in this embodiment can provide a greater driving force in a limited space, and the camera can rotate in a wider range, for example, after the lens is aimed at the photographed object, it can maintain the focus state, follow the photographed object to move a larger range, keep the lens relatively stable when the mobile phone shakes, and when encountering a short person, such as a child, during face recognition, a wider range can be scanned.

[0091] As another embodiment of the present application, a control method of the driving module as described above is also disclosed, which includes:

[0092] S100 , controlling the driving component 40 to drive the supporting component 20 and the transmission component 30 simultaneously, so that the transmission component 30 drives the load 60 to rotate along the second rotation direction 80 while following the supporting component 20 to rotate along the first rotation direction 70 .

[0093] The micro gimbal disclosed in the present embodiment can set a forward calculation table and a reverse calculation table on the electronic device or the main control device, and synchronously control the two motors to cooperate with each other through the control method preset on the processor. The output power of the two motors can be converted into the rotation and movement angle of the load 60, and the movement of the load 60 can be sensitively controlled; the rotation or movement angle required by the load 60 can also be converted into the output power requirements of the two motors, and the power of the motors can be reversely adjusted; finally, flexible control of the load 60 by the driving module is formed.

[0094] In summary, a driving module is provided, wherein the driving module includes a base 10, a supporting component 20, a transmission component 30 and a driving component 40, the supporting component 20 is rotatably connected to the base 10, and the direction in which the supporting component 20 rotates on the base 10 is a first rotation direction 70; the transmission component 30 is arranged on the supporting component 20, and is used to fix a load 60; a through hole 221 is provided on the supporting component 20, the transmission component 30 is inserted into the through hole 221, and the transmission component 30 can rotate in the through hole 221, and the rotation direction of the transmission component 30 is a second rotation direction 80, and the second rotation direction 80 is different from the first rotation direction 70; the driving component 40 is arranged on the base 10, and the driving component 40 is connected to the transmission component 30, and is used to simultaneously drive the transmission component 30 and the supporting component 20 to rotate.

[0095] The driving module disclosed in the present application is provided with a driving component 40 on the base 10 to adjust the posture of the transmission component 30. During use, when the load 60 (such as a mobile phone camera) is fixed on the transmission component 30 and the angle and height of the load 60 are to be adjusted, the driving component 40 drives the transmission component 30 to rotate. The rotation of the transmission component 30 can drive the load 60 to rotate along the second rotation direction 80 synchronously. Because the support component 20 is rotatably connected to the base 10 and is not fixed, the driving force transmitted when the transmission component 30 rotates will cause the support component 20 to rotate along the first rotation direction 70. For the load 60, it is also driven to rotate along the first rotation direction 70.

[0096] In summary, the driving component 40 of the present application drives the load 60 to rotate in multiple directions at the same time, thereby improving the flexibility of the driving module; and can provide sufficient driving force to the load 60, and can drive the load 60 to rotate in a larger range.

[0097] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0098] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

[0099] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A driving module, characterized in that: include: Base; A support component is rotatably connected to the base, and the direction in which the support component rotates on the base is a first rotation direction; a transmission component, arranged on the supporting component, and used for fixing the load; a through hole is arranged on the supporting component, the transmission component is inserted into the through hole, and the transmission component can rotate in the through hole, and the rotation direction of the transmission component is a second rotation direction, and the second rotation direction is different from the first rotation direction; as well as A driving component, disposed on the base, connected to the transmission component, and used to simultaneously drive the transmission component and the support component to rotate; The driving component includes a first driving unit and a second driving unit, the first driving unit and the second driving unit are both arranged on the base, and the first driving unit and the second driving unit are both connected to the transmission component to form a parallel driving mechanism to drive the transmission component to rotate; The driving component further includes an elastic member, one end of which is arranged on the base, and the other end of which is connected to the supporting member, and is used to push the supporting member in a direction away from the base; the first driving unit and the second driving unit push the transmission component in a direction toward the base, thereby driving the supporting member to rotate; The support component includes a support and a rotating frame; the support is arranged on the base; the support is provided with a through hole; a convex shaft is provided on the rotating frame at a position corresponding to the through hole; the rotating frame can be rotatably mounted on the support; the transmission component is installed in the through hole on the rotating frame, and the elastic member is installed between the transmission component and the base; The transmission components include: A main rod is plugged into the through hole, and one end of the main rod is used to fix the load; A transition plate, wherein a shaft hole is provided in the middle of the transition plate, and the other end of the main rod is plugged into the shaft hole; and A first connector and a second connector are respectively arranged at two ends of the transition plate; the first connector is connected to the first drive unit, and the second connector is connected to the second drive unit; The first and / or second driving unit comprises: A driving motor is arranged on the base; A transmission screw connected to the output shaft of the drive motor; a fixing rod, disposed on the base, wherein the axial extension direction of the fixing rod is parallel to the axial extension direction of the transmission screw, and the driving rod and the transmission screw are perpendicular to the bottom surface of the base; and A linkage plate, one end of which is connected to the transmission screw rod, and the other end of which is connected to the fixing rod; the linkage plate is overlapped with the corresponding connector on one side of the base.

2. The driving module according to claim 1, characterized in that: The driving motor includes at least one of a stepping motor and an ultrasonic motor.

3. The driving module according to claim 1, characterized in that: The linkage plate comprises: an annular block, slidably connected to the fixing rod; and A flat plate, one end of which is connected to the annular block, and the other end of which is provided with a transmission hole, and the transmission screw is inserted into the transmission hole; Among them, a first contact surface is provided on the side wall of the annular block, the first contact surface is located on the side of the annular block facing the transmission screw, and the first contact surface is located on the side of the flat plate facing the base; the first contact surface is a plane or a concave curved surface, and the first connecting head is in contact with the first contact surface.

4. The driving module according to claim 3, characterized in that: The surface of the flat plate that contacts the first connector is a second contact surface. The second contact surface is located on a side of the flat plate facing the base. The second contact surface is a convex curved surface.

5. A micro gimbal, characterized in that: Comprising a drive module as described in any one of claims 1 to 4.

6. A control method for a drive module according to any one of claims 1 to 4, characterized in that: include: The driving component is controlled to drive the supporting component and the transmission component simultaneously, so that the transmission component drives the load to rotate along the second rotation direction while following the supporting component to rotate along the first rotation direction.

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