Universal actuator, camera module and terminal device

Abstract

The present disclosure relates to a universal actuator, a camera module and a terminal device. The universal actuator comprises a platform for mounting an optical device, a driving part comprising three driving mechanisms arranged around the platform, and a base for fixing the driving mechanisms, wherein the platform has three driving positions corresponding to the three driving mechanisms respectively, the three driving positions are not collinear, and the three driving mechanisms are used to drive the platform to approach or move away from the base at the respective corresponding driving positions. In use, the universal movement of the platform can be achieved only by combining the linear movements of the three driving positions of the platform with each other. The present disclosure has a simple structure, and the universal movement can be achieved only by using simple linear driving mechanisms, without the need to set a complex driving system.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of electronic device camera, in particular, to a universal actuator, a camera module and a terminal device. BACKGROUND

[0002] The terminal device with a camera module, such as a mobile phone, an AR, a VR helmet and the like, usually needs to adjust the optical path of the optical system in the camera module through a micro motor. Since the camera module usually needs to drive the optical device to perform focusing, anti-shake and torsion and the like, the existing camera module usually needs to separately set multiple different driving mechanisms to cooperate with each other to complete the required movement when driving different movements. Therefore, the driving mechanism in the existing mobile terminal is usually complex in structure and numerous in quantity. SUMMARY

[0003] The purpose of the present disclosure is to provide a universal actuator, a camera module and a terminal device to at least partially solve the problems in the related art.

[0004] In order to achieve the above-mentioned purpose, the present disclosure provides a universal actuator, comprising: a platform for installing an optical device; a driving part comprising three driving mechanisms arranged around the platform; and a base for fixing the driving mechanisms, wherein the platform has three driving positions corresponding to the three driving mechanisms respectively, the three driving positions are not collinear, and the three driving mechanisms are used to drive the platform to approach or move away from the base at the respective driving positions.

[0005] Optionally, the three driving mechanisms are arranged at equal intervals in the direction around the platform.

[0006] Optionally, the universal actuator further comprises three support members respectively having a spherical or hemispherical protrusion, the arc surface of the protrusion is supported on the platform, and the support member is configured to be driven by its corresponding driving mechanism to move synchronously with the platform and the support member.

[0007] Optionally, the universal actuator further comprises a reset assembly, the reset assembly comprises an elastic member fixed at one end to the platform and at the other end to the base, the elastic member is used to provide a reverse elastic force when the driving mechanism drives the platform to move, the number of the elastic member is three, and the elastic member is arranged alternately with the driving mechanism in the direction around the platform.

[0008] Optionally, the elastic member is configured to have an elastic force for pressing the platform to the protrusion when the platform is located at an initial position.

[0009] Optionally, the reset assembly further comprises a bearing part for bearing the platform, and the three elastic members are connected to the bearing part, and the support member abuts against the bearing part.

[0010] Optionally, the universal actuator further comprises an elastic piece with one end fixed to the platform and the other end fixed to the support member, and the elastic piece has an elastic force for pressing the platform against the protrusion.

[0011] Optionally, the reset assembly further comprises a bearing part for bearing the platform, and the three elastic members are connected to the bearing part, and the support member abuts against the bearing part.

[0012] Optionally, the driving mechanism comprises a magnet and a coil, one of the magnet and the coil is fixed to the base, and the other is fixed to the support member, and the electromagnetic force generated between the coil and the magnet after the coil is energized is used to drive the support member to move.

[0013] Optionally, one of the base and the support member in which the coil is fixed is further fixed with a magnetic guide piece, which is used to be magnetically attracted with the magnet to provide a driving force for resetting the platform.

[0014] Optionally, the base comprises a bottom plate and a vertical plate vertically arranged on the upper surface of the bottom plate, and the universal actuator further comprises a guide part capable of supporting the movement of the support member, and the guide part comprises a ball or a shaft arranged between the support member and the vertical plate, wherein at least one of the support member and the vertical plate is provided with a groove extending along the movement direction of the support member, and the ball or the shaft is accommodated in the groove, and the magnetic attraction force between the magnet and the magnetic guide piece is used to press the support member towards the guide part and then towards the vertical plate.

[0015] Optionally, the driving mechanism is a piezoelectric driver, and the piezoelectric driver comprises a fixed part fixed to the base and a moving part capable of moving relative to the fixed part after being energized, and the support member is fixed to the moving part.

[0016] Optionally, the universal actuator further comprises a sliding shaft fixed to the base, the sliding shaft extends along the movement direction of the support member, and the support member is sleeved on the outer side of the sliding shaft.

[0017] Optionally, the platform comprises a large-diameter section and a small-diameter section recessed radially inward, the large-diameter section and the small-diameter section forming a stepped surface towards the base, the universal actuator further comprising a bearing portion surrounding the platform and abutting against the stepped surface to bear the platform, a plurality of elastic members being circumferentially spaced apart on the bearing portion, one end of each elastic member being fixedly connected to the base, the elastic members being configured to provide a reverse elastic force when the driving mechanism drives the platform to move, the number of the elastic members being three and being alternately arranged with the driving mechanism in a direction surrounding the platform.

[0018] Optionally, the elastic members are configured to have an elastic force towards the base in an initial state.

[0019] Optionally, the driving mechanism is an SMA driver, and the platform is circumferentially spaced apart with three protruding columns extending radially outward, the SMA driver comprising a long memory alloy having two ends fixedly connected to the base and a middle portion hung on the protruding columns, the long memory alloy being configured to drive the protruding columns to move the platform when deformed by being heated.

[0020] Optionally, the universal actuator further comprises three position sensors for detecting real-time positions of the three driving positions respectively.

[0021] According to a second aspect of the present disclosure, a camera module is provided, comprising an optical device and the universal actuator described above.

[0022] According to a third aspect of the present disclosure, a terminal device is provided, comprising the camera module described above.

[0023] Through the above technical solutions, the embodiments of the present disclosure can realize the universal movement of the platform by only combining the linear movements of the three driving positions of the platform, i.e., realize the linear movement or the offset of the platform, the present disclosure has a simple structure, and the universal movement can be realized only by a simple linear driving mechanism, without the need to set a complex driving system.

[0024] Other features and advantages of the present disclosure will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0025] The accompanying drawings are included to provide a further understanding of the present disclosure and constitute a part of the specification, which together with the specific embodiments below, serve to explain the present disclosure, but do not constitute a limitation on the present disclosure. In the drawings:

[0026] Figures 1-2 are two exploded views of the universal actuator provided according to the first embodiment of the present disclosure;

[0027] Figures 3-5is an exploded view of a universal actuator with three guide structures according to the first embodiment of the present disclosure;

[0028] Figures 6-7 are two exploded views of partial structures of a universal actuator according to the second embodiment of the present disclosure;

[0029] Figure 8 is an exploded view of a partial structure of a universal actuator according to the third embodiment of the present disclosure;

[0030] Figure 9 is an exploded view of a universal actuator according to the fourth embodiment of the present disclosure.

[0031] Explanation of Reference Signs

[0032] 110, 210, 310, 410 - base; 111, 211, 311, 411 - bottom plate; 112, 212, 312, 412 - vertical plate; 113, 213 - accommodating hole; 413 - sleeve; 120, 220, 320, 420 - platform; 321 - large-diameter section; 322 - small-diameter section; 323, 423 - accommodating groove; 324 - protruding column; 130, 230, 430 - support; 131, 231, 431 - protrusion; 232 - protruding point; 140, 340, 440 - reset assembly; 141, 241, 341, 441 - bearing part; 142, 342, 442 - elastic part; 243 - abutting piece; 150, 250, 350, 450 - driving mechanism; 151, 251 - magnet; 351 - long strip memory alloy; 451 - fixed part; 152, 252 - coil; 452 - moving part; 153, 253 - magnetically conductive piece; 160, 260, 360, 460 - cover; 170, 270 - ball; 171 - shaft; 471 - sliding shaft; 180, 280, 380, 480 - position sensor; 290 - spring piece. DETAILED DESCRIPTION

[0033] The specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.

[0034] In the present disclosure, the orientation words "top, bottom", "inner, outer" are understood based on the application environment of the relevant components, which can be defined based on the actual use direction of the relevant components, or can be according to the outline of the component itself. For example: the inner and outer circumferential surfaces of the bottom plate respectively refer to the small-diameter circumferential surface and the large-diameter circumferential surface of the bottom plate; the bottom surface of the bearing part refers to the end surface of the bearing part facing away from the platform.

[0035] In addition, in the present disclosure, the terms "first", "second" and the like are used to distinguish one element from another element, and do not have sequential or important meanings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated.

[0036] To clearly illustrate the embodiments of the present disclosure, first, it needs to be explained that since three points not in a straight line determine a plane, when you want to drive a plane structure to move, you only need to drive the movement of any three points not in a straight line in the plane to make it realize any form of movement of the plane, such as translation, torsion, etc.

[0037] Based on the above principle, the present disclosure provides a universal actuator, referring to Figure 1 and Figure 2 The universal actuator includes a platform 120 for mounting optical devices, three driving mechanisms 150 arranged around the platform 120, and a base 110 for fixing the driving mechanisms 150, wherein the platform 120 has three driving positions corresponding to the three driving mechanisms 150 respectively, the three driving positions are not collinear, and the driving mechanisms 150 are used to drive the platform 120 to approach or move away from the base 110 at the respective corresponding driving positions. The optical devices mentioned in the embodiments of the present disclosure can be light-transmitting components such as lenses and prisms, or light-sensitive components such as chips, and the platform for mounting the optical devices can be designed according to the type of the actual device carried.

[0038] In use, the three driving mechanisms 150 can move relative to the base 110 to drive the platform 120 to move, since the movements of the three driving positions are independent of each other and not collinear, so as to combine the movements to realize any form of movement of the platform 120. Here, any form of movement means that the platform can perform linear movement in a direction perpendicular to the base, or perform deflection movement at any angle, which will be replaced by universal movement hereinafter.

[0039] In addition, it needs to be explained that the embodiments of the present disclosure are only exemplarily illustrated in the case that the platform 120 is located above the base 110, and in actual use, the platform 120 can be located on the horizontal side of the base 110 or obliquely above, etc., as long as the direction of the whole device is adjusted according to the positional relationship described in the present disclosure.

[0040] By the above scheme, the embodiment of the present disclosure can realize the gimbal movement of the platform only by combining the linear motion of the three driving positions of the driving platform 120 with each other, the present application has simple structure, and the gimbal movement can be realized only by using a simple linear driving mechanism, without the need to set a complex driving system. After the optical device (such as a lens, a photosensitive chip, etc.) is installed on the platform 120, the gimbal movement demand of the optical device can be met, and of course, according to the actual application situation, the optical device can also only make a translation or only make a deflection along with the platform 120.

[0041] In addition, the gimbal actuator can further include a cover body 160 covering the outside of the components, which is used as a protective cover, and a hole for avoiding the optical device or other structures can be formed on the cover body 160.

[0042] The gimbal actuator can further include a support part capable of driving the platform 120 to move, and a reset part for driving the platform 120 in the opposite direction compared with the driving mechanism 150, and specific configuration examples of these parts will be described below.

[0043] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. These embodiments can be combined with each other without contradiction.

[0044] First embodiment

[0045] Reference Figures 1-2 A gimbal actuator is provided, which includes a base 110, a platform 120 and three support parts 130. The base 110 includes a ring-shaped bottom plate 111 and a plurality of long vertical plates 112 standing between the inner and outer periphery of the bottom plate 111. The plurality of vertical plates 112 are connected end to end to form a polygon, which can be, for example, inscribed in the outer periphery of the circular bottom plate 111. Herein, in the present embodiment, the bottom plate 111 can be configured as a circular ring, and in other embodiments, the bottom plate 111 can be configured as a square ring.

[0046] Further, in the present embodiment, the number of vertical plates 112 can be six, and of course, in other embodiments, the number of vertical plates can be other numbers, such as eight, nine, etc. In addition, in other embodiments, the bottom plate 111 can also be configured as a plate, and at this time, the vertical plate 111 is vertically arranged at the position close to the outer periphery of the bottom plate 111. In addition, the present disclosure does not limit the connection mode of the bottom plate 111 and the vertical plate 112, for example, in the present embodiment, the bottom plate 111 and the vertical plate 112 can be integrally injection molded, and of course, in other embodiments, the bottom plate 111 and the vertical plate 112 can be adhesively fixed.

[0047] To drive the support member 130 to move, a driving mechanism 150 is also included. In this embodiment, the driving mechanism 150 can be an electromagnetic actuator, which includes a magnet 151 and a coil 152. The coil 152 is fixed on the base 110. In use, the coil 152 is energized as needed, generating a magnetic force with the magnet 151. Since the coil 152 is fixed and cannot move, the reaction force drives the magnet 151 to move. Because the magnet 151 is fixed inside the support member 130, the driving mechanism 150 can drive the support member 130 to move. Of course, in some other embodiments, the positions of the magnet 151 and the coil 152 can be interchanged, and this disclosure does not limit this. It should be noted that in this embodiment, each of the three support members 130 corresponds to an electromagnetic actuator, and the three electromagnetic actuators can move independently of each other. In addition, a magnetic guide plate 153 is also provided at the position corresponding to each electromagnetic actuator. The magnetic guide plate 153 is used to increase the magnetic force, and the magnetic guide plate 153 can also magnetically cooperate with the magnet 151 to provide the force required for the platform 120 to reset. For example, in this embodiment, the magnetic sheet 153 can be fixed on the upright plate 112 at the position corresponding to the coil 152. In addition, if the coil 152 is fixed inside the support member 130, the magnetic sheet 153 can be fixed to the support member 130 at the position corresponding to the coil 152.

[0048] In addition, to ensure that the platform 120 is stably stressed and moves smoothly under the drive of the three drive mechanisms 150, refer to Figures 1-2 In some embodiments, the three drive mechanisms 150 may be arranged at equal intervals in the direction surrounding the platform 120.

[0049] It should be noted that, in order to fix the coil 152 on the base 110, in this embodiment, the upright plate 112 is provided with a receiving hole 113 at the position corresponding to the coil 152. The coil 152 is fixed in the receiving hole 113 in a shape that fits the coil 152. Since the receiving hole 113 has a frame in the direction of the coil 152's movement trend (i.e., the direction perpendicular to the base plate 111), the coil 152 cannot move.

[0050] Reference Figure 1 In order to fix the magnet 151 inside the support member 130, in this embodiment, the support member 130 is constructed as a groove-shaped structure with at least a partial opening on the end face facing the upright plate 112. During installation, the magnet 151 is fixed inside the groove-shaped structure and secured.

[0051] In order to enable the platform 120 to return to the initial position after the required movement is completed, and to enable the platform 120 to follow the driving mechanism 150 when the driving mechanism 150 starts to move in the direction of approaching the platform 120, in the first embodiment, the universal actuator further comprises a return assembly 140, the return assembly 140 comprises elastic members 142, one end of each elastic member 142 is fixed to the platform 120, and the other end of each elastic member 142 is fixed to the base 110, the elastic members 142 are used to provide a reverse elastic force when the driving mechanism 150 drives the platform 120 to move, the number of the elastic members 142 can be three, and the elastic members 142 are arranged alternately with the driving mechanism in the direction around the platform 120. Of course, the number of the elastic members 142 is not limited in the present disclosure. Wherein, the other end of the elastic member 142 fixed to the base 110 can mean that the elastic member 142 is fixed to the top surface of the vertical plate 112, and the elastic member 142 is configured to have an elastic force to press the platform 120 to the protrusion 131 mentioned below when the platform 120 is in the initial position.

[0052] In the above case, the elastic members 142 are directly integrated around the platform 120, and the support members 130 directly abut against the bottom surface of the platform 120. In addition, in order to improve the integration of the elastic members 142, the three elastic members 142 are integrated, and the platform 120 can be stably placed above the three support members 130 to be able to move with the support members 130, please refer to Figure 1 and Figure 2 In the first embodiment, the elastic members 142 can indirectly connect the platform 120, specifically, the return assembly 140 can comprise a bearing part 141 for placing the platform 120, the bearing part 141 and the platform 120 are mutually matched in size and shape. In the present embodiment, the bearing part 141 can be configured as a ring, in other embodiments, the bearing part 141 can also be configured as a plate, the shape of the bearing part 141 can be adaptively designed according to the actual use scene, and the present disclosure does not limit it.

[0053] Further, the bearing part 141 is circumferentially spaced apart from the three elastic members 142, one end of each elastic member 142 is connected to the bearing part 141, and the other end of each elastic member 142 is fixed to the top surface of the vertical plate 112 corresponding to the position. In the present embodiment, the elastic members 142 are configured to have an elastic force towards the protrusion 131 mentioned below to enable the bearing part 141 to press the protrusion 131 when in the initial position. Since the platform 120 is attached to the bearing part 141, when the bearing part 141 presses the support member 130, the platform 120 can also indirectly abut against the support member 130. In use, the movement of the support member 130 causes the elastic members 142 to deform, and after the movement is completed, the platform 120 returns to the initial position (i.e. returns) under the elastic force of the elastic members 142.

[0054] It should be noted that in order to make the force of the platform 120 more stable and balanced, that is, to ensure that the support 130 is three-point support no matter what angle the platform 120 moves to, in the embodiment, the support 130 is provided with a spherical or semispherical protrusion 131 corresponding to the position of the bearing part 141, and the arc surface of the protrusion 131 abuts against the bottom surface of the bearing part 141. The three protrusions 131 can be abutted against the bottom surface of the bearing part 141 at equal intervals, that is, the protrusions 131 are uniformly distributed below the bearing part 141 and abut against the bottom surface of the bearing part 141. Further, in the embodiment, the three elastic members 142 described above can also be evenly distributed at equal intervals in the circumferential direction of the bearing part 141, and the elastic members 142 and the protrusions 131 are alternately arranged, that is, the elastic members 142 and the driving mechanism 150 are alternately arranged (the positions of the protrusions 131 and the driving mechanism 150 correspond in the circumferential direction). Of course, in other embodiments, the arc surface of the protrusion 131 can directly abut against the bottom surface of the platform 120.

[0055] With reference to Figure 3 Further, in order to provide support and guidance for the movement of the support 130 relative to the base 110, in the embodiment, the universal actuator further comprises a guide part, which comprises a ball 170 arranged between the support 130 and the vertical plate 112, wherein at least one of the support 130 and the vertical plate 112 is provided with a groove extending along the movement direction of the support 130, and the ball 170 is accommodated in the groove. Of course, in the first embodiment, the guide part comprises the ball 170, a first groove provided in the end surface of the support 130 corresponding to the vertical plate 112, and a second groove provided in the vertical plate 112 corresponding to the ball 170, the ball 170 is accommodated in the space formed by the first groove and the second groove, and in addition, the magnetic attraction force between the magnet 151 and the magnetic sheet 153 can press the support 130 towards the guide part and then towards the vertical plate 112, so as to increase the effect of the support and guidance of the ball 170. It should be emphasized that in the embodiment, in order to increase the stability of the guidance, the first groove can be provided with two groups, which are symmetrically arranged at positions close to the two sides of the end surface forming the first groove. Similarly, the second groove is also provided with two groups, which correspond to the first groove, so as to form a space for accommodating the ball 170. In addition, in other embodiments, only one of the support 130 or the vertical plate 112 can be provided with a groove, and the ball 170 is accommodated in the groove.

[0056] Of course, in other embodiments, with reference to Figure 4 The shaft rod 171 guide can be used instead of the ball 170 guide. In addition, with reference to Figure 5 In some embodiments, the shaft rod 171 guide and the ball 170 guide can be combined with each other, and the present disclosure does not limit this. The form of the shaft rod 171 guide is similar to that of the ball 170, which will not be described here.

[0057] In order to ensure the accuracy of the displacement of the platform 120, the magnetic body 151 is arranged on the driving mechanism 150, and the position sensor 180 is arranged on the support 130 corresponding to the driving mechanism 150. Figure 2 In the embodiment, the position sensor 180 can also be arranged on each driving mechanism 150. In use, the position sensor 180 cooperates with the magnetic body 151 to monitor the position of the support 130 corresponding thereto in real time and feed back the position information to the processing control module, so as to control the operation of the driving mechanism 150 in real time.

[0058] Second Embodiment

[0059] In the embodiment, the magnetic body 251 is arranged on the driving mechanism 250, and the position sensor 280 is arranged on the support 230 corresponding to the driving mechanism 250. Figure 6 and Figure 7 The embodiment provides a universal actuator, which is different from the first embodiment in that, in the embodiment, in order to enable the platform 220 to press the support 230, the elastic piece 142 in the first embodiment is replaced by the elastic piece 290, and the reset force is completely realized through the cooperation of the magnetic conductive sheet 253 and the magnetic body 251. The structures of other parts can be specifically referred to the first embodiment, which will not be described here.

[0060] In the embodiment, in order to enable the platform 220 to press the support 230, the universal actuator further comprises an elastic piece 290 fixed at one end to the platform 220 and at the other end to the support 230, and the elastic piece 290 has an elastic force for pressing the platform 220 to the protrusion 231. At this time, the elastic piece 290 can be directly fixed and connected at one end to the platform 220, and the connection mode can be bonding, bolt connection, etc. The other end is fixed to the support 230. Specifically, two convex points 232 can be arranged on the top surface of the support 230, and the end of the elastic piece 290 connected to the support 230 is provided with a circular hole for fixedly sleeving the convex point 232 corresponding in position. Of course, in other embodiments, the other end of the elastic piece 290 can be directly welded to the top surface of the support 230.

[0061] Further, in order to integrate the three elastic pieces 290 into one body and enable the platform 220 to be stably placed above the three supports 230 to move with the supports 230, with reference to Figure 6 and Figure 7 In the embodiment, the elastic piece 290 can be indirectly connected to the platform 220. Specifically, the second embodiment further comprises a bearing part 241 for bearing the platform 220, and the bearing part 241 is provided with an outwardly extending abutting piece 243 on the outer periphery. The protrusion 231 abuts against the abutting piece 243, and the two sides of the abutting piece 243 are respectively connected with one elastic piece 290. The extension direction of the elastic piece 290 is consistent with the length direction of the vertical plate 212 corresponding thereto. At this time, the elastic piece 290 is indirectly connected to the platform 220 through the bearing part 241, and the platform 220 can be attached to the bearing part 241.

[0062] The shape of the bearing portion 241 is not limited in the present disclosure, and can be a circular ring, a square ring, a plate, or the like.

[0063] At this time, similar to the first embodiment, the elastic sheet 290 is configured to have an elastic force directed towards the protrusion 231, so as to press the abutting sheet 243 against the protrusion 231.

[0064] In addition, different from the first embodiment, in the present embodiment, the restoring force is completely provided by the interaction force between the magnetic conductive sheet 253 and the magnet 251 after the platform 220 moves.

[0065] Third embodiment

[0066] Reference Figure 8 The present embodiment provides a universal actuator, which is different from the first embodiment in that, in the present embodiment, the driving mechanism 350 is replaced by an SMA driver instead of an electromagnetic driver, the platform 320 is adjusted in structure, in addition, the bearing mode of the bearing platform 320 is completed by the bearing portion 341, the design of the support member is cancelled, and the structures of other parts can be specifically referred to the first embodiment, which will not be described here.

[0067] In the present embodiment, the platform 320 can be configured as a stepped shaft, that is, the outer periphery of the platform 320 has a large-diameter section 321 and a small-diameter section 322, wherein the large-diameter section 321 is located away from the base 310, that is, the small-diameter section 322 is arranged close to the base 310 to form a stepped surface towards the base 310. Of course, in the present embodiment, the platform 320 can be configured as a hollow structure, and in some other embodiments, the platform 320 can also be configured as a solid structure, in addition, in some other embodiments, the outer periphery of the platform 320 can be configured as a three-section stepped shaft structure including the large-diameter section 321 and the small-diameter section 322 formed by inwardly recessing from the middle position of the large-diameter section 321, so as to form a support surface towards the base 320, and the structure of the platform 320 is not limited in the present disclosure.

[0068] Further, in order to enable the bearing portion 341 to bear the above-mentioned platform 320, in the present embodiment, the bearing portion 341 can be configured as a ring structure matched with the stepped surface structure of the platform 320, so that the small-diameter section 322 can extend into the center hole of the bearing portion 341 and the stepped surface of the platform 320 can be placed above the bearing portion 341. Of course, when the platform 320 is configured as the above-mentioned “three-section stepped shaft structure”, the bearing portion 341 needs to be configured as a ring with a certain elasticity to facilitate installation.

[0069] In this case, based on the unequal diameter configuration of the platform 320, the bearing portion 341 can be used as a support for supporting the platform 320 (i.e., the bearing portion 341 is used instead of the support 130 in the first embodiment), that is, the structure for supporting the platform 320 of the present disclosure does not necessarily have to be a plurality of supports arranged below the platform 320, but other structures arranged at other positions according to the actual configuration of the platform 320 can also be used.

[0070] Further, in order to provide a reset force after the movement of the platform 320, with reference to Figure 8 Like the first embodiment, the circumferential direction of the bearing portion 341 can be connected with three elastic members 342 at uniform intervals, and the other end of the elastic member 342 is fixedly connected to the base 310, specifically, to the top surface of the corresponding vertical plate 312. The elastic member 342 is configured to have a spring force towards the bottom plate 311 in the initial state, so as to provide a driving force for the reset of the platform 320. In the present embodiment, the driving mechanism 350 and the elastic member 342 are arranged alternately in the direction around the platform 320.

[0071] In addition, it needs to be emphasized that in the present embodiment, the base 310 can be provided with the vertical plate 312 only at the positions corresponding to the elastic member 342, that is, the vertical plates 312 are arranged at intervals to leave space for arranging the SMA driver described below. Of course, in some other embodiments, the vertical plate 312 can also be connected end to end like the first embodiment, and the SMA driver can be arranged inside the corresponding vertical plate 312 (i.e., close to the inner circumferential position of the base 310).

[0072] In summary, in the present embodiment, the reset assembly 340 can not only provide the reset force required for the reset movement, but also can support the platform 320.

[0073] In order to provide a driving force for the movement of the platform 320, in the present embodiment, an SMA driver can be arranged between two adjacent vertical plates 312, wherein the SMA driver includes a long memory alloy 351, and the two ends of the long memory alloy 351 are fixedly connected to the positions of the vertical plates 312 close to the two sides on the upper surface of the bottom plate 311.

[0074] Further, the positions corresponding to the long memory alloy 351 in the circumferential direction of the platform 320 are respectively provided with three convex columns 324 extending radially outward, and the middle position of the long memory alloy 351 is hung on the upper surface of the convex column 324 corresponding to the position thereof. In use, the long memory alloy 351 is heated to deform and shrink, which can pull the corresponding convex column 324 to move so as to make the platform 320 move. Here, in the present embodiment, the convex column 324 can be located on the outer circumferential direction of the large diameter section 321, and in some other embodiments, the convex column 324 can be located on the small diameter section 322.

[0075] Referring to Figure 5 In order to enable the position sensor 380 to monitor the position of the platform 320 in real time, in the present embodiment, the outer periphery of the small-diameter section 322 at a position corresponding to the convex column 324 is provided with a containing groove 323 for placing a magnet, and the magnet is placed inside the containing groove 323 to cooperate with the position sensor 380 to monitor the position of the platform 320 in real time. In the present embodiment, the containing groove 323 is open at an end facing the position sensor 380, and the magnet is fixed in the containing groove 323 by interference pressing, and in addition, in some other embodiments, the magnet can be adhered inside the containing groove 323, which is not limited in the present disclosure. Further, the position sensor 380 can be arranged at a position corresponding to the magnet on the bottom plate 311.

[0076] In addition, it needs to be emphasized that, in the present embodiment, the ball 170 and the groove structure for guiding in the first embodiment are not required.

[0077] Fourth Embodiment

[0078] Referring to Figure 9 The present embodiment provides a universal actuator, which differs from the first embodiment in that, in the present embodiment, the driving mechanism 450 is replaced by a piezoelectric driver instead of an electromagnetic driver, and the guide member is guided by the slide shaft 471 instead of the ball 170, and the structures of other parts can be specifically referred to the first embodiment, which will not be described here.

[0079] In the present embodiment, the upright plates 412 of the base 410 are arranged at intervals, and the space between adjacent upright plates 412 is used to install the piezoelectric driver, and of course, the adjacent upright plates 412 can be connected end to end, and in this case, the piezoelectric driver can be arranged inside the upright plate 412 corresponding thereto.

[0080] Referring to Figure 9 Further, the piezoelectric driver includes a fixed portion 451 fixed on the base 410 and a moving portion 452 capable of moving relative to the fixed portion 451 after being energized, and the support member 430 is fixed on the moving portion 452. Specifically, in the present embodiment, the piezoelectric driver is configured in a stepped shaft shape, and the outer periphery includes a large-diameter portion (i.e., the fixed portion 451) and a small-diameter portion (i.e., the moving portion 452), wherein the large-diameter portion is fixed on the bottom plate 411, and the small-diameter portion is located away from the bottom plate 411. Of course, in some other embodiments, the outer diameter of the fixed portion 451 can be set to be smaller than the outer diameter of the moving portion 452.

[0081] Further, in order to enable the piezoelectric driver to drive the support 430 to move when deformed, in the present embodiment, a first through hole is formed in the support 430 at a position corresponding to the moving part 452 of the piezoelectric driver, and the moving part 452 is fixed through the first through hole. In addition, in some other embodiments, the moving part 452 can be directly bonded to the bottom surface of the support 430, and the present disclosure does not limit the specific fixing connection manner.

[0082] In addition, in order to provide guidance during the movement of the support 430, in the present embodiment, a slide shaft 471 is further fixed on the base 410, the slide shaft 471 extends in the direction of movement of the support 430, and the support 430 is sleeved outside the slide shaft 471. Specifically, the sleeve 413 with an open upper end can be fixed on the bottom plate 411 of the base 410, and the slide shaft 471 is partially fixed inside the sleeve 413. In addition, in some other embodiments, the slide shaft 471 can be directly welded to the bottom plate 411. Further, a second through hole is formed in the support 430 at a position corresponding to the slide shaft 471, and in use, the slide shaft 471 passes through the second through hole, and the guidance is achieved by cooperation between the second through hole and the slide shaft 471.

[0083] Referring to Figure 9 The support 430 is further provided with a containing groove 423 for placing a magnet, and the magnet is placed inside the containing groove 423 to cooperate with the position sensor 480 to monitor the position of the platform 420 in real time. At this time, the position sensor 480 is fixed on the bottom plate 411 at a position corresponding to the magnet.

[0084] According to a second aspect of the present disclosure, a camera module is provided, which comprises the gimbal actuator and the optical device described above, and has all the beneficial effects of the gimbal actuator described above, which will not be repeated here.

[0085] According to a third aspect of the present disclosure, a terminal device is further provided, which comprises the camera module described above, and has all the beneficial effects of the camera module described above, which will not be repeated here.

[0086] The preferred embodiments of the present disclosure are described in detail above with reference to the drawings, but the present disclosure is not limited to the specific details in the above-described embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0087] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0088] Furthermore, the various embodiments of the present disclosure can be arbitrarily combined with each other unless they contradict each other, and it should be understood that the same should be construed as being included in the disclosure of the present disclosure.

Claims

1. A universal actuator, characterized in that, include: The platform is used to mount optical components; The drive unit includes three drive mechanisms arranged around the platform; as well as The base is used to fix the drive mechanism. The platform has three driving positions corresponding to the three driving mechanisms, the three driving positions are not collinear, and the three driving mechanisms are used to drive the platform closer to or away from the base at their respective driving positions. The universal actuator also includes three support members with spherical or hemispherical protrusions, the arc surfaces of the protrusions supporting the platform. The support members are configured to be driven independently by their corresponding drive mechanisms, and the platform moves synchronously with the support members.

2. The universal actuator according to claim 1, characterized in that, The three drive mechanisms are arranged at equal intervals in the direction surrounding the platform.

3. The universal actuator according to claim 1, characterized in that, The universal actuator also includes a reset assembly, which includes an elastic element with one end fixed to the platform and the other end fixed to the base. The elastic element is used to provide a reverse elastic force when the drive mechanism drives the platform to move. There are three elastic elements, which are arranged alternately with the drive mechanism in the direction surrounding the platform.

4. The universal actuator according to claim 3, characterized in that, The elastic element is configured to have an elastic force that presses the platform against the protrusion when the platform is in the initial position.

5. The universal actuator according to claim 3, characterized in that, The reset assembly also includes a support portion for supporting the platform, all three elastic members are connected to the support portion, and the support member abuts against the support portion.

6. The universal actuator according to claim 1, characterized in that, The universal actuator also includes a spring plate with one end fixed to the platform and the other end fixed to the support member, the spring plate having an elastic force to press the platform against the protrusion.

7. The universal actuator according to claim 6, characterized in that, It also includes a support portion for supporting the platform, the support portion having an outwardly extending abutment piece on its outer periphery, the protrusion abutting against the abutment piece, and a spring piece connected to each side of the abutment piece.

8. The universal actuator according to any one of claims 1-7, characterized in that, The driving mechanism includes a magnet and a coil. One of the magnet and the coil is fixed to the base, and the other is fixed to the support. When the coil is energized, the electromagnetic force generated between it and the magnet is used to drive the support to move.

9. The universal actuator according to claim 8, characterized in that, The base and the support, on which the coil is fixed, are also fixed with a magnetic sheet for magnetic attraction with the magnet to provide a driving force that resets the platform.

10. The universal actuator according to claim 9, characterized in that, The base includes a base plate and an upright plate erected on the upper surface of the base plate. The universal actuator also includes a guide portion capable of supporting the movement of the support member. The guide portion includes a ball or a shaft disposed between the support member and the upright plate. At least one of the support member and the upright plate has a groove extending along the movement direction of the support member. The ball or the shaft is accommodated in the groove. The magnetic attraction between the magnet and the magnetic sheet is used to press the support member toward the guide portion and then toward the upright plate.

11. The universal actuator according to any one of claims 1-7, characterized in that, The driving mechanism is a piezoelectric actuator, which includes a fixed part fixed on the base and a moving part that can move relative to the fixed part after being energized. The support member is fixed on the moving part.

12. The universal actuator according to claim 11, characterized in that, The universal actuator also includes a sliding shaft fixed on the base, the sliding shaft extending along the direction of movement of the support member, and the support member sleeved on the outside of the sliding shaft.

13. The universal actuator according to claim 1, characterized in that, The omnidirectional actuator also includes three position sensors for detecting the real-time positions of the three drive positions, respectively.

14. A camera module, characterized in that, Includes optical components and the universal actuator according to any one of claims 1-13.

15. A terminal device, characterized in that, Includes the camera module as described in claim 14.

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