Driving mechanism, driving device and movable equipment

Abstract

The invention provides a driving mechanism, a driving device and movable equipment. A second magnetic part of the driving mechanism can move under the action of a magnetic field generated by a first magnetic part; the bearing structure is used for bearing a driven part and is mechanically coupled with the second magnetic part, and at least part of the bearing structure can move along with the second magnetic part; the first part of the first magnetic piece and the second magnetic piece are oppositely arranged in a spaced mode in the first direction, and at least part of the second part is bent and extends from the first part to the second magnetic piece to form at least part of containing space; the accommodating space is used for accommodating the sensor between the first part and the second magnetic piece in the first direction; the distance between the free end, away from the first part, of the second part and the second magnetic piece in the first direction is smaller than the distance between the first part and the second magnetic piece in the first direction. According to the driving mechanism, the driving device and the movable equipment, the driving mechanism is reasonable in structural design and small in size, and the driving efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of drive mechanisms, and in particular to a drive mechanism, a drive device and a movable device. Background Art

[0002] The driving mechanism includes a coil and a magnetic part. When the coil is energized, the coil and the magnetic part generate electromagnetic force, which can drive the coil or the magnetic part to move, thereby driving the driven part to move. However, the driving mechanism in the related art has an unreasonable structural design and it is difficult to improve the driving efficiency in a small volume. Summary of the invention

[0003] The present invention provides a driving mechanism, a driving device and a movable device, aiming to make the driving mechanism have a smaller volume and improve the driving efficiency.

[0004] An embodiment of the present invention provides a driving mechanism, comprising:

[0005] a first magnetic member;

[0006] a second magnetic member, wherein the second magnetic member is capable of moving under the action of a magnetic field generated by the first magnetic member;

[0007] a bearing structure, used for bearing a driven component of the driving mechanism, wherein the bearing structure is configured to be mechanically coupled with the second magnetic member, and at least a portion of the bearing structure can follow the movement of the second magnetic member; and

[0008] A sensor for detecting movement information of at least a portion of the bearing structure;

[0009] The first magnetic member includes a first portion and a second portion, the first portion and the second magnetic member are arranged opposite to each other in a first direction, the first portion is connected to the second portion, and at least a portion of the second portion is bent and extended from the first portion toward the second magnetic member to form at least a portion of a receiving space; the receiving space is used to receive the sensor between the first portion and the second magnetic member in the first direction;

[0010] Wherein, a distance between a free end of the second portion away from the first portion and the second magnetic component in the first direction is smaller than a distance between the first portion and the second magnetic component in the first direction.

[0011] Another embodiment of the present invention provides a driving mechanism, comprising:

[0012] A first magnetic member, the first magnetic member comprises a magnetism generating component and a yoke used in conjunction with the magnetism generating component, the yoke comprises a first portion and a second portion;

[0013] a second magnetic member, wherein the second magnetic member is capable of moving under the action of a magnetic field generated by the first magnetic member;

[0014] a bearing structure, used for bearing a driven component of the driving mechanism, wherein the bearing structure is configured to be mechanically coupled with the second magnetic member, and at least a portion of the bearing structure can follow the movement of the second magnetic member; and

[0015] A sensor for detecting movement information of at least a portion of the bearing structure;

[0016] Among them, the first part and the second magnetic part are arranged opposite to each other with a gap, the first part is connected to the second part, and the first part and the second part cooperate to form at least a partial accommodating space, and the accommodating space is used to accommodate the sensor between the first part and the second magnetic part in the first direction; at least a part of the free end of the second part away from the first part is closer to the second magnetic part than the first part.

[0017] Another embodiment of the present invention provides a driving device, comprising:

[0018] a driven component; and

[0019] The driving mechanism as described above is used to drive the driven component to move.

[0020] Another embodiment of the present invention further provides a movable device, comprising:

[0021] Housing; and

[0022] As described above, the driving device is connected to the casing; or, the driving device is arranged in the casing.

[0023] The drive mechanism, drive device and movable device provided by the embodiment of the present invention, since the first magnetic part includes a first part and a second part, the first part and the second magnetic part are arranged opposite to each other in the first direction, and at least part of the second part is bent and extended from the first part toward the second magnetic part to form at least part of the accommodation space; the accommodation space is used to accommodate the sensor between the first part and the second magnetic part in the first direction, so that the volume of the drive mechanism can be effectively reduced, and the structure of the drive mechanism is compact and the integration is high. In addition, since the distance between the free end of the second part away from the first part and the second magnetic part in the first direction is less than the distance between the first part and the second magnetic part in the first direction, the air gap between the free end of the first magnetic part and the second magnetic part in the first direction can be reduced, so that the first magnetic part can generate a stronger magnetic field in the area where the second magnetic part is located, so that the first magnetic part can exert a greater magnetic force on the second magnetic part, thereby effectively driving at least part of the bearing structure to move, thereby improving the driving efficiency of the drive mechanism.

[0024] It should be understood that the above general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure of the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0026] Figure 1 is a schematic structural diagram of a driving mechanism provided by an embodiment of the present invention;

[0027] Figure 2 is a partial structural schematic diagram of a driving mechanism provided by an embodiment of the present invention;

[0028] Figure 3 is a partial structural schematic diagram of a driving mechanism provided by an embodiment of the present invention;

[0029] Figure 4 is a schematic structural diagram of a driving mechanism provided by an embodiment of the present invention;

[0030] Figure 5 is a schematic structural diagram of a first magnetic member provided by an embodiment of the present invention;

[0031] FIG6(A) is a schematic diagram of at least a portion of the structure of a first magnetic member provided in one embodiment of the present invention;

[0032] FIG6(B) is a schematic diagram of at least a portion of the structure of a first magnetic member provided by an embodiment of the present invention;

[0033] FIG6(C) is a schematic diagram of at least a portion of the structure of a first magnetic member provided in one embodiment of the present invention;

[0034] Figure 7 is a schematic diagram of at least a portion of the structure of a first magnetic member provided by an embodiment of the present invention;

[0035] Figure 8 is a schematic diagram of at least a portion of the structure of a first magnetic member provided by an embodiment of the present invention;

[0036] Fig. 9 is a schematic diagram of at least a portion of the structure of a first magnetic member provided by an embodiment of the present invention;

[0037] Fig.10 is a partial structural schematic diagram of a driving mechanism provided by an embodiment of the present invention;

[0038] Fig.11 is a schematic structural diagram of a driving mechanism provided by an embodiment of the present invention;

[0039] Fig.12 is a structural schematic diagram of a bearing structure provided by an embodiment of the present invention;

[0040] Fig.13 is an exploded schematic diagram of a driving mechanism provided by an embodiment of the present invention;

[0041] Fig.14 It is a schematic diagram of the structure of a driving device provided in one embodiment of the present invention.

[0042] Description of reference numerals:

[0043] 1000, driving device;

[0044] 100. Driving mechanism;

[0045] 10. first magnetic member; 11. first portion; 12. second portion; 121. free end; 122. first extension sub-portion; 123. second extension sub-portion; 13. accommodation space; 14. yoke; 15. coil; 16. third portion; 161. third extension sub-portion; 162. fourth extension sub-portion;

[0046] 20. A second magnetic member;

[0047] 30. load-bearing structure; 31. first surface; 32. second surface; 33. assembly part; 331. assembly part; 332. connection part; 34. load-bearing part;

[0048] 40. sensor; 41. light transmitter; 42. light receiver; 50. circuit board; 60. bracket; 61. bracket body; 62. fixing member;

[0049] 200. Driven components. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] 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", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions 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 device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0052] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0053] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0054] The driving mechanism includes a coil and a magnetic part. When the coil is energized, the coil and the magnetic part generate electromagnetic force, which can drive the coil or the magnetic part to move, thereby driving the driven part to move. However, the driving mechanism in the related art has an unreasonable structural design and it is difficult to improve the driving efficiency in a small volume.

[0055] To this end, the embodiments of the present invention provide a driving mechanism, a driving device and a movable device, so that the driving mechanism has a smaller volume and can improve the driving efficiency.

[0056] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0057] See also Figure 1 The embodiment of the present invention provides a driving mechanism 100, comprising a first magnetic member 10, a second magnetic member 20, a bearing structure 30 and a sensor 40; the second magnetic member 20 can move under the action of the magnetic field generated by the first magnetic member 10. The bearing structure 30 is used to bear the driven component 200 of the driving mechanism 100, and the bearing structure 30 is configured to be mechanically coupled with the second magnetic member 20, and at least part of the bearing structure 30 can follow the movement of the second magnetic member 20. The sensor 40 is used to detect the movement information of at least part of the bearing structure 30. The first magnetic member 10 comprises a first portion 11 and a second portion 12, the first portion 11 and the second magnetic member 20 are arranged opposite to each other in a first direction, the first portion 11 is connected to the second portion 12, and at least part of the second portion 12 is bent and extended from the first portion 11 toward the second magnetic member 20 to form at least part of the accommodation space 13; the accommodation space 13 is used to accommodate the sensor 40 between the first portion 11 and the second magnetic member 20 in the first direction. The distance between the free end 121 of the second portion 12 away from the first portion 11 and the second magnetic member 20 in the first direction is smaller than the distance between the first portion 11 and the second magnetic member 20 in the first direction.

[0058] In the driving mechanism 100 of the above embodiment, since the first magnetic member 10 includes a first portion 11 and a second portion 12, the first portion 11 and the second magnetic member 20 are arranged opposite to each other in the first direction, and at least a portion of the second portion 12 is bent and extended from the first portion 11 toward the second magnetic member 20 to form at least a portion of the accommodating space 13; the accommodating space 13 is used to accommodate the sensor 40 between the first portion 11 and the second magnetic member 20 in the first direction, thereby being able to effectively reduce the volume of the driving mechanism 100, and the structure of the driving mechanism 100 is compact. In addition, since the distance between the free end 121 of the second part 12 and the second magnetic member 20 in the first direction is smaller than the distance between the first part 11 and the second magnetic member 20 in the first direction, the air gap between the free end 121 of the first magnetic member 10 and the second magnetic member 20 in the first direction can be reduced, so that the first magnetic member 10 generates a stronger magnetic field in the area where the second magnetic member 20 is located, so that the first magnetic member 10 can exert a greater magnetic force on the second magnetic member 20, and then the second magnetic member 20 can effectively drive at least part of the bearing structure 30 and the driven component 200 to move, thereby improving the driving efficiency of the driving mechanism 100. The driving mechanism 100 of this embodiment has a reasonable and simple structural design, a small size, and a high degree of integration and driving efficiency; in addition, the sensor 40 can feedback the movement information of at least part of the bearing structure 30, which provides a guarantee for effectively controlling the movement of at least part of the bearing structure 30.

[0059] Exemplarily, the first direction is a vertical direction, and the second direction is a horizontal direction.

[0060] For example, the first direction is Figure 1 The Y direction in the second direction is Figure 1 The X direction in .

[0061] Exemplarily, the first direction is perpendicular to the second direction, the first direction is perpendicular to the first portion 11 , and the second direction is parallel to the first portion 11 .

[0062] Exemplarily, the first direction is in line with the circuit board 50 (see Figure 1 ) and the second direction is parallel to the circuit board 50.

[0063] See also Figure 2 , exemplarily, one end of the second part 12 close to the first part 11 is connected to the first part 11; the free end 121 of the second part 12 away from the first part 11 is closer to the second magnetic member 20 relative to the first part 11, so that the first magnetic member 10 generates a stronger magnetic field in the area where the second magnetic member 20 is located, so that the first magnetic member 10 can exert a greater magnetic force on the second magnetic member 20, thereby improving the driving efficiency of the driving mechanism 100.

[0064] Understandably, see Figure 2, the distance between the free end 121 of the second part 12 and the second magnetic member 20 in the first direction is h1, and the distance between the first part 11 and the second magnetic member 20 in the first direction is h2, and h1 is less than h2. The specific values ​​of h1 and h2 can be set according to actual needs. For example, h1 is greater than or equal to 0.

[0065] See also Figure 2 In some embodiments, in the first direction, the free end 121 of the second portion 12 is located between the first portion 11 and the second magnetic member 20. In this way, the driving mechanism 100 can be small in size and compact in structure while ensuring good driving efficiency, which is conducive to realizing a miniaturized design of the driving mechanism 100.

[0066] See also Figure 3 In other embodiments, in the first direction, the second magnetic member 20 is located between the free end 121 of the second portion 12 and the first portion 11. The distance between the free end 121 of the second portion 12 and the second magnetic member 20 in the first direction is h1, and the distance between the first portion 11 and the second magnetic member 20 in the first direction is h2, and h1 is smaller than h2.

[0067] In some other embodiments, in the first direction, the second magnetic member 20 may be flush or substantially flush with the free end 121 of the second portion 12 .

[0068] See also Figure 1 In some embodiments, in the first direction, the free end of the second portion 12 is located between the sensor 40 and the second magnetic member 20. In this way, the driving mechanism 100 can be small in size and compact in structure while ensuring good driving efficiency, which is conducive to realizing the miniaturized design of the driving mechanism 100.

[0069] See also Figure 1 In some embodiments, in the first direction, the sensor 40 is located between the free end of the second portion 12 and the first portion 11. In this way, the drive mechanism 100 can be small in size and compact in structure while ensuring good driving efficiency, which is conducive to realizing a miniaturized design of the drive mechanism 100.

[0070] See also Figure 4 In some embodiments, the first magnetic member 10 includes a permanent magnet, and the second magnetic member 20 includes an electromagnet. Exemplarily, the first magnetic member 10 includes a special-shaped permanent magnet (such as a special-shaped magnet, etc.), and the second magnetic member 20 includes a coil structure. When the coil structure is energized, the coil structure can move under the action of the magnetic field generated by the first magnetic member 10, and at least part of the bearing structure 30 can move with the second magnetic member 20, thereby driving the driven component 200 supported by the bearing structure 30 (see Fig.14 )sports.

[0071] See also Figure 5 In some embodiments, the first magnetic member 10 includes a yoke 14 and a coil 15, the yoke 14 includes a first portion 11 and a second portion 12; the coil 15 is disposed on the yoke 14, and at least part of the coil 15 is disposed on the first portion 11. In this way, when the coil 15 is energized, the coil 15 does not move, and the second magnetic member 20 moves under the action of the magnetic field generated by the yoke 14 and the coil 15, which is conducive to improving the driving efficiency.

[0072] Exemplarily, the distance between the free end 121 of the second part 12 of the yoke 14 and the second magnetic part 20 in the first direction is smaller than the distance between the first part 11 and the second magnetic part 20 in the first direction. Therefore, the setting of the second part 12 can reduce the gap or air gap between the free end 121 of the yoke 14 and the second magnetic part 20 in the first direction, so that the first magnetic part 10 can generate a stronger magnetic field in the area where the second magnetic part 20 is located. When the current of the coil 15 is constant, the first magnetic part 10 can exert a greater magnetic force on the second magnetic part 20, thereby improving the driving efficiency of the driving mechanism 100, reducing the power consumption of the coil 15, and reducing the temperature rise of the coil 15.

[0073] In some embodiments, the first magnetic member 10 includes a yoke 14 and a coil 15 , and the second magnetic member 20 includes a coil structure.

[0074] See also Figure 1 In some embodiments, the first magnetic component 10 includes a yoke 14 and a coil 15, and the second magnetic component 20 includes a permanent magnet (such as a magnet, etc.). In this way, when the coil 15 is energized, the yoke 14 and the coil 15 remain stationary, and the second magnetic component 20 including the permanent magnet moves. The arrangement of the first magnetic component 10 and the second magnetic component 20 is more flexible, which is beneficial to improving the driving efficiency of the driving mechanism 100. There is no need to reduce the current of the coil 15 by increasing the volume of the second magnetic component 20 to reduce power consumption. Therefore, the volume and weight of the second magnetic component 20 are reduced to a certain extent, which is beneficial to the miniaturization or lightweight design of the driving mechanism 100.

[0075] It can be understood that when the coil 15 is not energized, the second magnetic member 20 is located at the initial position; when the coil 15 is energized, the second magnetic member 20 can move between the first limit position and the second limit position under the action of the magnetic field generated by the first magnetic member 10, and the initial position is located between the first limit position and the second limit position. In this embodiment, at least part of the coil 15 is disposed in the first portion 11, so that the driving mechanism 100 has a higher driving efficiency when the second magnetic member 20 moves between the first limit position and the second limit position.

[0076] It is understandable that the number of coils 15 can be set according to actual needs, such as one, two or more. Exemplarily, the number of coils 15 is one, and at least part of the coils 15 is wound around the first part 11, so that power consumption can be reduced.

[0077] Exemplarily, the coil 15 is wound around the first portion 11. Exemplarily, a portion of the coil 15 is wound around the first portion 11, and another portion of the coil 15 is wound around the second portion 12 and / or the third portion 13 (see Figure 7 ).

[0078] Please refer to FIG. 6 (A). In some embodiments, the second portion 12 includes a first extension sub-portion 122, which bends and extends from the first portion 11 toward the second magnetic member 20 in the first direction; the angle between the first extension sub-portion 122 and the first portion 11 is an acute angle, a right angle or an obtuse angle. The setting of the first extension sub-portion 122 can reduce the gap or air gap between the free end 121 of the second portion 12 and the second magnetic member 20 in the first direction, so that the first magnetic member 10 can generate a stronger magnetic field in the area where the second magnetic member 20 is located, thereby applying a greater magnetic force to the second magnetic member 20, thereby improving the driving efficiency of the driving mechanism 100. Exemplarily, the connection between the first extension sub-portion 122 and the first portion 11 is smoothly transitioned. Please refer to FIG. 6 (A). In some embodiments, the angle between the first extension sub-portion 122 and the first portion 11 is a right angle. Please refer to FIG. 6 (B). In some embodiments, the angle between the first extension sub-portion 122 and the first portion 11 is an acute angle. Please refer to FIG. 6(C) . In some embodiments, the angle between the first extension portion 122 and the first portion 11 is an obtuse angle.

[0079] Exemplarily, when the angle between the second extension sub-portion 123 and the first portion 11 is an obtuse angle or an acute angle, the minimum distance between the free end 121 of the second portion 12 and the second magnetic member 20 in the first direction is smaller than the distance between the first portion 11 and the second magnetic member 20 in the first direction.

[0080] Exemplarily, when the angle between the second extension sub-portion 123 and the first portion 11 is an obtuse angle or an acute angle, the maximum distance between the free end 121 of the second portion 12 and the second magnetic member 20 in the first direction is smaller than the distance between the first portion 11 and the second magnetic member 20 in the first direction.

[0081] It can be understood that the free end of the second portion 12 is the free end of the first magnetic member 10 or the yoke 14. Referring to FIG. 6(A), illustratively, the end of the first extension sub-portion 122 close to the first portion 11 is connected to the first portion 11, and the free end 121 of the second portion 12 is the end of the first extension sub-portion 122 away from the first portion 11.

[0082] In some embodiments, the angle between the first extension sub-portion 122 and the first portion 11 is related to at least one of the following factors: the magnetic field strength of the first magnetic member 10; the magnetic field strength of the second magnetic member 20; the distance between the end of the first extension sub-portion 122 away from the first portion 11 and the first portion 11 in the first direction. It can be understood that the stronger the magnetic field strength of the first magnetic member 10 and / or the second magnetic member 20, the larger the angle between the first extension sub-portion 122 and the first portion 11 can be set. The larger the distance between the end of the first extension sub-portion 122 away from the first portion 11 and the first portion 11 in the first direction, the stronger the magnetic field can be generated by the first magnetic member 10 in the area where the second magnetic member 20 is located, and the larger the angle between the first extension sub-portion 122 and the first portion 11 can be set.

[0083] See also Figure 7 and Figure 8 In some embodiments, the second portion 12 includes a second extension sub-portion 123, which bends and extends from the end of the first extension sub-portion 122 away from the first portion 11 toward the second magnetic member 20 in the second direction, the first direction and the second direction are perpendicular, and the angle between the second extension sub-portion 123 and the first extension sub-portion 122 is an acute angle, a right angle, or an obtuse angle. The provision of the second extension sub-portion 123 can change the direction of the magnetic induction lines of the first magnetic member 10, so that the direction of the magnetic lines of force of the magnetic field generated by the first magnetic member 10 can be more perpendicular to the direction of the magnetic lines of force of the magnetic field generated by the second magnetic member 20, thereby improving the driving efficiency of the second magnetic member 20 while keeping the strength of the magnetic field generated by the first magnetic member 10 unchanged, thereby being able to exert a greater magnetic force on the second magnetic member 20, and effectively improving the driving efficiency of the driving mechanism 100. In addition, the setting of the second extension sub-portion 123 can reduce the gap or air gap between the free end 121 of the second portion 12 and the second magnetic component 20 in the second direction, so that the first magnetic component 10 can generate a stronger magnetic field in the area where the second magnetic component 20 is located, which is beneficial to improving the driving efficiency of the driving mechanism 100.

[0084] See also Figure 7 , illustratively, the angle between the second extension sub-portion 123 and the first extension sub-portion 122 is a right angle.

[0085] See also Fig. 9 , illustratively, the angle between the second extension sub-portion 123 and the first extension sub-portion 122 is an obtuse angle.

[0086] Exemplarily, the connection between the first extension sub-portion 122 and the second extension sub-portion 123 has a smooth transition.

[0087] In some embodiments, the distance between the end of the first extension sub-portion 122 away from the first portion 11 and the second magnetic member 20 in the second direction is greater than the distance between the end of the second extension sub-portion 123 away from the first extension sub-portion 122 and the second magnetic member 20 in the second direction. In this way, the driving mechanism 100 can be small in size and compact in structure while ensuring good driving efficiency, which is conducive to realizing a miniaturized design of the driving mechanism 100.

[0088] Exemplarily, the free end 121 of the second portion 12 is an end of the second extending sub-portion 123 away from the first extending sub-portion 122 .

[0089] Exemplarily, in the first direction, the second extending sub-portion 123 is away from one end of the first extending sub-portion 122 and is located between the connection between the first extending sub-portion 122 and the second extending sub-portion 123 and the second magnetic member 20 .

[0090] It is understandable that the shapes and / or sizes of the first extension sub-portion 122 and the second extension sub-portion 123 can be designed according to actual needs. For example, the extension length of the second extension sub-portion 123 is less than the extension length of the first extension sub-portion 122.

[0091] In some embodiments, the distance between the end of the first portion 11 connected to the first extension sub-portion 122 and the second magnetic member 20 in the second direction is greater than the distance between the end of the second extension sub-portion 123 away from the first extension sub-portion 122 and the second magnetic member 20 in the second direction. Exemplarily, when the angle between the second extension sub-portion 123 and the first extension sub-portion 122 is an obtuse angle or an acute angle, the distance between the end of the first portion 11 connected to the first extension sub-portion 122 and the second magnetic member 20 in the second direction is greater than the minimum distance or the maximum distance between the end of the second extension sub-portion 123 away from the first extension sub-portion 122 and the second magnetic member 20 in the second direction.

[0092] In some embodiments, the angle between the second extension sub-portion 123 and the first extension sub-portion 122 is related to at least one of the following factors: the distance between the second extension sub-portion 123 and the second magnetic member 20 along the first direction; the limit state information of the movement of the second magnetic member 20; the distance between the second extension sub-portion 123 and the second magnetic member 20 along the second direction. It can be understood that the smaller the distance between the second extension sub-portion 123 and the second magnetic member 20 along the first direction, the smaller the distance or air gap between the free end 121 of the second portion 12 and the second magnetic member 20 in the first direction, the first magnetic member 10 can generate a stronger magnetic field in the area where the second magnetic member 20 is located, and the larger the angle between the second extension sub-portion 123 and the first extension sub-portion 122 can be set.

[0093] Exemplarily, the limit state information of the movement of the second magnetic member 20 includes the limit angle of rotation of the second magnetic member 20, or the limit movement distance of the second magnetic member 20. It can be understood that the smaller the limit angle or the limit movement distance of the second magnetic member 20, the smaller the magnetic force applied by the first magnetic member 10 to the second magnetic member 20 needs to be, and the larger the angle between the second extension sub-portion 123 and the first extension sub-portion 122 can be set.

[0094] It can be understood that the smaller the distance between the second extension sub-portion 123 and the second magnetic component 20 along the second direction, the greater the degree of change in the direction of the magnetic induction lines of the first magnetic component 10, the stronger the magnetic field that the first magnetic component 10 can generate in the area where the second magnetic component 20 is located, and the larger the angle between the second extension sub-portion 123 and the first extension sub-portion 122 can be set.

[0095] Exemplarily, the angle between the first extension sub-portion 122 and the first portion 11 is a right angle, and the angle between the first extension sub-portion 122 and the second extension sub-portion 123 is a right angle or an obtuse angle.

[0096] It can be understood that the greater the distance between the end of the second extension sub-portion 123 away from the first extension sub-portion 122 and the sensor 40 in the second direction, the less interference the magnetic field generated by the first magnetic part 10 has on the sensor 40, and the more conducive to improving the detection accuracy of the sensor 40. The greater the distance between the end of the second extension sub-portion 123 away from the first extension sub-portion 122 and the sensor 40 in the first direction, the less interference the magnetic field generated by the first magnetic part 10 has on the sensor 40, and the more conducive to improving the detection accuracy of the sensor 40. The smaller the distance between the sensor 40 and the second magnetic part 20 in the first direction, the higher the detection accuracy of the sensor 40. In actual application, by designing the above distance reasonably, the miniaturization design of the drive mechanism 100 and the detection accuracy of the sensor 40 can be taken into account.

[0097] Exemplarily, a distance between an end of the second extending sub-portion 123 away from the first extending sub-portion 122 and the sensor 40 in the second direction is greater than a distance between the sensor 40 and the second magnetic member 20 in the first direction.

[0098] In some embodiments, the angle between the second extension sub-portion 123 and the preset plane is in the range of [0°, 90°], the preset plane passes through the connection between the first extension sub-portion 122 and the second extension sub-portion 123, and the preset plane is perpendicular to the first direction. Such a configuration can minimize the distance or air gap between the free end 121 of the second portion 12 and the second magnetic member 20 in the first direction, and can minimize the distance or air gap between the free end 121 of the second portion 12 and the second magnetic member 20 in the second direction, so that the first magnetic member 10 can generate a stronger magnetic field in the area where the second magnetic member 20 is located, and then the first magnetic member 10 can exert as large a magnetic force as possible on the second magnetic member 20, effectively improving the driving efficiency of the driving mechanism 100.

[0099] Exemplarily, the angle between the second extending sub-portion 123 and the preset plane may be 0°, 30°, 60°, 90°, or any other suitable angle between 0° and 90°.

[0100] For example, the angle between the second extension sub-portion 123 and the preset plane is as follows: Fig. 9 As shown in α, the preset plane is as follows Fig. 9 The ω plane is shown in FIG.

[0101] See also Figure 7 In some embodiments, the first magnetic member 10 further includes a third portion 16, the third portion 16 is connected to the first portion 11, the third portion 16 is arranged opposite to the second portion 12, the third portion 16 and the second portion 12 are bent and extended from the first portion 11 toward the second magnetic member 20, respectively, and the magnetic poles of the second portion 12 and the third portion 16 are opposite. The arrangement of the third portion 16 is conducive to the first magnetic member 10 generating a stronger magnetic field in the area where the second magnetic member 20 is located, thereby improving the driving efficiency of the driving mechanism 100.

[0102] Exemplarily, the magnetic polarity of the free end 121 of the second portion 12 is opposite to that of the free end of the third portion 16 .

[0103] See also Figure 7 For example, the third portion 16 and the second portion 12 are respectively bent and extended from different positions of the first portion 11 toward the second magnetic member 20 , and the third portion 16 , the second portion 12 and the first portion 11 cooperate to form the accommodating space 13 .

[0104] Exemplarily, the third portion 16 may also be omitted, and the second portion 12 and the first portion 11 cooperate to form the accommodating space 13 .

[0105] See also Figure 7In some embodiments, the distance between the end of the third portion 16 away from the first portion 11 and the first portion 11 is d1, and the distance between the end of the second portion 12 away from the first portion 11 and the first portion 11 is d2, and d1 is equal to d2. In this way, it is beneficial for the first magnetic member 10 to generate a stronger magnetic field in the area where the second magnetic member 20 is located, thereby improving the driving efficiency of the driving mechanism 100. In other embodiments, d1 may also be greater than d2, or d1 may also be less than d2, which is not limited here.

[0106] The specific structure and / or shape of the third portion 16 can be set according to actual needs. Figure 7 In some embodiments, the third portion 16 includes a third extension sub-portion 161 and a fourth extension sub-portion 162, the third extension sub-portion 161 bends and extends from the first portion 11 toward the second magnetic member 20 in the first direction, and the angle between the third extension sub-portion 161 and the first portion 11 is an acute angle, a right angle, or an obtuse angle; the fourth extension sub-portion 162 bends and extends from the end of the third extension sub-portion 161 away from the first portion 11 toward the second magnetic member 20 in the second direction, the first direction and the second direction are perpendicular, and the angle between the fourth extension sub-portion 162 and the third extension sub-portion 161 is an acute angle, a right angle, or an obtuse angle. In this way, the gap or air gap between the free end of the third portion 16 and the second magnetic member 20 in the first direction can be reduced, and the direction of the induction line of the first magnetic member 10 can be further changed, so that the first magnetic member 10 can generate as strong a magnetic field as possible in the area where the second magnetic member 20 is located, thereby exerting a greater magnetic force on the second magnetic member 20, effectively improving the driving efficiency of the driving mechanism 100. In some embodiments, the fourth extension sub-portion 162 can also be omitted.

[0107] Exemplarily, the specific structure and / or shape of the third portion 16 may refer to the specific structure and / or shape of the second portion 12 .

[0108] Exemplarily, the second portion 12 is symmetrically arranged with the third portion 16. In this way, the first magnetic member 10 has a simple structure and can generate a stronger magnetic field in the area where the second magnetic member 20 is located, thereby improving the driving efficiency of the driving mechanism 100; in addition, it is helpful to reduce the volume of the driving mechanism 100, making the structure of the driving mechanism 100 more compact.

[0109] Exemplarily, the first extension sub-portion 122 and the second extension sub-portion 123 may be connected by integral molding. Exemplarily, the first portion 11 and the second portion 12 may be connected by integral molding. Exemplarily, the first portion 11 and the third portion 16 may be connected by integral molding.

[0110] The shape, magnetization direction and material of the second magnetic member 20 can be designed according to actual needs. For example, the shape of the second magnetic member 20 includes a circle. For example, the magnetization direction of the second magnetic member 20 is axial magnetization. For example, the material of the second magnetic member 20 includes neodymium iron boron, etc.

[0111] See also Figure 1 In some embodiments, the driving mechanism 100 further includes a circuit board 50, and the circuit board 50 is electrically connected to the sensor 40. For example, the sensor 40 is disposed on the circuit board 50, and the circuit board 50 can provide a mounting position for the sensor 40 and can protect the sensor 40 to a certain extent from mechanical shock. In addition, the circuit board 50 can also serve as a circuit carrier of the sensor 40.

[0112] See also Figure 1 For example, in the first direction, the free end 121 of the second portion 12 is located between the circuit board 50 and the second magnetic member 20. In this way, the drive mechanism 100 has a small volume and a compact structure, which is conducive to realizing a miniaturized design of the drive mechanism 100.

[0113] See also Figure 1 In some embodiments, the distance between the projection of the second magnetic member 20 on the circuit board 50 and the sensor 40 is smaller than the distance between the projection of the free end 121 of the first magnetic member 10 on the circuit board 50 and the sensor 40. In this way, the direction of the magnetic induction line of the first magnetic member 10 can be effectively changed, so that the first magnetic member 10 can generate a stronger magnetic field in the area where the second magnetic member 20 is located, and then the first magnetic member 10 can exert as large a magnetic force as possible on the second magnetic member 20, effectively improving the driving efficiency of the driving mechanism 100.

[0114] Exemplarily, the sensor 40 has a high sensitivity to the magnetic field in the first direction; the sensor 40 has a low sensitivity to the magnetic field in the second direction, which can even be ignored, so as to improve the detection accuracy of the sensor 40 .

[0115] Exemplarily, the magnetic field strength in the first direction generated by the first magnetic member 10 is much smaller than the magnetic field strength in the first direction generated by the second magnetic member 20 , so as to reduce the interference of the first magnetic member 10 on the sensor 40 and improve the detection accuracy of the sensor 40 .

[0116] It is understandable that the number of sensors 40 can be set according to actual needs, such as one, two, three, four or more. In some embodiments, the number of sensors 40 includes one, and the sensor 40 is biased to the projection of the center of the second magnetic member 20 on the circuit board 50 to ensure that the sensor 40 can effectively detect the motion information of at least part of the bearing structure 30, and the number of sensors 40 is small, and the structure of the drive mechanism 100 is simple and the cost is low. Exemplarily, when the first magnetic member 10 or the second magnetic member 20 is not powered on, the sensor 40 is biased to the projection of the center of the second magnetic member 20 on the circuit board 50.

[0117] See also Figure 1 In some embodiments, the number of sensors 40 includes two, and the positions of the two sensors 40 are symmetrically or asymmetrically arranged with respect to the projection of the center of the second magnetic member 20 on the circuit board 50. In this way, the detection accuracy can be improved when the number of sensors 40 is set to be small. Exemplarily, when the first magnetic member 10 or the second magnetic member 20 is not powered on, the positions of the two sensors 40 are symmetrically or asymmetrically arranged with respect to the projection of the center of the second magnetic member 20 on the circuit board 50. Exemplarily, when the first magnetic member 10 or the second magnetic member 20 is not powered on, the second magnetic member 20 is located at the initial position; when the first magnetic member 10 or the second magnetic member 20 is powered on, if the current position of the second magnetic member 20 deviates from the initial position, the signals sensed by the two sensors 40 at the current position and the initial position are different, and the signals detected by the two sensors 40 are related to the following factors: the deviation angle or deviation distance of the second magnetic member 20. For example, when the two sensors 40 determine the movement information of at least part of the supporting structure 30 by detecting the magnetic field strength of the second magnetic component 20, and the positions of the two sensors 40 are symmetrical about the projection of the center of the second magnetic component 20 on the circuit board 50, the greater the deviation angle or deviation distance of the second magnetic component 20 from the initial position, the greater the difference in magnetic field strength detected by the two sensors 40.

[0118] See also Figure 1 , illustratively, the sensor 40 is spaced apart from the second magnetic member 20. In this way, the sensor 40 and its related circuits do not need to follow the movement of the second magnetic member 20, and the sensor 40 and its related circuits do not need to be integrated on the moving part (such as the second magnetic member 20, at least part of the bearing structure 30 or the driven part 200), thereby simplifying the structure of the driving mechanism 100, making the arrangement of the sensor 40 and the related circuits simpler and easier to implement, and avoiding the problem of affecting the reliability and detection accuracy of the sensor 40 due to the movement of the sensor 40 following the moving part, which is conducive to improving the reliability and detection accuracy of the sensor 40.

[0119] Exemplarily, the sensor 40 can detect the magnetic field strength of the second magnetic member 20 , and the magnetic field strength is used to determine the movement information of at least part of the supporting structure 30 . In this way, the second magnetic component 20 can move under the action of the magnetic field generated by the first magnetic component 10 to drive at least part of the supporting structure 30 and the driven component 200 to move, and the magnetic field generated by it can be detected by the sensor 40. Since the second magnetic component 20 is in a state of relative motion relative to the sensor 40 when driven, the magnetic field generated by the second magnetic component 20 detected by the sensor 40 is in a changing state, so the sensor 40 can determine the movement information of the second magnetic component 20 based on the changing magnetic field. Therefore, the magnetic field generated by the second magnetic component 20 can also be used to detect the movement information of at least part of the supporting structure 30. There is no need to additionally set a magnetic component on the supporting structure 30 for detecting the movement information of at least part of the supporting structure 30, which reduces the number of components set and reduces the cost, which is conducive to reducing the volume and mass of the driving mechanism 100 and improving the assembly efficiency and driving efficiency of the driving mechanism 100; the driving mechanism 100 has a simple structure, and the sensor 40 can feedback the movement information of at least part of the supporting structure 30 according to actual needs, and the sensor 40 has low power consumption when detecting the movement information. In addition, when detecting the movement information of at least part of the supporting structure 30, the sensor 40 of this embodiment does not need to contact the second magnetic part 20, and the sensor 40 can quickly sense the magnetic field strength of the second magnetic part 20 and generate a signal. Therefore, the sensor 40 and its related circuits do not need to follow the movement of the second magnetic part 20, and there is no need to integrate the sensor 40 and its related circuits on the moving part (such as the second magnetic part 20, at least part of the supporting structure 30 or the driven part 200), thereby simplifying the structure of the driving mechanism 100, making the arrangement of the sensor 40 and the related circuits simpler and easier to implement, and avoiding the problem of the reliability and detection accuracy of the sensor 40 being affected by the sensor 40 following the movement of the moving part, which is beneficial to improving the reliability and detection accuracy of the sensor 40.

[0120] Exemplarily, the sensor 40 includes at least one of the following: a Hall sensor, a reed switch, and a magnetic switch.

[0121] In other embodiments, the sensor 40 may also be configured as other types. For example, the sensor 40 includes a capacitive sensor, and the second magnetic member 20 is provided with an electrode plate. The capacitive sensor can sense the change of the electrical signal caused by the electrode plate and generate a signal, thereby detecting the movement information of at least part of the supporting structure 30. Fig.10For example, the sensor 40 includes a light emitter 41 and a light receiver 42. The light emitter 41 is used to emit light to the second magnetic member 20, and the second magnetic member 20 can reflect the light. The light receiver 42 is used to receive the light reflected by the second magnetic member 20 to detect the movement information of the second magnetic member 20, thereby detecting the movement information of at least part of the supporting structure 30.

[0122] Exemplarily, the second magnetic member 20 is provided with a reflective surface (not shown), and the reflective surface is used to reflect the emission light emitted by the light emitter 41 .

[0123] Exemplarily, the light transmitter 41 includes at least one of the following: an LED, a laser, etc. The light receiver 42 includes: a photodiode or other photosensitive devices.

[0124] The number of the optical receivers 42 and the optical transmitters 41 can be set according to actual needs, such as one, two, three or more. Exemplarily, the number of the optical transmitters 41 includes one, and the number of the optical receivers 42 includes two.

[0125] In some embodiments, the motion information includes angle information or distance information of at least part of the supporting structure 30. The angle information includes at least one of the following: angle magnitude, motion direction (such as rotation direction or deflection direction), etc. The distance information includes distance magnitude, motion direction, etc.

[0126] Exemplarily, at least part of the bearing structure 30 can follow the movement of the second magnetic member 20, including: the bearing structure 30 can follow the movement of the second magnetic member 20; or part of the bearing structure 30 (for example Fig.13 The connecting portion 332 and the supporting member 34 of the supporting structure 30 can move with the second magnetic member 20.

[0127] See also Figure 1 and Fig.11 In some embodiments, the driving mechanism 100 further includes a bracket 60, the first magnetic member 10 is connected to the bracket 60, and the bracket 60 is connected to the bearing structure 30. The bearing structure 30 includes a first surface 31 and a second surface 32 opposite to each other, the second magnetic member 20 is connected to the first surface 31, and the second surface 32 is configured to bear the driven component 200, and at least part of the bearing structure 30 can be deflected under the drive of the second magnetic member 20. In this way, the relative fixation of the bearing structure 30 can be achieved; the bearing structure 30 can be deflected under the drive of the second magnetic member 20, thereby driving the driven component 200 to deflect. In other embodiments, the bearing structure 30 can perform other movements driven by the second magnetic member 20, such as reciprocating linear motion.

[0128] The connection method between the first magnetic member 10 and the bracket 60 includes at least one of the following: adhesive connection, snap connection, screw locking connection, magnetic connection, etc.

[0129] Exemplarily, the circuit board 50 is connected to the bracket 60 , and the connection method between the two includes at least one of the following: adhesive connection, snap connection, screw locking connection, magnetic connection, etc.

[0130] Exemplarily, the mechanical coupling method between the bearing structure 30 and the second magnetic member 20 includes at least one of the following: adhesive connection, snap connection, screw locking connection, etc. The mechanical coupling method between the driven component 200 and the bearing structure 30 includes at least one of the following: adhesive connection, snap connection, screw locking connection, etc. In other embodiments, the driven component 200 may also be integrally connected with at least part of the bearing structure 30.

[0131] The structure and / or shape of the bearing structure 30 can be set according to actual needs. Fig.11 or Fig.12 Exemplarily, the bearing structure 30 includes an X-shaped structure or a cross-shaped structure, etc., so as to reduce the mass of the bearing structure 30 and thus reduce the moment of inertia of the bearing structure 30.

[0132] The material of the bearing structure 30 can be set according to actual needs, such as including carbon fiber or other deformable materials.

[0133] In some embodiments, the portion of the supporting structure 30 connected to the driven component 200 can be deformed when the second magnetic component 20 moves. In this way, while ensuring that the supporting structure 30 can be relatively fixed to other components (such as the bracket 60), the portion of the supporting structure 30 connected to the driven component 200 can move with the second magnetic component 20, thereby realizing the driving function of the driving mechanism 100.

[0134] See also Fig.13 In some embodiments, the bearing structure 30 includes an assembly part 33 and a bearing part 34, the assembly part 33 is connected to the bracket 60, the second magnetic part 20 is connected to at least one of the assembly part 33 and the bearing part 34, the bearing part 34 is connected to the assembly part 33, and the bearing part 34 is configured to carry the driven component 200. Exemplarily, the second magnetic part 20 is connected to the assembly part 33.

[0135] Exemplarily, the assembly 33 comprises a twist beam.

[0136] See also Fig.13In some embodiments, the assembly part 33 includes an assembly portion 331 and a connecting portion 332 , the assembly portion 331 is connected to the bracket 60 , the connecting portion 332 is connected to the assembly portion 331 , and the second magnetic member 20 and the supporting member 34 are respectively connected to the connecting portion 332 .

[0137] Exemplarily, the connecting portion 332 can be deformed when the second magnetic member 20 moves, so that the supporting member 34 connected to the connecting portion 332 can move driven by the second magnetic member 20 , thereby driving the driven component 200 supported on the supporting member 34 to move.

[0138] Exemplarily, the assembly portion 331 and the connection portion 332 are integrally formed, so that the structure is simple, the component assembly process is reduced, and the assembly efficiency of the driving mechanism 100 is improved.

[0139] Exemplarily, the assembly part 33 can be integrally connected with the carrier 34. Exemplarily, the assembly part 33 can also be separately provided with the carrier 34, and the two are connected by at least one of the following connection methods: adhesive connection, clamping, interference fit, screw locking connection, etc.

[0140] See also Fig.11 and Fig.13 In some embodiments, the bracket 60 includes a bracket body 61 and a fixing member 62, the first magnetic member 10 and the circuit board 50 are respectively connected to different parts of the bracket body 61, and the fixing member 62 and the bracket body 61 cooperate to fix the assembly part 33. Exemplarily, the fixing member 62 and the bracket body 61 clamp and fix the assembly part 33. Exemplarily, a locking member such as a screw passes through the fixing member 62, the assembly part 331 and the bracket body 61, so as to fix the assembly part 33 to the bracket body 61.

[0141] It should be noted that Figures 1 to 13 The schematic diagram of the first magnetic member 10, the second magnetic member 20 and the bearing structure 30 is only for example, but does not limit the shape and / or structure of the first magnetic member 10, the second magnetic member 20 and the bearing structure 30. In actual application, the shape and / or structure of the first magnetic member 10, the second magnetic member 20 and the bearing structure 30 can be changed according to actual application requirements.

[0142] See also Fig.11The embodiment of the present invention further provides a driving mechanism 100, including a first magnetic member 10, a second magnetic member 20, a bearing structure 30 and a sensor 40, wherein the first magnetic member 10 includes a magnetic generating component and a yoke 14 used in conjunction with the magnetic generating component, and the yoke 14 includes a first part 11 and a second part 12; the second magnetic member 20 can move under the action of the magnetic field generated by the first magnetic member 10; the bearing structure 30 is used to support the driven component 200 of the driving mechanism 100, and the bearing structure 30 is configured to be mechanically coupled with the second magnetic member 20, and at least part of the bearing structure 30 can follow the movement of the second magnetic member 20; the sensor 40 is used to detect the movement information of the bearing structure 30. Among them, the first part 11 and the second magnetic part 20 are arranged opposite to each other at an interval, the first part 11 and the second part 12 are connected, and the first part 11 and the second part 12 cooperate to form at least a partial accommodating space 13, and the accommodating space 13 is used to accommodate the sensor 40 between the first part 11 and the second magnetic part 20 in the first direction; at least a part of the second part 12 is away from the free end 121 of the first part 11 closer to the second magnetic part 20 than the first part 11.

[0143] In the driving mechanism 100 of the above embodiment, since the yoke 14 includes the first part 11 and the second part 12, the first part 11 and the second magnetic member 20 are arranged opposite to each other at intervals, the first part 11 and the second part 12 are connected, and the first part 11 and the second part 12 cooperate to form at least a portion of the accommodation space 13, and the accommodation space 13 is used to accommodate the sensor 40 between the first part 11 and the second magnetic member 20 in the first direction, thereby effectively reducing the volume of the driving mechanism 100, and the structure of the driving mechanism 100 is compact. In addition, since at least a portion of the second part 12 is farther away from the free end 121 of the first part 11 than the first part 11 is closer to the second magnetic member 20, the air gap between the free end 121 of the first magnetic member 10 and the second magnetic member 20 in the first direction can be reduced, so that the first magnetic member 10 can generate a stronger magnetic field in the area where the second magnetic member 20 is located, so that the first magnetic member 10 can exert a greater magnetic force on the second magnetic member 20, thereby effectively driving at least a portion of the bearing structure 30 and the driven component 200 to move, thereby improving the driving efficiency of the driving mechanism 100. The driving mechanism 100 of this embodiment has a reasonable and simple structural design, a small size, and high integration and driving efficiency; in addition, the sensor 40 can feedback the movement information of at least part of the supporting structure 30, providing a guarantee for effectively controlling the movement of at least part of the supporting structure 30.

[0144] Exemplarily, the magnetic generating component includes at least one of the following: a permanent magnet or a coil structure.

[0145] Exemplarily, in at least one of the first direction and the second direction, the free end 121 of the second portion 12 is closer to the second magnetic member 20 than the first portion 11 .

[0146] Exemplarily, in the first direction, the free end 121 of the second portion 12 is closer to the second magnetic member 20 than the first portion 11 .

[0147] Exemplarily, in the second direction, the free end 121 of the second portion 12 is closer to the second magnetic member 20 than the first portion 11 .

[0148] Exemplarily, the driving mechanism 100 includes the driving mechanism 100 of any one of the above-mentioned embodiments.

[0149] Exemplarily, the first magnetic member 10 includes the first magnetic member 10 of any one of the above embodiments. The magnetism generating component includes the coil of any one of the above embodiments. The yoke 14 includes the yoke 14 of any one of the above embodiments.

[0150] Exemplarily, the second magnetic member 20 includes the second magnetic member 20 of any one of the above embodiments. The bearing structure 30 includes the bearing structure 30 of any one of the above embodiments. The sensor 40 includes the sensor 40 of any one of the above embodiments.

[0151] See also Fig.14 The embodiment of the present invention further provides a driving device 1000, including a driven component 200 and a driving mechanism 100, wherein the driving mechanism 100 includes the driving mechanism 100 of any one of the above-mentioned embodiments, and the driving mechanism 100 is used to drive the driven component 200 to move.

[0152] In the driving device 1000 of the above embodiment, since the first magnetic component 10 of the driving mechanism 100 includes a first part 11 and a second part 12, the first part 11 and the second magnetic component 20 are arranged opposite to each other in the first direction, and at least a portion of the second part 12 is bent and extended from the first part 11 toward the second magnetic component 20 to form at least a portion of the accommodating space 13; the accommodating space 13 is used to accommodate the sensor 40 between the first part 11 and the second magnetic component 20 in the first direction, thereby being able to effectively reduce the volume of the driving mechanism 100, and the structure of the driving mechanism 100 is compact. In addition, since the distance between the free end 121 of the second part 12 and the second magnetic member 20 in the first direction is smaller than the distance between the first part 11 and the second magnetic member 20 in the first direction, the air gap between the free end 121 of the first magnetic member 10 and the second magnetic member 20 in the first direction can be reduced, so that the first magnetic member 10 generates a stronger magnetic field in the area where the second magnetic member 20 is located, so that the first magnetic member 10 can exert a greater magnetic force on the second magnetic member 20, and then the second magnetic member 20 can effectively drive at least part of the bearing structure 30 and the driven component 200 to move, thereby improving the driving efficiency of the driving mechanism 100. The driving mechanism 100 of this embodiment has a reasonable and simple structural design, a small size, and a high degree of integration and driving efficiency; in addition, the sensor 40 can feedback the movement information of at least part of the bearing structure 30, which provides a guarantee for effectively controlling the movement of at least part of the bearing structure 30 and the driven component 200.

[0153] The driven component 200 may include any component that needs to move. For example, the driven component 200 may be a component that needs to move in a laser radar or a millimeter wave radar.

[0154] In some embodiments, the driving device 1000 includes a laser radar, and the driven component 200 includes an optical element of the laser radar, and the optical element can be carried on the bearing structure 30, and the optical element can move with the bearing structure 30; the driving mechanism 100 can drive the optical element to rotate or deflect to change the propagation path of the laser. Exemplarily, the optical element can include at least one of the following: a lens, a reflector, a prism, a galvanometer, a grating, etc.

[0155] In some embodiments, the driving device 1000 includes a millimeter wave radar, and the driven component 200 includes an antenna array board, which can be supported on a supporting structure 30 and can move with the supporting structure 30; the driving mechanism 100 can drive the antenna array board to rotate or deflect to emit electromagnetic waves to complete scanning of the outside world or receive radar signals in different directions.

[0156] For another example, the driven component 200 may be an optical element that needs to move in a photographing device. For another example, the driven component 200 may be an optical element that needs to move in a projector or a printing device.

[0157] The embodiment of the present invention further provides a movable device, comprising a housing (not shown) and a drive device 1000, wherein the drive device 1000 is connected to the housing; or the drive device 1000 is disposed in the housing. The drive device 1000 comprises the drive device 1000 of any one of the above embodiments.

[0158] In the movable device of the above-mentioned embodiment, since the first magnetic part 10 of the driving mechanism 100 includes a first part 11 and a second part 12, the first part 11 and the second magnetic part 20 are arranged opposite to each other in the first direction, and at least a portion of the second part 12 is bent and extended from the first part 11 toward the second magnetic part 20 to form at least a portion of the accommodating space 13; the accommodating space 13 is used to accommodate the sensor 40 between the first part 11 and the second magnetic part 20 in the first direction, thereby being able to effectively reduce the volume of the driving mechanism 100, and the structure of the driving mechanism 100 is compact. In addition, since the distance between the free end 121 of the second part 12 and the second magnetic member 20 in the first direction is smaller than the distance between the first part 11 and the second magnetic member 20 in the first direction, the air gap between the free end 121 of the first magnetic member 10 and the second magnetic member 20 in the first direction can be reduced, so that the first magnetic member 10 generates a stronger magnetic field in the area where the second magnetic member 20 is located, so that the first magnetic member 10 can exert a greater magnetic force on the second magnetic member 20, and then the second magnetic member 20 can effectively drive at least part of the bearing structure 30 and the driven component 200 to move, thereby improving the driving efficiency of the driving mechanism 100. The driving mechanism 100 of this embodiment has a reasonable and simple structural design, a small size, and a high degree of integration and driving efficiency; in addition, the sensor 40 can feedback the movement information of at least part of the bearing structure 30, which provides a guarantee for effectively controlling the movement of at least part of the bearing structure 30 and the driven component 200.

[0159] Exemplarily, the movable device includes an aircraft, a vehicle, a ship, a robot, a photographing device, a gimbal, a printing device, a projector, etc.

[0160] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "mechanically coupled" and "coupled" 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 directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. The mechanical coupling or coupling of two components includes direct coupling and indirect coupling, for example, direct fixed connection, connection through a transmission mechanism, etc. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0161] 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.

[0162] The disclosure above provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described above. Of course, they are merely examples, and the purpose is not to limit the present invention. In addition, the present invention may repeat reference numerals and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art may appreciate the application of other processes and / or the use of other materials.

[0163] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific method steps, features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific method steps, features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0164] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A driving mechanism, characterized in that: include: a first magnetic member; a second magnetic member, wherein the second magnetic member is capable of moving under the action of a magnetic field generated by the first magnetic member; a bearing structure, used for bearing a driven component of the driving mechanism, wherein the bearing structure is configured to be mechanically coupled with the second magnetic member, and at least a portion of the bearing structure can follow the movement of the second magnetic member; and A sensor for detecting movement information of at least a portion of the bearing structure; The first magnetic member includes a first portion and a second portion, the first portion and the second magnetic member are arranged opposite to each other in a first direction, the first portion is connected to the second portion, and at least a portion of the second portion is bent and extended from the first portion toward the second magnetic member to form at least a portion of the accommodation space; The accommodation space is used to accommodate the sensor between the first part and the second magnetic member in the first direction; Wherein, a distance between a free end of the second portion away from the first portion and the second magnetic component in the first direction is smaller than a distance between the first portion and the second magnetic component in the first direction.

2. The driving mechanism according to claim 1, characterized in that: In the first direction, the free end is located between the first portion and the second magnetic member.

3. The driving mechanism according to claim 1, characterized in that: The first magnetic member includes a permanent magnet, and the second magnetic member includes an electromagnet.

4. The driving mechanism according to claim 1, characterized in that: The first magnetic member comprises: a yoke, the yoke comprising the first portion and the second portion; The coil is disposed on the yoke, and at least a portion of the coil is disposed on the first portion.

5. The driving mechanism according to any one of claims 1 to 4, characterized in that: The second part includes: The first extension sub-portion is bent and extended from the first portion toward the second magnetic member in the first direction; the angle between the first extension sub-portion and the first portion is an acute angle, a right angle or an obtuse angle.

6. The driving mechanism according to claim 5, characterized in that: The angle between the first extension sub-portion and the first portion is related to at least one of the following factors: the magnetic field strength of the first magnetic component; the magnetic field strength of the second magnetic component; the distance between the end of the first extension sub-portion away from the first portion and the first portion in the first direction.

7. The driving mechanism according to claim 5, characterized in that: The second part includes: The second extension sub-portion is bent and extended in a second direction from one end of the first extension sub-portion away from the first portion toward the second magnetic part, the first direction is perpendicular to the second direction, and the angle between the second extension sub-portion and the first extension sub-portion is an acute angle, a right angle or an obtuse angle.

8. The driving mechanism according to claim 7, characterized in that: The angle between the second extension sub-portion and the first extension sub-portion is related to at least one of the following factors: the distance between the second extension sub-portion and the second magnetic part along the first direction; the limit state information of the movement of the second magnetic part; the distance between the second extension sub-portion and the second magnetic part along the second direction.

9. The driving mechanism according to claim 7, characterized in that: The angle between the second extension sub-portion and the preset plane ranges from [0° to 90°], the preset plane passes through the connection between the first extension sub-portion and the second extension sub-portion, and the preset plane is perpendicular to the first direction.

10. The driving mechanism according to any one of claims 1 to 4, characterized in that: The first magnetic member further comprises: The third part is connected to the first part, the third part is arranged opposite to the second part, the third part and the second part are bent and extended from the first part toward the second magnetic part respectively, and the magnetic poles of the second part and the third part are opposite.

11. The driving mechanism according to claim 10, characterized in that: A distance between one end of the third portion away from the first portion and the first portion is d1, and a distance between one end of the second portion away from the first portion and the first portion is d2, and d1 is equal to d2.

12. The driving mechanism according to claim 1, characterized in that: The driving mechanism further comprises: A circuit board is electrically connected to the sensor.

13. The driving mechanism according to claim 12, characterized in that: The distance between the projection of the second magnetic member on the circuit board and the sensor is smaller than the distance between the projection of the free end of the first magnetic member on the circuit board and the sensor.

14. The driving mechanism according to claim 12 or 13, characterized in that: The number of the sensors includes one, and the sensor is offset from a projection of a center of the second magnetic member on the circuit board.

15. The driving mechanism according to claim 12 or 13, characterized in that: The number of the sensors includes two, and the positions of the two sensors are symmetrically or asymmetrically arranged with respect to the projection of the center of the second magnetic member on the circuit board.

16. The driving mechanism according to claim 1, characterized in that: The movement information includes at least part of the angle information or distance information of the supporting structure.

17. The driving mechanism according to claim 1, characterized in that: The driving mechanism further comprises: The bracket, the first magnetic member is connected to the bracket, and the bracket is connected to the supporting structure; the supporting structure includes a first surface and a second surface relative to each other, the second magnetic member is connected to the first surface, the second surface is configured to support a driven component, and at least part of the supporting structure can be deflected under the drive of the second magnetic member.

18. The driving mechanism according to claim 1, characterized in that: The bearing structure includes an X-shaped structure or a cross-shaped structure; and / or a portion of the bearing structure connected to the driven component can be deformed when the second magnetic component moves.

19. A driving mechanism, characterized in that: include: A first magnetic member, the first magnetic member comprises a magnetism generating component and a yoke used in conjunction with the magnetism generating component, the yoke comprises a first portion and a second portion; a second magnetic member, wherein the second magnetic member is capable of moving under the action of a magnetic field generated by the first magnetic member; a bearing structure, used for bearing a driven component of the driving mechanism, wherein the bearing structure is configured to be mechanically coupled with the second magnetic member, and at least a portion of the bearing structure can follow the movement of the second magnetic member; and A sensor for detecting movement information of at least a portion of the bearing structure; Among them, the first part and the second magnetic part are arranged opposite to each other with a gap, the first part is connected to the second part, and the first part and the second part cooperate to form at least a partial accommodating space, and the accommodating space is used to accommodate the sensor between the first part and the second magnetic part in the first direction; at least a part of the free end of the second part away from the first part is closer to the second magnetic part than the first part.

20. A driving device, characterized in that: include: driven components; as well as The driving mechanism according to any one of claims 1 to 19, is used to drive the driven component to move.

21. The driving device according to claim 20, characterized in that: The driving device includes a laser radar, the driven component includes an optical element of the laser radar, the optical element can be carried by the bearing structure and move with the bearing structure, and the driving mechanism can drive the optical element to rotate or deflect to change the propagation path of the laser; or, The driving device includes a millimeter wave radar, and the driven component includes an antenna array plate. The antenna array plate can be supported by the supporting structure and move with the supporting structure. The driving mechanism can drive the antenna array plate to rotate or deflect to emit electromagnetic waves to complete scanning of the outside world or receive radar signals in different directions.

22. A movable device, characterized in that: include: chassis; as well as The drive device according to claim 20 or 21, wherein the drive device is connected to the housing; Alternatively, the driving device is disposed in the casing.

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