Miniature anti-shake holder and shooting device

Abstract

The invention relates to the technical field of shooting, and discloses a miniature anti-shake pan-tilt and a shooting device.The miniature anti-shake pan-tilt comprises a fixed assembly, a movable assembly and an elastic part; the fixing assembly comprises a fixing piece, and the fixing piece is provided with a plurality of first inner limiting faces and a plurality of second inner limiting faces. The movable assembly comprises a movable seat, and the movable seat is provided with a plurality of first outer limiting surfaces and a plurality of second outer limiting surfaces; the elastic piece is respectively connected with the fixed assembly and the movable seat; in the Z-axis direction, the length of the fixing piece is d, and the distance between the sphere center and the rotation center of each inner limiting face and the distance between the sphere center and the rotation center of each outer limiting face are all smaller than d / 10. The miniature anti-shake pan-tilt provided by the invention has better reliability after falling and long-time working, is simple in structure, is beneficial to reducing the production difficulty and the production cost, and improves the production yield.

Description

Technical Field

[0001] The present invention relates to the field of shooting technology, and in particular to a micro anti-shake gimbal and a shooting device. Background Art

[0002] In recent years, small mobile devices with camera functions have become very popular, and their application scope has been continuously expanded, including aerial photography, sports cameras, and dashcams. The device contains at least one compact camera module. Therefore, the module market is huge and the growth is steadily rising.

[0003] When taking photos and videos, the photos and videos taken by the device are likely to be blurred or shaken due to external vibrations, affecting the quality of the photos and videos. This problem will be more serious when the vibration is more intense or in low light conditions.

[0004] In order to solve the above problems, many small anti-shake technologies have appeared on the market. Among them, the mechanical method of compensating for image blur and shaking caused by vibration and improving image quality is the most outstanding. The mechanical method can be to translate a group of lenses through an anti-shake actuator (reference patent: CN104204934A, US20140333784A1), or to rotate a group of lenses and image sensors at the same time (reference patent: CN102934021B, US9229244B2) to achieve an anti-shake effect. The second anti-shake effect of the rotary mechanical method is usually better than the first translational mechanical method. Therefore, the multi-axis micro anti-shake gimbal and its camera module in the present invention are also mainly aimed at the rotary method.

[0005] For rotating anti-shake camera modules, the existing mechanical structure usually includes a movable magnet and a stationary anti-shake coil, which can be divided into three categories. The first category (reference patent: CN110500479B) uses multiple inclined spring sheets, which are on multiple different planes to achieve multi-axis rotational freedom and lower displacement freedom (higher displacement spring constant). The advantage of this technology is that there will be no nonlinear friction during the anti-shake process, and it is better for dealing with relatively subtle vibrations and vibrations that often change direction. In addition, the production process is simple and the cost is low.

[0006] The second type (reference patent: CN106353950B) achieves the required multi-axis rotational freedom through multiple sets of contact structures. Each set of contact structures usually contains at least two immobile spheres and is responsible for one axis of rotational freedom. The advantage of this technology is that the displacement spring constant is extremely high, so the impact of different posture differences and changes in the direction of gravity on the anti-shake performance is relatively low.

[0007] The third type (reference patents: CN111664324A and CN115268007A) achieves the required multi-axis rotational freedom through a set of contact structures. The structure includes at least four balls and at least four coaxial spherical surfaces. The third type of existing structure retains the advantages of the second type, and is more concise, which can save more space.

[0008] In the first category of existing technologies (reference patent: CN110500479B), although it can provide multi-axis rotational freedom, the rotational spring constant is usually large, so the power consumption is large, reducing battery life. In addition, the displacement spring constant of the technology is lower than that of the second category of technologies, so different posture differences and changes in the direction of gravity have a greater impact on the anti-shake performance.

[0009] In the second type of prior art (reference patent: CN106353950B), when there are multiple anti-shake axes, this type of technology requires multiple sets of contact structures and connecting structures for connecting multiple sets of structures. Therefore, the mechanical structure of the technology is complex, requires more space, is difficult to manufacture, and has a high cost.

[0010] In the third category of prior art (reference patents: CN111664324A and CN115268007A), since the contact surface between the ball and the coaxial spherical surface is very small, the spherical surface of the ball is easily damaged when it falls, resulting in reliability problems after falling and long-term operation. In addition, because part of the spherical surface of the ball is connected to the fixed component through an elastic structure, the precision requirement of the elastic structure is extremely high, and the mold may need to be adjusted multiple times to meet the requirements, resulting in increased production costs. Summary of the invention

[0011] Aiming to solve at least one of the technical problems existing in the prior art, the present invention aims to provide a micro anti-shake gimbal and a shooting device with a micro anti-shake gimbal. The micro anti-shake gimbal has better reliability after falling and working for a long time, and has a simple structure, which is conducive to reducing production difficulty and production cost and improving production yield.

[0012] In order to achieve the above-mentioned purpose, in a first direction, the present invention provides a miniature anti-shake gimbal, the miniature anti-shake gimbal having a rotation center, the miniature anti-shake gimbal comprising a fixed component, a movable component and an elastic component; the fixed component comprises a fixed component, the fixed component comprises a first fixed seat and a second fixed seat, the second fixed seat is connected to the first fixed seat; the first fixed seat is provided with a limiting hole penetrating the first fixed seat along the Z-axis direction, the inner side of the limiting hole is provided with a plurality of first inner limiting surfaces; the second fixed seat is provided with a limiting through groove penetrating the second fixed seat along the Z-axis direction and connected to the limiting hole, the inner side of the limiting through groove is provided with a plurality of second inner limiting surfaces; the plurality of first inner limiting surfaces and the plurality of second inner limiting surfaces are arranged in an alternating manner, and the first inner limiting surfaces and the second inner limiting surfaces are both spherical structures; the movable component comprises a movable seat, the movable seat is arranged along the The Z-axis direction is penetrated through the limit hole and the limit groove, and the outer side of the movable seat is provided with a plurality of first outer limit surfaces and a plurality of second outer limit surfaces located on the third reference spherical surface; the first outer limit surface and the second outer limit surface are both spherical structures, and the plurality of first outer limit surfaces and the plurality of first inner limit surfaces are arranged one by one opposite to each other, and the plurality of second outer limit surfaces and the plurality of second inner limit surfaces are arranged one by one opposite to each other; the elastic member is respectively connected to the fixed assembly and the movable seat; wherein, along the Z-axis direction, the length of the fixed member is d, the distance between the center of the first inner limit surface and the rotation center is less than d / 10, the distance between the center of the second inner limit surface and the rotation center is less than d / 10, the distance between the center of the first outer limit surface and the rotation center is less than d / 10, and the distance between the center of the second outer limit surface and the rotation center is less than d / 10.

[0013] In some embodiments, the distance between the first inner limit surface and the first outer limit surface is a, and the distance between the second inner limit surface and the second outer limit surface is b, satisfying: 0≤a≤0.4mm; 0≤b≤0.4mm.

[0014] In some embodiments, multiple first inner limit surfaces are located on the first reference spherical surface, multiple second inner limit surfaces are located on the second reference spherical surface, multiple first outer limit surfaces are located on the third reference spherical surface, and multiple second outer limit surfaces are located on the fourth reference spherical surface.

[0015] In some embodiments, the first fixed seat includes a first seat body and a plurality of first limiting protrusions, the limiting hole is opened in the first seat body, the first limiting protrusion is connected to the inner side wall of the limiting hole, and the first inner limiting surface is formed on the first limiting protrusion; the second fixed seat includes a plate body and a plurality of second limiting protrusions, the limiting through groove is opened in the plate body, the second limiting protrusion is connected to the inner side wall of the limiting through groove, and the second inner limiting surface is formed on the second limiting protrusion; the movable seat includes a second seat body, a plurality of third limiting protrusions and a plurality of fourth limiting protrusions, the third limiting protrusion is connected to the outer side wall of the second seat body and is arranged opposite to the first limiting protrusion, the first outer limiting surface is formed on the third limiting protrusion, the fourth limiting protrusion is connected to the outer side wall of the second seat body and is arranged opposite to the second limiting protrusion, and the second outer limiting surface is formed on the fourth limiting protrusion.

[0016] In some embodiments, the micro anti-shake gimbal also includes a camera module, and the elastic member is connected to the movable seat through the camera module; the movable seat is provided with a mounting hole extending along the Z-axis direction, the camera module is passed through the mounting hole and fixedly connected to the movable seat, and the elastic member is connected to one end of the camera module close to the second fixed seat in the Z-axis direction; the elastic member is a module circuit board.

[0017] In some embodiments, the fixing assembly further includes a shell having a receiving cavity, and a first escape hole communicating with the receiving cavity is provided at one end of the shell in the Z-axis direction, and the fixing member and the movable seat are both disposed in the receiving cavity.

[0018] In some embodiments, the fixed component also includes a plurality of first driving members, which are connected to the first fixed seat and disposed in the limiting hole, and the plurality of first driving members are arranged around the rotation center; the movable component also includes a plurality of second driving members, which are connected to the outer wall of the movable seat, and the plurality of second driving members and the plurality of first driving members are arranged opposite to each other; a first arc surface is provided at one end of the first driving member facing the second driving member, and a second arc surface is provided at one end of the second driving member facing the first driving member, and the first arc surface and the second arc surface are arranged opposite to each other.

[0019] In some embodiments, the first driving member is a coil and the second driving member is a magnet.

[0020] In some other embodiments, the first driving member is a magnet and the second driving member is a coil.

[0021] In some embodiments, the fixing member further includes a positioning seat, and along the Z-axis direction, the positioning seat is arranged between the second fixing seat and the first fixing seat.

[0022] In some embodiments, the first fixed seat is provided with a first positioning groove at one end close to the second fixed seat in the Z-axis direction and recessed in the direction away from the second fixed seat, and the number of the first positioning grooves is multiple; the second fixed seat is provided with a first positioning column, and the number of the first positioning columns is multiple; the positioning seat is provided with a first positioning through groove that penetrates the positioning seat along the Z-axis direction, and the first positioning column is penetrated in the first positioning through groove and the first positioning groove along the Z-axis direction, and the multiple first positioning columns, the multiple first positioning through grooves and the multiple first positioning grooves correspond one to one.

[0023] In some embodiments, the first positioning groove and the limiting hole are connected; the positioning seat is provided with an avoidance groove that passes through the positioning seat along the Z-axis direction, and the movable seat is penetrated by the limiting groove, the avoidance groove and the limiting hole along the Z-axis direction, and the first positioning groove and the avoidance groove are connected; the number of the first positioning grooves is two, the number of the first positioning columns is two, and the number of the first positioning grooves is two; the two first positioning grooves are located on a first reference straight line, the first reference straight line passes through the center of any one of the first inner limiting surfaces, and the first reference straight line is perpendicular to the Z-axis direction.

[0024] In some embodiments, the positioning seat is made of metal and is a sheet-shaped positioning seat.

[0025] In a second aspect, the present invention further provides a shooting device, comprising the micro anti-shake gimbal as described in any one of the above items.

[0026] Compared with the prior art, the micro anti-shake gimbal according to the embodiment of the present invention has the following beneficial effects: by setting a first inner limit surface, a second inner limit surface, a first outer limit surface and a second outer limit surface in a spherical structure, and by setting the first inner limit surface relative to the first outer limit surface and setting the second inner limit surface relative to the second outer limit surface, and by limiting the distance between the sphere center and the rotation center of each inner limit surface and each outer limit surface to be less than d / 10, when the micro anti-shake gimbal falls, the first inner limit surface and the first outer limit surface can have a larger contact area and / or the second inner limit surface and the second outer limit surface can have a larger contact area. area, so that when the micro anti-shake gimbal falls, the contact surface between the fixing part and the movable seat (the contact surface may be formed by the contact between the first inner limit surface and the first outer limit surface and / or the contact between the second inner limit surface and the first outer limit surface) can have a larger contact area to disperse the contact pressure between the contact surfaces of the two, thereby avoiding damage between the contact surfaces of the fixing part and the movable seat, so that the micro anti-shake gimbal has better reliability after falling and working for a long time; at the same time, the micro anti-shake gimbal provided by the present invention does not require balls, has a simple structure, is conducive to reducing production difficulty and production cost, and improves production yield. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of a micro anti-shake gimbal provided in the first embodiment of the present invention;

[0028] Figure 2 is a top view of a micro anti-shake gimbal provided in the first embodiment of the present invention;

[0029] Figure 3 yes Figure 2 AA section view;

[0030] Figure 4 yes Figure 2 BB cross-sectional view;

[0031] Figure 5 yes Figure 4 An enlarged schematic diagram of point D;

[0032] Figure 6 yes Figure 2 CC section view;

[0033] Figure 7 yes Figure 6 An enlarged schematic diagram of point E;

[0034] Figure 8 is an exploded view of a micro anti-shake gimbal provided in the first embodiment of the present invention;

[0035] Fig. 9is a schematic structural diagram of an elastic member provided in Embodiment 1 of the present invention;

[0036] Fig.10 is a schematic structural diagram of a first fixing base provided in Embodiment 1 of the present invention;

[0037] Fig.11 is a schematic structural diagram of a second fixing base provided in Embodiment 1 of the present invention;

[0038] Fig.12 is a structural schematic diagram of a movable seat provided in Embodiment 1 of the present invention;

[0039] Fig.13 This is an exploded view of a micro anti-shake gimbal provided in the second embodiment of the present invention;

[0040] Fig.14 is a top view of a micro anti-shake gimbal provided by the second embodiment of the present invention;

[0041] Fig.15 Fig.14 FF cross-sectional view;

[0042] Fig.16 is a schematic structural diagram of a positioning seat provided in Embodiment 2 of the present invention;

[0043] Fig.17 is a schematic diagram of the cooperation between the first fixing seat and the positioning seat provided in the second embodiment of the present invention;

[0044] Fig.18 is a schematic diagram of the cooperation between the second fixing seat and the positioning seat provided in the second embodiment of the present invention;

[0045] Fig.19 This is an exploded view of a micro anti-shake gimbal provided in Embodiment 3 of the present invention;

[0046] Fig. 20 It is a top view of a micro anti-shake gimbal provided by Embodiment 3 of the present invention;

[0047] Fig.21 yes Fig. 20 GG cross-sectional view.

[0048] In the figure, 1. Fixing components;

[0049] 11. fixing member; 111. first fixing seat; 1111. first seat body; 1112. first limiting protrusion; 1113. first positioning groove; 1114. second positioning column; 11111. limiting hole; 11121. first inner limiting surface; 112. second fixing seat; 1121. plate body; 1122. second limiting protrusion; 1123. first positioning column; 1124. second positioning groove; 11211. limiting through groove; 11221. second inner limiting surface; 113. positioning seat; 1131. first positioning through groove; 1132. avoidance through groove; 1133. second positioning through groove;

[0050] 12, housing; 121, first housing; 122, second housing; 1211, accommodating cavity; 1212, first outlet hole; 1221, second outlet hole;

[0051] 13. First driving member; 131. First arc surface;

[0052] 2. movable assembly; 21. movable seat; 211. second seat body; 212. third limiting protrusion; 213. fourth limiting protrusion; 2111. mounting hole; 2121. first outer limiting surface; 2131. second outer limiting surface; 22. second driving member; 221. second arc surface;

[0053] 3. elastic member; 31. fixed portion; 32. elastic portion; 33. movable portion;

[0054] 4. Camera module; 41. Lens;

[0055] 5. Vibration sensor;

[0056] 6. Driving circuit board; 61. Position sensor;

[0057] 100, first reference spherical surface; 101, first reference straight line; 102, second reference straight line;

[0058] 200, second reference spherical surface; 300, third reference spherical surface; 400, fourth reference spherical surface; 500, rotation center;

[0059] 301, first gap; 302, second gap;

[0060] 1000. Micro anti-shake gimbal. DETAILED DESCRIPTION

[0061] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0062] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0063] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0064] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0066] Unless otherwise defined, all technical and scientific terms used in this application have the same meanings as those commonly understood by technicians in the technical field to which this application belongs; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0067] In the description of the embodiments of the present invention, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0068] Reference to "embodiment" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments.

[0069] The present invention provides a shooting device, which includes any of the following micro anti-shake gimbals 1000. The shooting device can be, but is not limited to, a smart phone, smart glasses, a camera, a law enforcement recorder, a driving recorder, and the like.

[0070] In the description of the present invention, it needs to be understood that the orientation or position relationship indicated by the terms "X-axis direction", "Y-axis direction", "Z-axis direction", "XY plane", etc. is a description based on the optical axis of the shooting device, wherein the Z-axis direction is parallel to the optical axis of the shooting device, the X-axis direction is perpendicular to the optical axis of the shooting device, the Y-axis direction is perpendicular to the optical axis of the shooting device, and the Y-axis direction is perpendicular to the X-axis direction, and the XY plane is a plane formed by the intersection of the X-axis direction and the Y-axis direction.

[0071] Embodiment 1

[0072] like Figure 1-Figure 12 As shown, the first embodiment of the present invention provides a micro anti-shake platform 1000 . The micro anti-shake platform 1000 has a rotation center 500 . The micro anti-shake platform includes a fixed component 1 , a movable component 2 and an elastic member 3 .

[0073] The fixing assembly 1 includes a fixing member 11, and the fixing member 11 includes a first fixing seat 111 and a second fixing seat 112, and the second fixing seat 112 is connected to the first fixing seat 111; the first fixing seat 111 is provided with a limiting hole 11111 which penetrates the first fixing seat 111 along the Z-axis direction, and a plurality of first inner limiting surfaces 11121 are provided on the inner side of the limiting hole 11111; the second fixing seat 112 is provided with a limiting groove 11211 which penetrates the second fixing seat 112 along the Z-axis direction and is connected to the limiting hole 11111, and a plurality of second inner limiting surfaces 11221 are provided on the inner side of the limiting groove 11211; the plurality of first inner limiting surfaces 11121 and the plurality of second inner limiting surfaces 11221 are arranged alternately, and the first inner limiting surfaces and the second inner limiting surfaces are both spherical structures.

[0074] The movable component 2 includes a movable seat 21, which is penetrated by the limit hole 11111 and the limit groove 11211 along the Z-axis direction, and the outer side of the movable seat 21 is provided with a plurality of first outer limit surfaces 2121 and a plurality of second outer limit surfaces 2131 located on the third reference spherical surface 300; the first outer limit surfaces 2121 and the second outer limit surfaces 2131 are both spherical structures, and the plurality of first outer limit surfaces 2121 and the plurality of first inner limit surfaces 11121 are arranged one by one opposite to each other, and the plurality of second outer limit surfaces 2131 and the plurality of second inner limit surfaces 11221 are arranged one by one opposite to each other.

[0075] The elastic member 3 is connected to the fixed assembly 1 and the movable seat 21 respectively.

[0076] Among them, along the Z-axis direction, the length of the fixing member 11 is d, the distance between the center of the first inner limit surface 11121 and the rotation center 500 is less than d / 10, the distance between the center of the second inner limit surface 11221 and the rotation center 500 is less than d / 10, the distance between the center of the first outer limit surface 2121 and the rotation center 500 is less than d / 10, and the distance between the center of the second outer limit surface 2131 and the rotation center 500 is less than d / 10.

[0077] Based on this technical solution, by setting a first inner limit surface 11121, a second inner limit surface 11221, a first outer limit surface 2121 and a second outer limit surface 2131 in a spherical structure, and by making the first inner limit surface 11121 and the first outer limit surface 2121 relatively arranged, and making the second inner limit surface 11221 and the second outer limit surface 2131 relatively arranged, and by limiting the distance between the sphere center of each inner limit surface and each outer limit surface and the rotation center 500 to be less than d / 10, when the micro anti-shake gimbal falls, it can be made that the first inner limit surface 11121 and the first outer limit surface 2121 have a larger contact area and / or the second inner limit surface 11221 and the second outer limit surface 2131 have a larger contact area. The larger contact area means that when the micro anti-shake gimbal falls, the contact surface between the fixing part 11 and the movable seat 21 (the contact surface may be formed by the contact between the first inner limit surface 11121 and the first outer limit surface 2121 and / or the contact between the second inner limit surface 11221 and the second outer limit surface 2131) can have a larger contact area to disperse the contact pressure between the contact surfaces of the two, thereby avoiding damage between the contact surfaces of the fixing part 11 and the movable seat 21, so that the micro anti-shake gimbal has better reliability after falling and working for a long time; at the same time, the micro anti-shake gimbal provided by the present invention does not require ball bearings and has a simple structure, which is conducive to reducing production difficulty and production cost and improving production yield.

[0078] In the first embodiment, the plurality of first inner limiting surfaces 11121 are all located on the first reference spherical surface 100 , that is, the sphere centers of the plurality of first inner limiting surfaces 11121 coincide with each other and their diameters are equal.

[0079] In some other embodiments, multiple first inner limit surfaces 11121 can be located on multiple reference spherical surfaces respectively, the centers of the multiple reference spherical surfaces can overlap or not overlap, and the diameters of the multiple reference spherical surfaces can be equal or different, which is not limited here.

[0080] In the first embodiment, the plurality of second inner limiting surfaces 11221 are all located on the second reference spherical surface 200 , that is, the sphere centers of the plurality of second inner limiting surfaces 11221 coincide with each other and have the same diameters.

[0081] In some other embodiments, multiple second inner limit surfaces 11221 can be located on multiple reference spherical surfaces respectively, the centers of the multiple reference spherical surfaces can overlap or not overlap, and the diameters of the multiple reference spherical surfaces can be equal or different, which is not limited here.

[0082] In the first embodiment, the plurality of first outer limiting surfaces 2121 are all located on the third reference spherical surface 300 , that is, the sphere centers of the plurality of first outer limiting surfaces 2121 coincide with each other and have the same diameters.

[0083] In some other embodiments, multiple first outer limiting surfaces 2121 can be located on multiple reference spherical surfaces respectively, the centers of the multiple reference spherical surfaces can overlap or not overlap, and the diameters of the multiple reference spherical surfaces can be equal or unequal, which is not limited here.

[0084] In the first embodiment, the plurality of second outer limiting surfaces 2131 are all located on the fourth reference spherical surface 400 , that is, the sphere centers of the plurality of second outer limiting surfaces 2131 coincide with each other and have the same diameters.

[0085] In some other embodiments, the multiple second outer limiting surfaces 2131 may be located on multiple reference spherical surfaces respectively, the centers of the multiple reference spherical surfaces may overlap or not overlap, and the diameters of the multiple reference spherical surfaces may be equal or unequal, which is not limited here.

[0086] Exemplarily, when the center of the first reference spherical surface 100, the center of the third reference spherical surface 300 and the rotation center 500 coincide with each other, and the first reference spherical surface 100 and the third reference spherical surface 300 coincide with each other, the first inner limit surface 11121 and the first outer limit surface 2121 are in contact with each other and have the largest contact area therebetween; when the center of the first reference spherical surface 100 and the third reference spherical surface 300 do not coincide with each other, the distance between the center of the first reference spherical surface 100 and the rotation center 500 is less than d / 10 (the center of the first reference spherical surface 100 can be The distance between the center of the third reference spherical surface 300 and the rotation center 500 is less than d / 10 (the center of the third reference spherical surface 300 may or may not coincide with the rotation center 500). Since the first inner limiting surface 11121 is located on the first reference spherical surface 100, the first outer limiting surface 2121 is located on the third reference spherical surface 300, and the center of the first reference spherical surface 100 is close to the center of the third reference spherical surface 300 (the distance between the center of each reference spherical surface and the rotation center 500 is less than d / 10), the effect brought about by The contact area between the first inner limit surface 11121 and the first outer limit surface 2121 when the elastic member 3 is not elastically deformed can also be the contact between the first inner limit surface 11121 and the first outer limit surface 2121 when the elastic member 3 is elastically deformed) is much larger than the contact area between the ball and the coaxial spherical surface in the traditional ball-type anti-shake gimbal motor. In summary, by setting the first inner limit surface 11121 and the first outer limit surface relative to each other, the contact area between the first inner limit surface 11121 and the first outer limit surface 2121 can be greatly increased. 2121, and limit the distance between the center of the first reference spherical surface 100 and the rotation center 500 to be less than d / 10 (i.e., the distance between the center of the first inner limit surface 11121 and the rotation center 500 is less than d / 10) and limit the distance between the center of the third reference spherical surface 300 and the rotation center 500 to be less than d / 10 (i.e., the distance between the center of the first outer limit surface 2121 and the rotation center 500 is less than d / 10), so that the first inner limit surface 11121 and the first outer limit surface 2121 have a larger contact area when in contact.

[0087] Similarly, by setting a relative second inner limit surface 11221 and a second outer limit surface 2131, and limiting the distance between the center of the second reference spherical surface 200 and the rotation center 500 to be less than d / 10 (that is, the distance between the center of the second inner limit surface 11221 and the rotation center 500 is less than d / 10) and limiting the distance between the center of the fourth reference spherical surface 400 and the rotation center 500 to be less than d / 10 (that is, the distance between the center of the second outer limit surface 2131 and the rotation center 500 is less than d / 10), the second inner limit surface 11221 and the second outer limit surface 2131 can have a larger contact area when in contact.

[0088] Of course, when the elastic member 3 is deformed by excessive external force, the elastic member 3 will drive the movable seat 21 to move, causing the first outer limit surface 2121 to deviate from the third reference spherical surface 300 and the second outer limit surface 2131 to deviate from the fourth reference spherical surface 400; and when the elastic member 3 is not affected by excessive external force, the return force of the elastic member 3 will drive the first outer limit surface 2121 to return to the third reference spherical surface 300, and drive the second outer limit surface 2131 to return to the fourth reference spherical surface 400.

[0089] In the first embodiment, specifically, the center of the first reference spherical surface 100, the center of the second reference spherical surface 200, the center of the third reference spherical surface 300, the fourth reference spherical surface 400 and the rotation center 500 of the micro anti-shake gimbal 1000 coincide with each other, the first reference spherical surface 100 and the second reference spherical surface 200 coincide with each other, and the third reference spherical surface 300 and the fourth reference spherical surface 400 coincide with each other.

[0090] In the description of the present invention, it should be understood that the complete coincidence of any two of the centers of the overlapping reference spherical surfaces and the rotation center 500 of the micro anti-shake gimbal may also be a distance allowed by the error range.

[0091] In some other embodiments, the distance between the center of each reference sphere and the rotation center 500 of the micro anti-shake gimbal 1000 may be limited by methods including but not limited to less than d / 12, or less than d / 15, or less than d / 20, or less than d / 30, or less than d / 40, or less than d / 45, or less than d / 50.

[0092] Understandably, Figure 6 The “X” mark in the middle is not an actual structure or line segment of the micro anti-shake platform provided by the present invention, and is only used to indicate the location of the rotation center 500 of the micro anti-shake platform provided by the present invention.

[0093] See also Figure 1-Figure 3 ,and Figure 8-Figure 9 ,and Fig.12 The micro anti-shake gimbal 1000 provided in the first embodiment of the present invention also includes a camera module 4, and the elastic member 3 is connected to the movable seat 21 through the camera module 4; the movable seat 21 is provided with a mounting hole 2111 penetrating along the Z-axis direction, the camera module 4 is penetrated through the mounting hole 2111 and fixedly connected to the movable seat 21, and the elastic member 3 is connected to one end of the camera module 4 in the Z-axis direction close to the second fixed seat 112.

[0094] The camera module 4 has an optical axis, and the Z-axis direction is parallel to the optical axis of the camera module.

[0095] In the first embodiment, the elastic member 3 is a module circuit board.

[0096] By using an elastic module circuit board as the elastic member 3 of the micro anti-shake gimbal, the elasticity of the module circuit board can be used to enable the movable component 2 to move relative to the fixed component 1 to achieve the anti-shake movement of the micro anti-shake gimbal, and the camera module 4 can be electrically connected to other circuits of the above-mentioned fixed component 1 through the wiring or other circuits on the module circuit board to achieve the electrical connection of the anti-shake motor of the micro anti-shake gimbal. The structure is simple and the number of parts is small, which helps to further reduce the production cost. For example, the module circuit board is composed of a flexible circuit board or a soft-hard composite circuit board.

[0097] The module circuit board can supply power to the camera module 4, transmit the information in the sensor to the outside of the micro anti-shake gimbal motor, and provide the movable component 2 of the micro anti-shake gimbal motor with the elasticity and freedom required for two-axis rotational movement.

[0098] In the first embodiment, the camera module 4 includes a lens 41 and an image sensor. The lens 41 is inserted into the mounting hole 2111 , and the image sensor is mounted on the lens 41 .

[0099] In the first embodiment, the module circuit board includes a fixed part 31, an elastic part 32 and a movable part 33, the two ends of the elastic part 32 are respectively connected to the fixed part 31 and the movable part 33, the fixed part 31 is connected to the first fixed seat 111 of the fixed component 1, and the movable part 33 is connected to the camera module 4.

[0100] In the first embodiment, the module circuit board adopts a layered arrangement; the layered arrangement can reduce the rotation spring constant and power consumption of the module circuit board, and increase the maximum anti-shake compensation angle.

[0101] See also Figure 1-Figure 3 ,and Figure 8 The fixing assembly 1 provided in the first embodiment of the present invention further comprises a housing 12, the housing 12 having a housing cavity 1211, one end of the housing 12 in the Z-axis direction is provided with a first letting hole 1212 communicating with the housing cavity 1211, the fixing member 11 and the movable seat 21 are both arranged in the housing cavity 1211. The first letting hole 1212 is used for allowing the lens 41 of the camera module 4 to be exposed from the housing cavity 1211 to the outside.

[0102] In the first embodiment, the first fixing seat 111 is connected to the inner wall of the accommodating cavity 1211 .

[0103] In the first embodiment, the housing 12 is further provided with a second escape hole 1221 communicating with the accommodating cavity 1211 . The second escape hole 1221 is used to allow the module circuit board to be exposed from the accommodating cavity 1211 to the outside.

[0104] In the first embodiment, the housing 12 includes a first shell 121 and a second shell 122 . The second shell 122 is detachably connected to the first shell 121 and is enclosed with the first shell 121 to form a receiving cavity 1211 .

[0105] In the first embodiment, the first escape hole 1212 is disposed in the first shell 121 , and the second escape hole 1221 is disposed in the second shell 122 .

[0106] See also Figure 1-Figure 3 ,and Figure 8 The fixing assembly 1 also includes a plurality of first driving members 13, which are connected to the first fixing seat 111 and disposed in the limiting hole 11111, and the plurality of first driving members 13 are arranged around the rotation center 500 of the micro anti-shake gimbal.

[0107] The movable assembly 2 further includes a plurality of second driving members 22 . The second driving members 22 are connected to the outer wall of the movable seat 21 . The plurality of second driving members 22 and the plurality of first driving members 13 are arranged opposite to each other.

[0108] The first driving member 13 is provided with a first arc surface 131 at one end facing the second driving member 22, and the second driving member 22 is provided with a second arc surface 221 at one end facing the first driving member 13, and the first arc surface 131 and the second arc surface 221 are arranged opposite to each other. With the first arc surface 131 and the second arc surface 221, when the movable seat 21 moves along the Z axis, the distance between the first driving member 13 and the second driving member 22 is close to each other and does not change, so that the first driving member 13 can be closer to the second driving member 22, which helps to reduce the anti-shake power consumption of the micro pan-tilt motor and improve the anti-shake effect.

[0109] In the first embodiment, the first driving member 13 is a coil, the second driving member 22 is a magnet, the number of coils is two, and the number of magnets is two. When the coil is energized, the coil generates an electromagnetic torque to drive the movable component 2 to rotate relative to the fixed component 1 around the rotation center 500, thereby realizing the anti-shake function of the micro anti-shake gimbal.

[0110] See also Figure 3-Figure 12 The first fixed seat 111 includes a first seat body 1111 and a plurality of first limiting protrusions 1112 , the limiting hole 11111 is opened in the first seat body 1111 , the first limiting protrusion 1112 is connected to the inner side wall of the limiting hole 11111 , and the first inner limiting surface 11121 is formed on the first limiting protrusion 1112 .

[0111] The second fixing seat 112 includes a plate body 1121 and a plurality of second limiting protrusions 1122 . The limiting groove 11211 is opened in the plate body 1121 . The second limiting protrusions 1122 are connected to the inner side wall of the limiting groove 11211 . The second inner limiting surface 11221 is formed on the second limiting protrusion 1122 .

[0112] The movable seat 21 includes a second seat body 211, a plurality of third limiting protrusions 212 and a plurality of fourth limiting protrusions 213. The third limiting protrusion 212 is connected to the outer wall of the second seat body 211 and is arranged opposite to the first limiting protrusion 1112. The first outer limiting surface 2121 is formed on the third limiting protrusion 212. The fourth limiting protrusion 213 is connected to the outer wall of the second seat body 211 and is arranged opposite to the second limiting protrusion 1122. The second outer limiting surface 2131 is formed on the fourth limiting protrusion 213.

[0113] In the first embodiment, the limiting through groove 11211 is in a semi-enclosed shape.

[0114] The first fixed seat 111 is provided with a first positioning groove 1113 at one end thereof close to the second fixed seat 112 in the Z-axis direction and recessed in a direction away from the second fixed seat 112, and the number of the first positioning grooves 1113 is multiple. The second fixed seat 112 is provided with a first positioning column 1123, and the number of the first positioning column 1123 is multiple. The first positioning column 1123 is penetrated in the first positioning groove 1113 along the Z-axis direction, and the multiple first positioning columns 1123 correspond to the multiple first positioning grooves 1113 one by one. The use of multiple first positioning columns 1123 and multiple first positioning grooves 1113 facilitates the rapid positioning and rapid assembly between the first fixed seat 111, the positioning seat 113 and the second fixed seat 112, which is conducive to reducing the difficulty and cost of production.

[0115] Specifically, in the first embodiment, the first positioning groove 1113 is provided on the first seat body 1111, the number of the first positioning grooves 1113 is two, the first positioning column 1123 is provided on one end of the plate body 1121 facing the first fixed seat 111, the first positioning column 1123 is connected to the side wall of the second limiting protrusion 1122 away from the limiting through groove 11211, and the number of the first positioning columns 1123 is two.

[0116] In the first embodiment, the first positioning groove 1113 and the limiting hole 11111 are connected.

[0117] Preferably, the distance between the first inner limiting surface 11121 and the first outer limiting surface 2121 is a, and the distance between the second inner limiting surface 11221 and the second outer limiting surface 2131 is b, satisfying:

[0118] 0≤a≤0.4mm; 0≤b≤0.4mm.

[0119] In the description of the present invention, it should be understood that a=0 means that the first inner limit surface 11121 and the first outer limit surface 2121 are in contact but there is no friction between them, or the friction between them is small; b=0 means that the second inner limit surface 11221 and the second outer limit surface 2131 are in contact but there is no friction between them, or the friction between them is small. 0<a≤0.4mm means that a first gap 301 is formed between the first inner limit surface 11121 and the first outer limit surface 2121, and the distance of the first gap 301 is within the range of 0<a≤0.4mm; 0<b≤0.4mm means that a first gap 301 is formed between the second inner limit surface 11221 and the second outer limit surface 2131, and the distance of the second gap 302 is within the range of 0<a≤0.4mm.

[0120] In the first embodiment, the first reference spherical surface 100 and the third reference spherical surface 300 are concentrically arranged, and the first gap 301 is arranged with equal width.

[0121] In some other embodiments, the first reference spherical surface 100 and the third reference spherical surface 300 may not be concentrically arranged, and the first gap 301 may not be set with equal width. Along the radial direction of the first reference spherical surface 100, the distance between the two relative positions of the first inner limit surface 11121 and the first outer limit surface 2121 is in the range of 0<a≤0.4mm, and it can be considered that the distance a between the first inner limit surface 11121 and the first outer limit surface 2121 falls within the specified range of the present invention. The distance a can be any value satisfying 0≤a≤0.4mm, such as 0.01mm, 0.02mm, 0.03mm, 0.04mm, 0.05mm, 0.06mm, 0.07mm, 0.08mm, 0.09mm, 0.1mm, 0.12mm, 0.15mm, 0.18mm, 0.19mm, 0.20mm, 0.21mm, 0.25mm, 0.30mm, 0.35mm, 0.39mm, etc.

[0122] In the first embodiment, the second reference spherical surface 200 and the fourth reference spherical surface 400 are concentrically arranged, and the second gap 302 is arranged with equal width.

[0123] In some other embodiments, the second reference spherical surface 200 and the third reference spherical surface 300 may not be concentrically arranged, and the second gap 302 may not be set with equal width. Along the radial direction of the second reference spherical surface 200, the distance between the two relative positions of the second inner limit surface 11221 and the second outer limit surface 2131 is within the range of 0<b≤0.4mm, and it can be considered that the distance b between the second inner limit surface 11221 and the second outer limit surface 2131 falls within the specified range of the present invention. The distance b can be any value that satisfies 0≤b≤0.4mm, such as 0.01mm, 0.02mm, 0.03mm, 0.04mm, 0.05mm, 0.06mm, 0.07mm, 0.08mm, 0.09mm, 0.1mm, 0.12mm, 0.15mm, 0.18mm, 0.19mm, 0.20mm, 0.21mm, 0.25mm, 0.30mm, 0.35mm, 0.39mm, etc.

[0124] Preferably, a lubricant (such as grease and dry lubricant, etc.) is provided between the first inner limit surface 11121 and the first outer limit surface 2121. The use of the lubricant can reduce the friction between the two, which helps to reduce the power consumption of the micro anti-shake gimbal and improve the anti-shake effect.

[0125] Preferably, a lubricant (such as grease and dry lubricant, etc.) is provided between the second inner limit surface 11221 and the second outer limit surface 2131. The use of the lubricant can reduce the friction between the two, which helps to reduce the power consumption of the micro anti-shake gimbal and improve the anti-shake effect.

[0126] Embodiment 2

[0127] See also Figure 13-Figure 18, which is different from the first embodiment, the fixing member 11 further includes a positioning seat 113, and along the Z-axis direction, the positioning seat 113 is arranged between the second fixing seat 112 and the first fixing seat 111. The positioning seat 113 is used to adjust the distance a between the first inner limiting surface 11121 and the first outer limiting surface 2121 and the distance b between the second inner limiting surface 11221 and the second outer limiting surface 2131. Since the distance a and the distance b are very critical to the performance of the micro anti-shake gimbal, the distance a and the distance b must be accurately controlled to ensure that the distance a and the distance b are both within the design range. For example, when the distance a and the distance b are too small, a large friction force may occur between the first inner limit surface 11121 and the first outer limit surface 2121 and a large friction force may occur between the second inner limit surface 11221 and the second outer limit surface 2131, thereby causing the micro anti-shake gimbal to consume more power and have a poor anti-shake effect; when the distance a and the distance b are too large, the movable component 2 may move radially toward the rotation center 500, thereby causing a poor anti-shake effect and producing a knocking sound. However, in the production process of the micro anti-shake gimbal, due to errors in the production mold (due to mold manufacturing errors or wear after long-term use), the distance a may not be within the design range and / or the distance b may not be within the design range, so a precise and low-cost method is required to adjust the distance a and the distance b. By using a positioning seat 113 and arranging the positioning seat 113 between the first fixed seat 111 and the second fixed seat 112, the thickness of the positioning seat 113 can be controlled to adjust the position of the center of the first reference spherical surface 100 in the Z-axis direction and the position of the center of the second reference spherical surface 200 in the Z-axis direction, thereby adjusting the distance between the center of the first reference spherical surface 100 and the center of the third reference spherical surface 300 and the distance between the center of the second reference spherical surface 200 and the center of the third reference spherical surface 300, and further adjusting the distance a between the first inner limit surface 11121 and the first outer limit surface 2121 and the distance b between the second inner limit surface 11221 and the second outer limit surface 2131, so as to ensure that the distance a and the distance b are within the design range.

[0128] In the second embodiment, the positioning seat 113 is made of metal, and the positioning seat 113 is a sheet-shaped positioning seat 113. The sheet-shaped positioning seat 113 can be manufactured by stamping or etching metal sheets of different thicknesses. When the distance a and the distance b need to be adjusted, only the thickness of the metal sheet needs to be changed. The adjustment accuracy is high and the cost is very low, which helps to reduce the production cost.

[0129] Specifically, in the second embodiment, the avoidance groove 1132 is in a semi-enclosed shape.

[0130] The positioning seat 113 is provided with a first positioning slot 1131 penetrating the positioning seat 113 along the Z-axis direction, and the first positioning column 1123 is penetrated in the first positioning slot 1131 and the first positioning slot 1113 along the Z-axis direction, and a plurality of first positioning columns 1123, a plurality of first positioning slots 1131 and a plurality of first positioning slots 1113 correspond to each other one by one. The use of a plurality of first positioning columns 1123, a plurality of first positioning slots 1131 and a plurality of first positioning slots 1113 facilitates rapid positioning and rapid assembly between the first fixing seat 111, the positioning seat 113 and the second fixing seat 112, which is conducive to reducing production difficulty and production cost.

[0131] The positioning seat 113 is provided with an avoidance groove 1132 penetrating the positioning seat 113 along the Z-axis direction. The movable seat 21 is penetrated by the limiting groove 11211, the avoidance groove 1132 and the limiting hole 11111 along the Z-axis direction. The first positioning groove 1131 and the avoidance groove 1132 are connected.

[0132] In the second embodiment, the number of the first positioning grooves 1113 is two, the number of the first positioning posts 1123 is two, and the number of the first positioning through grooves 1131 is two.

[0133] Specifically, the two first positioning grooves 1113 are located on the first reference straight line 101, and the first reference straight line 101 passes through the center of any first inner limit surface 11121, that is, the first reference straight line 101 passes through the center of the first reference spherical surface 100, and the first reference straight line 101 is perpendicular to the Z-axis direction.

[0134] Since the first reference straight line 101 passes through the center of the first reference spherical surface 100, the first reference straight line 101 coincides with a certain diameter of the first reference spherical surface 100, that is, the first reference straight line 101 can be considered as an extension straight line of the diameter passing through the center of the first reference spherical surface 100. At the same time, since the first reference straight line 101 is perpendicular to the Z-axis direction, the first reference straight line 101 is a straight line located in the XY plane. In this way, when assembling the first fixing seat 111, the positioning seat 113 and the second fixing seat 112, since the first positioning groove 1113 and the limiting hole 11111 are connected and the first positioning through groove 1131 and the avoidance through groove 1132 are connected, the position of the first positioning column 1123 in the first positioning groove 1113 can be adjusted along the extension direction of the first reference straight line 101, thereby adjusting the position of the center of the second reference spherical surface 200 on the first reference straight line 101 so that the center of the second reference spherical surface 200 can be closer to the first reference spherical surface 100. The center of the ball is helped to make the two centers coincide with each other, and then the distance a and the distance b can be adjusted more accurately to better ensure that the distance a and the distance b are both within the design range; at the same time, since the number of the first positioning groove 1113, the first positioning column 1123 and the first positioning through groove 1131 is two, the first positioning groove 1113, the first positioning column 1123 and the first positioning through groove 1131 can cooperate with each other to ensure that the first fixing seat 111, the positioning seat 113 and the second fixing seat 112 cannot rotate around the center of the first reference spherical surface 100. The movement of the first fixing seat 111, the positioning seat 113 and the second fixing seat 112 can be limited in the tangential direction relative to the center of the first reference spherical surface 100; since the distance between the center of the first reference spherical surface 100 and the rotation center 500 of the micro anti-shake gimbal is less than d / 10, the above setting only limits the position of the first fixing seat 111 and the second fixing seat 112 in the tangential direction of the rotation center 500, and does not limit the position of the first fixing seat 111 and the second fixing seat 112 in the radial direction of the rotation center 500. The mutual cooperation between the positioning surface 11121 and the first outer limiting surface 2121 limits the positions of the first fixed seat 111 and the movable seat 21 in the radial direction of the rotation center 500, and the mutual cooperation between the second inner limiting surface 11221 and the first outer limiting surface 2121 can limit the positions of the second fixed seat 112 and the movable seat 21 in the radial direction of the rotation center 500. Therefore, the positioning seat 113 does not double limit the position of the movable seat 21 in the radial direction of the rotation center 500, thereby improving the position accuracy of the movable seat 21, which is beneficial to reducing production difficulty and production cost.

[0135] The first fixing seat 111 is provided with a second positioning column 1114 , the positioning seat 113 is provided with a second positioning slot 1133 penetrating along the Z-axis direction, the second fixing seat 112 is provided with a second positioning slot 1124 , and the second positioning column 1114 is passed through the second positioning slot 1133 and the second positioning slot 1124 .

[0136] The second positioning through slot 1133 is communicated with the avoiding through slot 1132 , and the second positioning through slot 1124 is communicated with the limiting through slot 11211 .

[0137] There are two second positioning posts 1114 , and two second positioning slots 1133 . The two positioning posts correspond to the two second positioning slots 1133 .

[0138] The second reference straight line 102 passes through the center of the first reference sphere 100, and the second reference straight line 102, the first reference straight line 101 and the Z-axis direction are perpendicular to each other, and the two second positioning posts 1114 are located on the second reference straight line 102; since the second reference straight line 102 passes through the center of the first reference sphere 100, the second reference straight line 102 coincides with a certain diameter of the sphere, that is, the second reference straight line 102 can be considered as an extension straight line of a certain diameter passing through the center of the first reference sphere 100, and the intersection of the first reference straight line 101 and the second reference straight line 102 is the center of the first reference sphere 100. At the same time, since the second reference straight line 102 and the Z-axis direction are perpendicular to each other, the second reference straight line 102 is a straight line located in the XY plane. In this way, the position of the second positioning column 1114 in the second positioning groove 1124 can be adjusted along the extension direction of the second reference straight line 102 to adjust the position between the first fixed seat 111 and the second fixed seat 112 in the radial direction of the rotation center 500, so as to better and more quickly adjust the center of the second reference spherical surface 200 to a position closer to the center of the first reference spherical surface 100, which helps to better and more quickly make the two centers coincide with each other, and then the distance a and the distance b can be further accurately adjusted to further ensure that the distance a and the distance b are both within the design range, which is conducive to reducing production difficulty and production cost.

[0139] In the second embodiment, the camera module 4 is an autofocus camera module 4, which includes an autofocus voice coil motor, a lens 41 and an image sensor. The autofocus voice coil motor is connected to the lens 41, and the image sensor is connected to the lens 41. The autofocus motor can drive the lens 41 to move up and down along the Z-axis direction to achieve an autofocus effect.

[0140] In the second embodiment, the micro anti-shake gimbal 1000 further includes a vibration sensor 5, which is connected to the auto-focus camera module 4. By reading the signal of the vibration sensor 5, the shaking of the image sensor after the gimbal anti-shake can be sensed, and the multi-axis gimbal anti-shake closed-loop control can be realized. If necessary, electronic anti-shake can be added to further improve the anti-shake effect.

[0141] In the second embodiment, the first driving member 13 is a coil, the second driving member 22 is a magnet, the number of coils is four, and the number of magnets is four. Since the magnet in the second embodiment is arranged in the movable component 2, there is no relative movement between the magnet and the autofocus voice coil motor when the gimbal performs anti-shake movement, so the magnet will not seriously interfere with the operation of the autofocus voice coil motor.

[0142] Preferably, in the second embodiment, a magnetic conductive structure (such as a steel sheet) is provided between the magnet and the auto-focus voice coil motor to further reduce the magnetic interference of the magnet on the auto-focus voice coil motor.

[0143] In the second embodiment, the micro anti-shake gimbal further includes a driving circuit board 6 , which is connected to the fixing assembly 1 . Specifically, the driving circuit board 6 is connected to the housing 12 and is disposed in the accommodating cavity 1211 .

[0144] In the second embodiment, three position sensors 61 are arranged on the driving circuit board 6, and the three position sensors 61 are arranged opposite to the three magnets. When the movable component 2 rotates, the position and angle between the magnet and the position sensor 61 will change, resulting in a change in the magnetic field strength passing through the position sensor 61. By detecting the change in magnetic field strength through the three position sensors 61, the three-axis rotation angle of the movable component 2 can be calculated, providing more information to the multi-axis gimbal anti-shake closed-loop control, thereby improving the anti-shake effect.

[0145] Embodiment 3

[0146] See also Figure 19-21 , which is different from the first embodiment, in the third embodiment, the first driving member 13 is a magnet and the second driving member 22 is a coil. In the third embodiment, the magnet is set as a part of the fixed component 1, which can reduce the weight of the movable component 2, which is beneficial to reduce the anti-shake power consumption and improve the anti-shake effect.

[0147] In the third embodiment, the number of coils is two and the number of magnets is two.

[0148] In the third embodiment, the micro anti-shake gimbal 1000 further includes a vibration sensor 5, which is connected to the camera module 4. By reading the signal of the vibration sensor 5, the shaking of the image sensor after the gimbal is anti-shake can be sensed, and the multi-axis gimbal anti-shake closed-loop control can be realized; if necessary, the electronic anti-shake function can be added to further improve the anti-shake effect.

[0149] Since the micro anti-shake gimbal provided by the present invention can support multi-axis rotational freedom movement and multi-axis anti-shake, the micro anti-shake gimbal that adopts the multi-axis micro gimbal structure of the present invention, increases the number of coils and magnet groups, or interchanges the positions of coils and magnets to achieve anti-shake function is within the protection scope of the present invention. The camera module 4 of the micro anti-shake gimbal adopts closed-loop control or open-loop anti-shake control, adopts other methods to drive the anti-shake or auto-focus motor (such as shape memory alloy (Shape Memory Alloys), adopts open-loop anti-shake control or closed-loop anti-shake control or auto-focus control, which is also within the protection scope of the present invention.

[0150] Other devices using the pan-tilt structure design or module circuit board design of the present invention are within the protection scope of the present invention. The pan-tilt structure design or module circuit board design of the present invention can be applied to other types of actuators or passive anti-shake systems in addition to the anti-shake camera module 4, and is not limited here.

[0151] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A miniature anti-shake gimbal, having a rotation center (500), characterized in that: include: A fixing assembly (1), the fixing assembly (1) comprising a fixing member (11), the fixing member (11) comprising a first fixing seat (111) and a second fixing seat (112), the second fixing seat (112) being connected to the first fixing seat (111); the first fixing seat (111) being provided with a limiting hole (11111) penetrating the first fixing seat (111) along a Z-axis direction, the inner side of the limiting hole (11111) being provided with a plurality of first inner limiting surfaces (11121); the second fixing seat (1112) being provided with a first fixing seat (11111) and a second fixing seat (112) being connected to the first fixing seat (111); The fixed seat (112) is provided with a limiting through groove (11211) which penetrates the second fixed seat (112) along the Z-axis direction and is connected to the limiting hole (11111); a plurality of second inner limiting surfaces (11221) are provided on the inner side of the limiting through groove (11211); the plurality of first inner limiting surfaces (11121) and the plurality of second inner limiting surfaces (11221) are arranged alternately, and the first inner limiting surfaces (11121) and the second inner limiting surfaces (11221) are both spherical structures; A movable component (2), the movable component (2) comprising a movable seat (21), the movable seat (21) being arranged along the Z-axis direction through the limiting hole (11111) and the limiting through groove (11211), the outer side of the movable seat (21) being provided with a plurality of first outer limiting surfaces (2121) and a plurality of second outer limiting surfaces (2131); the first outer limiting surfaces (2121) and the second outer limiting surfaces (2131) are both spherical structures, the plurality of first outer limiting surfaces (2121) and the plurality of first inner limiting surfaces (11121) are arranged one by one opposite to each other, and the plurality of second outer limiting surfaces (2131) and the plurality of second inner limiting surfaces (11221) are arranged one by one opposite to each other; An elastic member (3), wherein the elastic member (3) is respectively connected to the fixed assembly (1) and the movable seat (21); Wherein, along the Z-axis direction, the length of the fixing member (11) is d, the distance between the center of the first inner limiting surface (11121) and the rotation center (500) is less than d / 10, the distance between the center of the second inner limiting surface (11221) and the rotation center (500) is less than d / 10, the distance between the center of the first outer limiting surface (2121) and the rotation center (500) is less than d / 10, and the distance between the center of the second outer limiting surface (2131) and the rotation center (500) is less than d / 10.

2. The micro anti-shake gimbal according to claim 1, characterized in that: The distance between the first inner limiting surface (11121) and the first outer limiting surface (2121) is a, and the distance between the second inner limiting surface (11221) and the second outer limiting surface (2131) is b, satisfying: 0≤a≤0.4mm; 0≤b≤0.4mm.

3. The micro anti-shake gimbal according to claim 1, characterized in that: The plurality of first inner limit surfaces (11121) are all located on the first reference spherical surface (100), the plurality of second inner limit surfaces (11221) are all located on the second reference spherical surface (200), the plurality of first outer limit surfaces (2121) are all located on the third reference spherical surface (300), and the plurality of second outer limit surfaces (2131) are all located on the fourth reference spherical surface (400).

4. The micro anti-shake gimbal according to claim 1, characterized in that: The first fixing seat (111) comprises a first seat body (1111) and a plurality of first limiting protrusions (1112); the limiting hole (11111) is opened in the first seat body (1111); the first limiting protrusion (1112) is connected to the inner side wall of the limiting hole (11111); and the first inner limiting surface (11121) is formed on the first limiting protrusion (1112); The second fixing seat (112) comprises a plate body (1121) and a plurality of second limiting protrusions (1122), the limiting through groove (11211) is provided on the plate body (1121), the second limiting protrusion (1122) is connected to the inner side wall of the limiting through groove (11211), and the second inner limiting surface (11221) is formed on the second limiting protrusion (1122); The movable seat (21) comprises a second seat body (211), a plurality of third limiting protrusions (212) and a plurality of fourth limiting protrusions (213); the third limiting protrusion (212) is connected to the outer side wall of the second seat body (211) and is arranged opposite to the first limiting protrusion (1112); the first outer limiting surface (2121) is formed on the third limiting protrusion (212); the fourth limiting protrusion (213) is connected to the outer side wall of the second seat body (211) and is arranged opposite to the second limiting protrusion (1122); and the second outer limiting surface (2131) is formed on the fourth limiting protrusion (213).

5. The micro anti-shake gimbal according to claim 1, characterized in that: It also includes a camera module (4), and the elastic member (3) is connected to the movable seat (21) via the camera module (4); The movable seat (21) is provided with a mounting hole (2111) penetrating along the Z-axis direction; the camera module (4) is passed through the mounting hole (2111) and is fixedly connected to the movable seat (21); and the elastic member (3) is connected to one end of the camera module (4) close to the second fixed seat (112) in the Z-axis direction; The elastic member (3) is a module circuit board.

6. The micro anti-shake gimbal according to claim 1, characterized in that: The fixing assembly (1) further comprises a housing (12), the housing (12) having a housing cavity (1211), one end of the housing (12) in the Z-axis direction being provided with a first escape hole (1212) connected to the housing cavity (1211), and the fixing member (11) and the movable seat (21) are both arranged in the housing cavity (1211).

7. The micro anti-shake gimbal according to claim 1, characterized in that: The fixing assembly (1) further comprises a plurality of first driving members (13), wherein the first driving members (13) are connected to the first fixing seat (111) and are arranged in the limiting hole (11111), and the plurality of first driving members (13) are arranged around the rotation center (500); The movable assembly (2) further comprises a plurality of second driving members (22), wherein the second driving members (22) are connected to the outer side wall of the movable seat (21), and the plurality of second driving members (22) and the plurality of first driving members (13) are arranged opposite to each other. One end of the first driving member (13) facing the second driving member (22) is provided with a first arc surface (131), and one end of the second driving member (22) facing the first driving member (13) is provided with a second arc surface (221), and the first arc surface (131) and the second arc surface (221) are arranged opposite to each other.

8. The micro anti-shake gimbal according to claim 7, characterized in that: The first driving member (13) is a coil and the second driving member (22) is a magnet; or, The first driving member (13) is a magnet and the second driving member (22) is a coil.

9. The micro anti-shake gimbal according to any one of claims 1 to 7, characterized in that: The fixing member (11) further comprises a positioning seat (113), and along the Z-axis direction, the positioning seat (113) is arranged between the second fixing seat (112) and the first fixing seat (111).

10. The micro anti-shake gimbal according to claim 9, characterized in that: One end of the first fixing seat (111) close to the second fixing seat (112) in the Z-axis direction is recessed in a direction away from the second fixing seat (112) to be provided with a first positioning groove (1113), and the number of the first positioning grooves (1113) is plural; The second fixing seat (112) is provided with a first positioning column (1123), and the number of the first positioning columns (1123) is multiple; The positioning seat (113) is provided with a first positioning through groove (1131) penetrating the positioning seat (113) along the Z-axis direction; the first positioning column (1123) is penetrated in the first positioning through groove (1131) and the first positioning groove (1113) along the Z-axis direction; and a plurality of the first positioning columns (1123), a plurality of the first positioning through grooves (1131) and a plurality of the first positioning grooves (1113) correspond one to one.

11. The micro anti-shake gimbal according to claim 10, characterized in that: The first positioning groove (1113) and the limiting hole (11111) are connected; the positioning seat (113) is provided with an avoidance groove (1132) penetrating the positioning seat (113) along the Z-axis direction; the movable seat (21) is penetrated by the limiting groove (11211), the avoidance groove (1132) and the limiting hole (11111) along the Z-axis direction; the first positioning groove (1131) and the avoidance groove (1132) are connected; The number of the first positioning grooves (1113) is two, the number of the first positioning columns (1123) is two, and the number of the first positioning through grooves (1131) is two; The two first positioning grooves (1113) are located on a first reference straight line (101), the first reference straight line (101) passes through the center of any one of the first inner limiting surfaces (11121), and the first reference straight line (101) is perpendicular to the Z-axis direction.

12. The micro anti-shake gimbal according to claim 9, characterized in that: The positioning seat (113) is made of metal and is a sheet-shaped positioning seat.

13. A photographing device, characterized in that: It comprises a micro anti-shake gimbal according to any one of claims 1-12.

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