Driving device and image pickup apparatus

Abstract

The invention belongs to the technical field of optical anti-vibration, and particularly relates to a driving device and camera equipment. The defects of unreasonable design and the like in the prior art are overcome. The driving device comprises a first frame, a second frame rotating around a first dimension shaft perpendicular to an optical axis is rotationally connected in the first frame, and the driving device further comprises a first elastic damping piece distributed in the axial direction of the first dimension shaft and located between the inner side of the first frame and the outer side of the second frame. The axial elastic force provided by the first elastic damping piece is used for eliminating axial movement of the second frame in the axial direction of the first dimension shaft, and when the second frame and the first frame rotate relatively, the first elastic damping piece provides damping elastic force in the rotating direction for the second frame and the first frame. The damping device has the advantages that the first elastic damping part provides axial elastic force and rotary damping force, so that rotation is more stable.

Description

Technical Field

[0001] The present invention belongs to the technical field of optical image stabilization, and in particular relates to a driving device and a camera device. Background Art

[0002] The lens drive has functions such as focus, anti-shake and tracking.

[0003] In the field of stabilization and tracking, these components are achieved by rotating back and forth around at least one axis. The rotating element is connected to a relatively fixed frame via an axis. Various drive methods are available, including motor drive, piezoelectric drive, and electromagnetic drive. For example, our company's previously filed Chinese patent application, CN202110931942.1, provides a modular optical stabilization system. The system includes a fixed outer frame, an anti-shake middle frame located within the fixed outer frame; the anti-shake middle frame is rotatably connected to the fixed outer frame and rotates about the X-axis; and an anti-shake inner frame located within the anti-shake middle frame; the anti-shake inner frame is rotatably connected to the anti-shake middle frame and rotates about the Y-axis. This system utilizes a motor drive system, specifically a stepper motor, worm gear, and worm gear, to address the low torque issues associated with electromagnetic structures in modular stabilization. Furthermore, the worm gear and worm gear's self-locking properties enable more stable rotation. Compared to electromagnetic structures, this system eliminates the need for springs. Furthermore, the stepper drive system achieves a larger rotation angle.

[0004] This solution can achieve anti-shake movement around the axis of multiple dimensions and achieve anti-shake movement at large angles. Although it has many advantages as mentioned above, it has the following defects: during the anti-shake and tracking movement, the anti-shake inner frame or the anti-shake middle frame has axial movement on the connecting axis, and the anti-shake inner frame and the anti-shake middle frame have shaking and rotation around the connecting axis. The above defects lead to poor anti-shake and focusing performance of the camera equipment or gimbal during shooting, affecting the anti-shake and tracking response and adjustment efficiency, and ultimately resulting in poor shooting clarity. Summary of the Invention

[0005] The purpose of the present invention is to provide a driving device and a camera device that can solve the above technical problems.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] The driving device includes a first frame, in which a second frame is rotatably connected and rotates around a first dimensional axis perpendicular to the optical axis. The driving device also includes a first elastic damping member axially distributed along the first dimensional axis and located between the inner side of the first frame and the outer side of the second frame. The first elastic damping member provides an axial elastic force to eliminate the axial movement of the second frame along the first dimensional axis, and when the second frame and the first frame make relative rotational motion, the first elastic damping member provides a damping elastic force in the rotational direction to the second frame and the first frame.

[0008] In the above-mentioned driving device, in the axial direction of the first dimensional axis, one side of the first frame is in contact with the corresponding side of the second frame, the other side of the first frame is spaced from the corresponding other side of the second frame, and the first elastic damping member is a torsion spring and the first elastic damping member is arranged between the other side of the first frame and the corresponding other side of the second frame.

[0009] In the above-mentioned driving device, first shaft grooves for the first dimensional axis to be inserted are respectively provided on opposite sides of the first frame, the first dimensional axis and the first shaft groove are rotationally connected, and a first elastic pressure arm is provided on the first frame, which extends into the notch of the first shaft groove and elastically presses on the circumferential surface of the first dimensional axis.

[0010] In the above-mentioned driving device, the first elastic pressure arms are inclined pressure arms, and in the projection along the axial direction of the first dimension, the two first elastic pressure arms are distributed in an "X" shape or an "eight" shape.

[0011] In the above-mentioned driving device, a bearing is installed in the first shaft groove, the first dimensional shaft and the bearing are rotatably connected, and cylindrical parts protruding outward and sleeved on the first dimensional shaft are respectively provided on the opposite sides of the second frame, wherein the outer end face of one of the cylindrical parts is in contact with the inner end face of one of the bearings, and the outer end face of the other cylindrical part is spaced from the inner end face of the other bearing, the first elastic damping member is sleeved on the other cylindrical part, and the first elastic pressure arm presses on the circumferential surface of the bearing.

[0012] In the above-mentioned driving device, the driving device also includes a third frame that is rotatably connected to the second frame and rotates around the second-dimensional axis. A second elastic damping member is provided between the inner side of the second frame and the outer side of the third frame and is axially distributed along the second-dimensional axis. The function of the second elastic damping member is the same as that of the first elastic damping member.

[0013] In the above-mentioned driving device, the driving device also includes a first rotation limiting structure and a second rotation limiting structure. The first rotation limiting structure is used to limit the second frame when it rotates to the extreme position relative to the first frame, and the second rotation limiting structure is used to limit the third frame when it rotates to the extreme position relative to the second frame.

[0014] In the above-mentioned driving device, the first rotation limiting structure includes two external protrusions arranged on one of the diagonal lines of the second frame, the external protrusions extend outside any axial end surface of the first frame and a distance is reserved between the external protrusions and the corresponding end surface of the first frame.

[0015] In the above-mentioned driving device, a stroke increasing limit groove corresponding to the external protrusion is provided on one of the diagonal lines of the first frame, and when the second frame rotates back and forth relative to the first frame, the external protrusion can enter and exit the stroke increasing limit groove, and when the external protrusion contacts the bottom or wall of the stroke increasing limit groove, the second frame stops rotating.

[0016] In the above-mentioned driving device, the second rotation limiting structure includes at least one limiting block provided on the second frame and located outside any axial end face of the third frame; when the third frame rotates back and forth around the second dimensional axis, the third frame stops rotating when it contacts the limiting block.

[0017] In the above-mentioned driving device, the limiting blocks are respectively provided on two opposite sides of the front end of the second frame.

[0018] In the above driving device, the driving device further includes a first worm gear drive motor group for driving the first dimensional axis to rotate, and further includes a second worm gear drive motor group for driving the second dimensional axis to rotate.

[0019] The present application also provides a camera device, which includes the driving device.

[0020] Compared with the existing technology, the advantages of this application are:

[0021] The first elastic damping member provides an axial elastic force to eliminate the axial movement of the second frame in the first dimension, thereby making the rotation more stable.

[0022] The rotational damping force provided can prevent the frame from shaking or rotating freely, ensure the efficiency of the rotation drive, and improve the clarity of anti-shake or tracking shooting. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of the driving device provided by the present invention.

[0024] Figure 2 It is a schematic diagram of the top view of the driving device provided by the present invention.

[0025] Figure 3 yes Figure 2 Schematic diagram of the cross-sectional structure along line AA.

[0026] Figure 4 yes Figure 2 Schematic diagram of the cross-section structure along the middle BB line.

[0027] Figure 5 It is a schematic diagram of the three-dimensional structure of the driving device provided by the present invention from another perspective.

[0028] Figure 6 yes Figure 5 Schematic diagram of the local explosion structure.

[0029] Figure 7 This is a schematic diagram of the first framework structure provided by the present invention.

[0030] Figure 8 This is a schematic diagram of the second framework structure provided by the present invention.

[0031] Figure 9 This is a schematic diagram of the third framework structure provided by the present invention.

[0032] Figure 10 This is a structural diagram of embodiment 3 provided by the present invention.

[0033] Figure 11 It is a structural schematic diagram of the camera equipment provided by the present invention.

[0034] Figure 12 It is a schematic diagram of the relative rotational motion state of two frames provided by the present invention.

[0035] Figure 13 It is a schematic diagram showing the relative rotational motion state of three frames of the driving device provided by the present invention.

[0036] In the figure, the first frame 1, the first dimensional axis 10, the first axis groove 11, the bearing 12, the second dimensional axis 13, the stroke increase limit groove 14, the first worm gear drive motor group 15, the second worm gear drive motor group 16, the abutment portion 17 at one end of the torsion spring arm, the abutment portion 18 at the other end of the torsion spring arm, the second frame 2, the cylindrical portion 20, the outer protrusion 21, the limit block 22, the first elastic damping member 3, the first elastic pressure arm 4, the third frame 5, and the second elastic damping member 6. DETAILED DESCRIPTION

[0037] The following are specific embodiments of the invention and the accompanying drawings to further describe the technical solutions of the present invention, but the present invention is not limited to these embodiments.

[0038] Attachment Figure 1 The Z axis in the figure is the optical axis, and the X axis and Y axis perpendicular to the Z axis can be understood as the first dimension axis 10 and the second dimension axis 13 respectively.

[0039] Example 1

[0040] like Figure 1 and Figure 2 As shown, the drive device comprises a first frame 1, within which a second frame 2 is rotatably connected, rotating about a first-dimensional axis 10 perpendicular to the optical axis. Drive methods include a stepper motor with a worm gear or a piezoelectric drive. Preferably, the first-dimensional axis 10 in this embodiment comprises two coaxially distributed first sub-axes.

[0041] The rotation of the second frame 2 achieves anti-shake or tracking purposes.

[0042] The driving device of this embodiment also includes a first elastic damping member 3 axially distributed along the first dimensional axis 10 and located between the inner side of the first frame 1 and the outer side of the second frame 2. The first elastic damping member 3 provides an axial elastic force to eliminate the axial movement of the second frame 2 along the first dimensional axis 10, and when the second frame 2 and the first frame 1 make relative rotational motion, the first elastic damping member 3 provides a damping elastic force in the rotational direction to the second frame 2 and the first frame 1.

[0043] The first elastic damping member 3 provides axial elastic force to eliminate the axial movement and make the rotation more stable.

[0044] The rotational damping force provided can prevent the frame from shaking or rotating freely, ensure the efficiency of the rotation drive, and improve the clarity of anti-shake or tracking shooting.

[0045] For example, when the second frame 2 rotates back and forth relative to the first frame 1 around the first dimensional axis 10 , the first elastic damping member 3 can ensure the rotational stability of the second frame 2 .

[0046] Furthermore, if Figure 1-Figure 3 As shown, in the axial direction of the first dimension axis 10, one side of the first frame 1 contacts the corresponding side of the second frame 2, and the other side of the first frame 1 is spaced from the corresponding other side of the second frame 2. This method can improve the efficiency of assembly and disassembly. The first elastic damping member 3 is a torsion spring and is arranged between the other side of the first frame 1 and the corresponding other side of the second frame 2. Figure 7 and Figure 8As shown, a torsion spring arm one end overlapping portion 17 is provided on the other side of the first frame 1, and a torsion spring arm other end overlapping portion 18 is provided on the corresponding other side of the second frame 2. One end of the torsion spring arm overlaps the torsion spring arm one end overlapping portion 17, and the other end of the torsion spring arm overlaps the torsion spring arm other end overlapping portion 18, and the axial end of the spiral tube of the torsion spring acts on the inner wall of the other side of the first frame 1, and the axial other end of the spiral tube of the torsion spring acts on the corresponding other side inner wall of the second frame 2.

[0047] That is, the torsion spring provides an axial spring force and a rotational damping spring force.

[0048] Secondly, if Figure 5 and Figure 6 As shown, first axis grooves 11 for the first dimensional axis 10 to be inserted into are respectively provided on opposite sides of the first frame 1, the first dimensional axis 10 and the first axis groove 11 are rotationally connected, and a first elastic pressure arm 4 is provided on the first frame 1, which extends into the notch of the first axis groove 11 and elastically presses on the circumference of the first dimensional axis 10.

[0049] The first shaft groove 11 is a U-shaped groove, and the setting of the first elastic pressure arm 4 enables the first dimensional shaft 10 to be elastically compressed after being inserted into the first shaft groove 11, thereby preventing the first dimensional shaft 10 from falling off the first shaft groove 11 or the first dimensional shaft 10 from being displaced in the groove depth direction of the first shaft groove 11.

[0050] The axial elastic force provided by the first elastic damping member 3 in this embodiment, combined with the action of the first elastic pressure arm 4, can enable the first dimensional shaft 10 to stably rotate in the first shaft groove 11 without any other clamping positions. This structure facilitates disassembly and assembly, and at the same time, ensures the stability of the rotational motion.

[0051] Secondly, the first elastic pressure arms 4 of this embodiment are inclined pressure arms. In the axial projection of the first dimensional axis 10, the two first elastic pressure arms 4 are arranged in an "X" or "eight" shape. The first elastic pressure arms 4 are tangentially distributed to the circumference of the first dimensional axis 10. The inclined arrangement and the "X" or "eight"-shaped elastic pressure can correct the position of the axis centerline of the first dimensional axis 10 on different sides, allowing the first dimensional axis 10 to rotate at a set position.

[0052] In addition, if Figure 3As shown, a bearing 12 is installed in the first shaft groove 11, and the bearing 12 is a T-shaped structure. A stop expansion groove is provided on the inner side of the first shaft groove 11 in the groove length direction, and the flange of the bearing 12 is stopped in the stop expansion groove. The first dimension shaft 10 and the bearing 12 are rotatably connected, and cylindrical parts 20 protruding outward and sleeved on the first dimension shaft 10 are respectively provided on the opposite sides of the second frame 2, wherein the outer end face of one cylindrical part 20 is in contact with the inner end face of a bearing 12, and the outer end face of the other cylindrical part 20 is spaced from the inner end face of the other bearing 12, and the first elastic damping member 3 is sleeved on the other cylindrical part 20, and the first elastic pressure arm 4 is pressed on the circumference of the bearing 12.

[0053] The placement of bearing 12 reduces rotational friction and provides improved rotational stability. The axial elastic force of the first elastic damping member 3 ensures that the flange of bearing 12 always adheres to the bottom of the stop expansion groove, further stabilizing the installation of the first dimensional shaft 10. The bearing 12 is circumferentially locked under the pressure of the first elastic pressure arm 4. This state prolongs the service life of the first elastic pressure arm 4 and ensures its elastic compression performance.

[0054] Preferably, the first dimension shaft 10 of this embodiment is connected to the first worm gear drive motor assembly 15 , that is, the first worm gear drive motor assembly 15 drives the first dimension shaft 10 to rotate.

[0055] The working principle of this embodiment is as follows:

[0056] The first worm gear drive motor group 15 drives the first dimension shaft 10 to rotate, and the second frame 2 is driven to rotate synchronously. The rotation of the second frame 2 enables the loaded lens module to achieve anti-shake or tracking.

[0057] Of course, in order to prevent disconnection, such as Figure 6-Figure 8 , and attached Figure 12 As shown, this embodiment further discloses a first rotation limiting structure, which is used to limit the rotation of the second frame 2 relative to the first frame 1 to the limit position. Specifically, the first rotation limiting structure of this embodiment includes two external protrusions 21 arranged on one of the diagonal lines of the second frame 2. Each external protrusion 21 has a semicircular transverse cross-section, which provides a clearance and guide for the external protrusion 21 to enter the stroke-increasing limit groove 14. The external protrusions 21 extend beyond any axial end surface of the first frame 1, and a gap is reserved between the external protrusions 21 and the corresponding end surface of the first frame 1. In addition, a stroke-increasing limit groove 14 corresponding to each external protrusion 21 is provided on one of the diagonal lines of the first frame 1. When the second frame 2 rotates back and forth relative to the first frame 1, the external protrusions 21 can enter and exit the corresponding stroke-increasing limit groove 14. When the external protrusions 21 abut against the bottom or wall of the stroke-increasing limit groove 14, the second frame 2 stops rotating.

[0058] As another alternative, the positions of the outer protrusion 21 and the stroke increasing limiting groove 14 included in the first rotation limiting structure of this embodiment can be interchanged.

[0059] The width of the stroke increasing limit groove 14 is greater than the outer diameter of the outer protrusion 21 to prevent the outer protrusion 21 from being unable to fit into the stroke increasing limit groove 14. The stroke increasing limit groove 14 is a U-shaped structure.

[0060] In a preferred embodiment, the outer protrusion 21 of this embodiment is provided at the axial rear end of the second frame 2, and the stroke increasing limit groove 14 is provided at the rear end of the first frame 1. The rear end here can be understood as the end away from the roof surface.

[0061] Example 2

[0062] Based on Example 1, Figure 1 、 Figure 2 、 Figure 4 and Figure 12-13 As shown, the drive device further includes a third frame 5 rotatably connected to the second frame 2 and rotating about a second-dimensional axis 13. A second elastic damping member 6 is provided between the inner side of the second frame 2 and the outer side of the third frame 5, distributed axially along the second-dimensional axis 13. The function of the second elastic damping member 6 is the same as that of the first elastic damping member 3. The second-dimensional axis 13 includes two coaxially distributed second sub-axes. The second elastic damping member 6 is also a torsion spring and is sleeved around the periphery of either second sub-axle. The installation method of the second elastic damping member 6 can be referred to in Example 1.

[0063] The rotation of the third frame 5 is configured with a second rotation limit structure, which is used to limit the third frame 5 when it rotates to the extreme position relative to the second frame 2. Specifically, the second rotation limit structure includes at least one limit block 22 provided on the second frame 2 and located outside any axial end face of the third frame 5. The limit block 22 is suspended outside any axial end face of the third frame 5. When the third frame 5 rotates back and forth around the second dimensional axis 13, the third frame 5 stops rotating when it contacts the limit block 22. When the third frame 5 rotates, one of the two corners of the third frame 5 on one side close to the limit block 22 contacts the limit block 22 during both forward and reverse rotation to achieve the extreme limit. The limit block 22 of this embodiment is arched, for example, an arch of continuous arcs, or of course, an arch formed by continuous connection of multiple straight line segments.

[0064] Preferably, if Figure 8 As shown, the limit stopper 22 of this embodiment is arranged on one side or two opposite sides of the axial front end of the second frame 2. The axial front end of the second frame 2 can be understood as the end close to the roof surface.

[0065] The two limit blocks 22 are symmetrically distributed about the optical axis, and the arched directions of the limit blocks 22 are toward the ceiling side, so as to increase the rotation angle of the third frame 5 .

[0066] The two limit blocks 22 can form a state in which two corners symmetrically distributed about the optical axis contact the limit blocks 22 at the same time, so as to prevent the center of gravity of the third frame 5 from being displaced when in limit contact, thereby extending the service life and ensuring stability.

[0067] In the projection of the Z axis, the limit stopper 22 and the second dimension axis 13 of this embodiment are vertically or cross-shaped.

[0068] In addition, if Figure 4-Figure 6 As shown, the second-dimensional shaft 13 is driven to rotate by the second worm gear drive motor 16. Simultaneously, the second-dimensional shaft 13 is secured within the second shaft slot 23 of the second frame 2. A second bearing 24 is mounted within the second shaft slot 23, rotatably connected to the second-dimensional shaft 13 and the second bearing 24. The mounting method for the second bearing 24 is consistent with the mounting method for the bearings in the embodiment. A second elastic pressure arm 25 is provided on the second frame 2, extending from the notch of the second shaft slot 23 and elastically pressing against the circumference of the second bearing 24. The second elastic pressure arm 25 is consistent with the first elastic pressure arm in the first embodiment.

[0069] like Figure 7 and Figure 8 As shown, a torsion spring arm is provided on an inner wall of the inner side of the second frame 2, with one end of the torsion spring arm resting on the boss 26, and a torsion spring arm is provided on one side of the outer wall of the third frame 5, with the other end of the torsion spring arm resting on the boss 50, one end of the torsion spring arm of the second elastic damping member 6 rests on the one end of the torsion spring arm resting on the boss 26, and the other end of the torsion spring arm of the second elastic damping member 6 rests on the other end of the torsion spring arm resting on the boss 50.

[0070] External convex cylinders 51 having the same function as the cylindrical portion 20 in the first embodiment are respectively provided on the outer walls on opposite sides of the third frame 5 , and the second elastic damping member 6 is sleeved on one of the external convex cylinders 51 .

[0071] Example 3

[0072] like Figure 10-11 As shown, this embodiment provides an image pickup device, which includes the driving device of embodiment 1 or embodiment 2. The image pickup device also includes a focus motor 7 fixed in the driving device.

[0073] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Persons skilled in the art may make various modifications, additions, or substitutions to the described specific embodiments without departing from the spirit of the present invention or exceeding the scope of the appended claims.

Claims

1. A driving device, comprising a first frame (1), in which a second frame (2) is rotatably connected and rotates about a first dimensional axis (10) perpendicular to the optical axis, characterized in that: The driving device also includes a first elastic damping member (3) which is axially distributed along the first dimensional axis (10) and is located between the inner side of the first frame (1) and the outer side of the second frame (2); the first elastic damping member (3) provides an axial elastic force to eliminate the axial movement of the second frame (2) along the first dimensional axis (10); and when the second frame (2) and the first frame (1) make relative rotational motion, the first elastic damping member (3) provides a damping elastic force in the rotational direction to the second frame (2) and the first frame (1).

2. The driving device according to claim 1, characterized in that: In the axial direction of the first dimensional axis (10), one side of the first frame (1) is in contact with the corresponding side of the second frame (2), the other side of the first frame (1) is spaced from the corresponding other side of the second frame (2), and the first elastic damping member (3) is a torsion spring and is arranged between the other side of the first frame (1) and the corresponding other side of the second frame (2).

3. The driving device according to claim 1 or 2, characterized in that: First shaft grooves (11) for the first dimensional shaft (10) to be inserted into are respectively provided on opposite sides of the first frame (1), the first dimensional shaft (10) and the first shaft groove (11) are rotatably connected, and a first elastic pressure arm (4) is provided on the first frame (1) and extends into a notch of the first shaft groove (11) and elastically presses on the circumference of the first dimensional shaft (10).

4. The driving device according to claim 3, characterized in that: The first elastic pressure arms (4) are inclined pressure arms, and in the axial projection of the first dimensional axis (10), the two first elastic pressure arms (4) are distributed in an "X" shape or an "eight" shape.

5. The driving device according to claim 3, characterized in that: A bearing (12) is installed in the first shaft groove (11), and the first dimensional shaft (10) and the bearing (12) are rotatably connected. A cylindrical portion (20) protruding outward and sleeved on the first dimensional shaft (10) is respectively provided on opposite sides of the second frame (2), wherein the outer end surface of one of the cylindrical portions (20) is in contact with the inner end surface of one of the bearings (12), and the outer end surface of the other cylindrical portion (20) is spaced from the inner end surface of the other bearing (12), the first elastic damping member (3) is sleeved on the other cylindrical portion (20), and the first elastic pressure arm (4) presses on the circumferential surface of the bearing (12).

6. The driving device according to claim 1, characterized in that: The driving device also includes a third frame (5) rotatably connected to the second frame (2) and rotating around a second dimensional axis (13); a second elastic damping member (6) axially distributed along the second dimensional axis (13) is provided between the inner side of the second frame (2) and the outer side of the third frame (5); the function of the second elastic damping member (6) is the same as that of the first elastic damping member (3).

7. The driving device according to claim 6, characterized in that: The driving device further comprises a first rotation limiting structure and a second rotation limiting structure, wherein the first rotation limiting structure is used for limiting the position of the second frame (2) when it rotates to an extreme position relative to the first frame (1), and the second rotation limiting structure is used for limiting the position of the third frame (5) when it rotates to an extreme position relative to the second frame (2).

8. The driving device according to claim 7, characterized in that: The first rotation limiting structure comprises two external protrusions (21) arranged on one of the diagonal lines of the second frame (2), the external protrusions (21) extending outside any axial end surface of the first frame (1) and a spacing is reserved between the external protrusions (21) and the corresponding end surface of the first frame (1).

9. The driving device according to claim 8, characterized in that: A stroke increasing limit groove (14) corresponding to the outer protrusion (21) is provided on one of the diagonal lines of the first frame (1); when the second frame (2) rotates back and forth relative to the first frame (1), the outer protrusion (21) can enter and exit the stroke increasing limit groove (14); and when the outer protrusion (21) abuts against the bottom or wall of the stroke increasing limit groove (14), the second frame (2) stops rotating.

10. The driving device according to claim 7, characterized in that: The second rotation limiting structure comprises at least one limiting stopper (22) which is arranged on the second frame (2) and is located outside any axial end face of the third frame (5); when the third frame (5) rotates back and forth around the second dimensional axis (13), the third frame (5) stops rotating when it contacts the limiting stopper (22).

11. The driving device according to claim 10, characterized in that: The position limiting blocks (22) are respectively provided on opposite sides of the front end of the second frame (2).

12. The driving device according to claim 6, characterized in that: The driving device further comprises a first worm gear drive motor group (15) for driving the first dimensional shaft (10) to rotate, and a second worm gear drive motor group (16) for driving the second dimensional shaft (13) to rotate.

13. A camera device, characterized in that The imaging device comprises the driving device according to any one of claims 1 to 12.

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