High-precision two-shaft rotating motor framework

Abstract

The invention relates to a high-precision two-axis rotating motor framework which comprises a base, a first prism support, a first driving part, a second prism support and a second driving part. The first prism bracket is rotationally connected with the second prism bracket through a first rotating mechanism; the second prism bracket is rotationally connected with the base through a second rotating mechanism; the theta x rotating structure is arranged on the outer layer, the two second balls are used for forming a rotating shaft, the distance between the two second balls is large, and therefore the theta x rotating precision and stability can be improved; the rotating structure of theta z is arranged on the inner layer, so that the influence caused by the gravity of the prism is greatly reduced, the movement stability of the bracket is improved, the distance between the two first balls can be shortened, and the size of the motor is further reduced.

Description

Technical Field

[0001] The present invention relates to the field of optical imaging, and in particular to a high-precision two-axis rotary motor architecture. Background Art

[0002] The periscope lens structure usually includes two parts, namely the lens part and the prism part, wherein the prism part is arranged at the front end of the periscope part, and the imaging chip is arranged at the rear end of the lens part, and the light is reflected by the prism part and enters the lens part.

[0003] The camera functions of existing electronic devices are becoming more and more powerful. Conventional camera lenses can only capture close-up images (1 to 2 meters). If you want to capture distant scenes (10 to 20 meters) clearly, the lens must have telephoto or zoom functions. However, such lenses often require a long stroke to achieve zooming, resulting in a relatively long total lens length. The lens height exceeds the thickness of the electronic device, making it difficult to meet the requirements of lightweight or thin mobile terminal devices. In this regard, the following methods are usually used: Figure 1 The periscope design shown is to design the optical path to lie flat, and add a prism to rotate the optical path 90 degrees. At this time, the prism bracket on the mechanism needs to be fine-tuned at small angles of θx and θy to perform OIS hand shake compensation, so that the entire optical system can lie flat to reduce the overall height, and cooperate with the focus motor to complete the focus or zoom in the Z-axis direction.

[0004] However, the traditional periscope optical system will produce eccentricity in the 0 field of view spot position during the anti-shake process, resulting in a decrease in resolution. In 2020, Huawei proposed a new optical system (CN115917401A) from θy to θz, such as Figure 2 , which can effectively improve the quality of optical imaging, and the design of the optical machine also needs to be changed accordingly.

[0005] Patent applications with patent numbers 202421877241.X and 202422832134.1 both provide new two-axis rotation structures, but in this structure, the optical sensitivity of θx is relatively high, so a more stable structure is required; the rotation structure of θz is restricted by the prism structure, and the placement position of the rotating shaft structure is limited. Affected by the gravity of the prism, there is a risk of overturning. It is necessary to lengthen the rotating shaft structure to increase stability, which leads to an increase in the size of the motor. Summary of the invention

[0006] In order to solve the above problems in the prior art, the present invention provides a high-precision two-axis rotary motor architecture.

[0007] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0008] A high-precision two-axis rotary motor architecture, comprising:

[0009] Base;

[0010] A first prism bracket, used for fixedly connecting with a prism, wherein the prism is used for adjusting light incident along the second direction to be transmitted along a third direction, wherein the third direction is perpendicular to the second direction;

[0011] A first driving unit, used for driving the first prism bracket to rotate relative to the base around the third direction;

[0012] A second prism bracket, used to support the first prism bracket;

[0013] A second driving unit, used for driving the second prism bracket to rotate relative to the base around a first direction, wherein the first direction is perpendicular to the second direction and perpendicular to the third direction;

[0014] The first prism bracket is rotatably connected to the second prism bracket via a first rotating mechanism; the second prism bracket is rotatably connected to the base via a second rotating mechanism.

[0015] Furthermore, the first driving unit includes a first coil and a first magnet arranged opposite to each other in a third direction; the first coil is arranged on a base; and the first magnet is arranged on a first prism bracket.

[0016] Furthermore, the second driving unit includes a second coil and a second magnet arranged opposite to each other in a second direction; the second coil is arranged on the base; and the second magnet is arranged on the second prism bracket.

[0017] Furthermore, the first rotating mechanism includes at least two first guide members arranged along the third direction; and the second rotating mechanism includes at least two second guide members arranged along the first direction.

[0018] Furthermore, the first rotating mechanism includes two first guide members; the first guide member is a first ball; the bottom of the first prism bracket is provided with a first positioning groove cooperating with one of the first balls, and a first limiting groove cooperating with the other first ball; the first positioning groove is one of a conical groove, a polyhedral groove, a V-shaped groove, and a square groove, so that the first ball can only rotate at a fixed point in the first positioning groove; the first limiting groove is a V-shaped groove, and the length direction of the V-shaped groove is parallel to the third direction; the top of the second prism bracket is provided with a first clamping groove cooperating with the first guide member, and the first clamping groove is one of a conical groove, a polyhedral groove, a V-shaped groove, and a square groove, so that the first ball can only rotate at a fixed point in the first clamping groove.

[0019] Furthermore, the second rotating mechanism includes two second guide members; the second guide member is a second ball; the bottom of the second prism bracket is provided with a second positioning groove cooperating with one of the first balls, and a second limiting groove cooperating with the other first ball; the second positioning groove is one of a conical groove, a polyhedral groove, a V-shaped groove, and a square groove, so that the second ball can only rotate at a fixed point in the second positioning groove; the second limiting groove is a V-shaped groove, and the length direction of the V-shaped groove is parallel to the first direction; a second clamping groove cooperating with the first guide member is provided in the base, and the second clamping groove is one of a conical groove, a polyhedral groove, a V-shaped groove, and a square groove, so that the second ball can only rotate at a fixed point in the second clamping groove.

[0020] Furthermore, the first rotating mechanism includes two first guide members, one of which is a first ball, and the other first guide member is a cylindrical shaft arranged with a length direction parallel to the third direction; the second rotating mechanism includes two second guide members, one of which is a second ball, and the other second guide member is a cylindrical shaft arranged with a length direction parallel to the first direction.

[0021] Furthermore, the first rotating mechanism includes two first guide members, one of which is a semicircular protrusion arranged on the top of the second prism bracket, and the other first guide member is a semi-cylindrical protrusion arranged on the top of the second prism bracket and the length direction of which is parallel to the third direction; the second rotating mechanism includes two second guide members, one of which is a semicircular protrusion arranged on the base, and the other second guide member is a semi-cylindrical protrusion arranged on the base and the length direction of which is parallel to the first direction.

[0022] Furthermore, the two first rolling balls are arranged at intervals; the second prism bracket is provided with a magnetic conductive sheet located between the two first rolling balls; and the bottom of the first prism bracket is provided with a reinforcing magnet that cooperates with the magnetic conductive sheet.

[0023] The beneficial effects of the present invention are as follows: the rotating structure of θx is arranged on the outer layer, and two second balls are used to form a rotating axis. The two second balls are far apart, thereby improving the accuracy and stability of the rotation at θx; the rotating structure of θz is arranged on the inner layer, which greatly reduces the influence of the gravity of the prism. At the same time, the rotating structure can also utilize the internal space of the two brackets to accommodate the rotating structure, which is beneficial to reducing the volume. The built-in rotating structure of θz also increases the stability of the bracket movement, and can also shorten the distance between the two first balls, thereby reducing the size of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a schematic diagram of the optical path of a prism module in the prior art;

[0026] Figure 2 It is a schematic diagram of the improved optical path of the prism module;

[0027] Figure 3 It is an exploded view of the structure of the present invention;

[0028] Figure 4 is a bottom view of the first prism support of the present invention;

[0029] Figure 5 is a bottom view of the second prism bracket of the present invention;

[0030] Description of reference numerals:

[0031] 100, base; 101, accommodating space; 110, top cover; 111, light inlet; 200, first prism bracket; 210, prism; 220, first rotating mechanism; 221, first ball; 222, first positioning groove; 223, first limiting groove; 224, first clamping groove; 225, reinforcing magnet; 226, magnetic conductive sheet; 300, first driving unit; 310, first coil; 320, first magnet; 400, second prism bracket; 410, second rotating mechanism; 411, second ball; 412, second positioning groove; 413, second limiting groove; 414, second clamping groove; 500, second driving unit; 510, second coil; 520, second magnet; 600, lens module. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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 used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0034] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] Example:

[0036] like Figure 3 As shown, the first direction is parallel to the X direction, the second direction is parallel to the Y direction, and the third direction is parallel to the Z direction; for the convenience of description, the first direction may also be referred to as the X direction, the second direction may also be referred to as the Y direction, and the third direction may also be referred to as the Z direction;

[0037] A high-precision two-axis rotary motor architecture, comprising a base 100, a first prism bracket 200, a first driving unit 300, a second prism bracket 400, and a second driving unit 500; the base 100 is formed with a housing 101 for placing the first prism bracket 200 and the second prism bracket 400 and allowing the first prism bracket 200 and the second prism bracket 400 to move; the first prism bracket 200 is fixedly connected with a prism 210; the prism 210 is used to adjust the light incident along the Y direction to be transmitted along the Z direction; the Z direction is also generally referred to as the optical axis direction; the first driving unit 300 is used to drive the first prism bracket 200 to rotate around the Z direction; the second driving unit 500 is used to drive the second The prism bracket 400 rotates around the X direction; the first prism bracket 200 is arranged on the second prism bracket 400, so when the second prism bracket 400 rotates around the X direction, it can also drive the first prism bracket 200 to rotate around the X direction, that is, the first prism bracket 200 can complete the rotation in the X direction and the Z direction; compared with the early scheme, in the present application, the rotation axis of the first prism bracket 200 and the second prism bracket 400 are exchanged, and the high-sensitivity rotation structure in the X direction is arranged on the outer layer, that is, the rotation in the X direction is completed by the second prism bracket 400, thereby increasing the spacing between the rotating parts, which helps to improve the accuracy and stability of the rotation in the X direction; the rotation structure of θx is arranged on the outer layer, that is, located in the second The bottom of the prism bracket 400 can effectively control the uniform distribution of the weight of the prism assembly, thereby reducing the adverse effects of the gravitational torque; the prism assembly is mainly composed of the first prism bracket 200, the prism 210 and the second prism bracket 400. The second prism bracket 400 is triangular when viewed from the side (X direction), and the first prism bracket 200 and the prism 210 are also triangular when viewed from the side (X direction), that is, the prism assembly is rectangular when viewed from the side (X direction). When the rotation structure of θx is set in the outer layer, the weight on both sides of the X direction is almost equal, the control difficulty of the second driving unit 500 when driving is greatly reduced, and the response speed is also faster, thereby improving the rotation accuracy of θx; in the prior art, the rotation structure of θx is It is arranged between the first prism bracket 200 and the second prism bracket 400 to control the first prism bracket 200 to rotate by θx. Referring to the above analysis, since the first prism bracket 200 and the prism 210 are triangular when viewed from the side (X direction), when the first prism bracket 200 rotates in the X direction, it is obvious that the prism 210 causes its weight in the positive direction of the Z axis to be greater. When rotating along the X direction, the driving component needs to overcome the gravity torque to drive the first prism bracket 200 to rotate. The influence of the gravity torque of the prism 210 is constantly changing with different rotation angles, which poses a huge test to the control method. The uneven weight distribution also leads to a reduction in the control speed, which directly affects the rotation accuracy and response speed.

[0038] The rotation structure in the Z direction is built-in, that is, the first prism bracket 200 is responsible for rotating in the Z direction, which can ensure better support for the prism 210, reduce the risk of overturning, and make the movement of the entire bracket more stable; in the prior art, the first prism bracket 200 usually rotates around the X direction, and the weight of the prism 210 on the first prism bracket 200 in the Z direction is uneven. Usually, the first prism bracket 200 and the prism 210 are triangular when viewed from the side (X direction), so the risk of overturning when rotating around the X direction is relatively large. However, the present invention sets the rotation axis of the first prism bracket 200 in the Z direction, so that the weight of the first prism bracket 200 in the X direction is equal, that is, the weight on both sides of the Z axis is basically the same, thereby avoiding the problem of overturning, and at the same time, the rotation accuracy of the first prism bracket 200 in θz can be greatly improved;

[0039] The first driving unit 300 includes a first coil 310 and a first magnet 320 which are arranged opposite to each other in the Z direction; the first coil 310 is arranged on the base 100; the first magnet 320 is arranged on the first prism bracket 200;

[0040] The second driving unit 500 includes a second coil 510 and a second magnet 520 which are arranged opposite to each other in the Y direction; the second coil 510 is arranged on the base 100; and the second magnet 520 is arranged on the second prism bracket 400;

[0041] In one embodiment, the first rotating mechanism 220 includes at least two first guide members arranged along the third direction, the center line of the plurality of first guide members is parallel to the third direction, and the center line of the plurality of first guide members is the rotation axis of the first prism bracket 200; the second rotating mechanism includes at least two second guide members arranged along the first direction, the center line of the plurality of second guide members is parallel to the first direction, and the center line of the plurality of second guide members is the rotation axis of the second prism bracket 400;

[0042] like Figure 3As shown in / 4, in one embodiment, the first rotating mechanism 220 includes two first guide members; the first guide member is a first ball 221; the bottom of the first prism bracket 200 is provided with a first positioning groove 222 cooperating with one of the first balls 221, and a first limiting groove 223 cooperating with the other first ball 221; the first positioning groove 222 is one of a conical groove, a multi-faceted groove, a V-shaped groove, and a square groove, so that the first ball 221 can only rotate at a fixed point in the first positioning groove 222, which can be understood as the first ball 221 only rotating around its own center in the first positioning groove 222, and cannot slide, thereby ensuring that the positions of the first ball 221 and the first positioning groove 222 are relatively fixed; the purpose of the first positioning groove 222 is to cooperate with the first ball 221 in a positioning manner, thereby ensuring the installation position of the first prism bracket 200, reducing unnecessary movement, and retaining only the required degree of freedom to improve movement accuracy; Figure 4 The first positioning groove 222 shows a multi-faceted groove structure, which includes three inclined surfaces that cooperate with the first ball 221, which is equivalent to three-point contact, and can reduce the contact area, so as to facilitate the movement of the first ball 221; when the first positioning groove 222 is a tapered groove, the contact area with the first ball 221 is equivalent to a circular line contact; when the first positioning groove 222 is a V-shaped groove, the two sides of the V-shaped groove in the length direction need to abut against the first ball 221, so as to avoid the movement of the first ball 221 in the length direction of the V-shaped groove; when the first positioning groove 222 is a square groove, the four sides or four faces of the square groove abut against the first ball 221 to limit the movement of the first ball 221;

[0043] The first limiting groove 223 is a V-shaped groove, and the length direction of the V-shaped groove is parallel to the third direction; the first limiting groove 223 can facilitate the rapid installation of the first prism bracket 200; the top of the second prism bracket 400 is provided with a first clamping groove 224 that cooperates with the first guide member, and the first clamping groove 224 is one of a conical groove, a multi-faceted groove, a V-shaped groove, and a square groove, so that the first ball 221 can only rotate at a fixed point in the first clamping groove 224; similarly, the purpose of the first clamping groove 224 is to ensure the installation position of the first ball 221, so that the first ball 221 can be clamped in a fixed position and can only rotate on its own, and the first clamping groove 224 is set upward to facilitate the first ball 22 1, when the first ball 221 cooperates with the first positioning groove 222, the installation and positioning of the first prism bracket 200 can be quickly completed; the first limiting groove 223 is set as a V-shaped groove, and the length direction of the V-shaped groove is parallel to the third direction, and the length of the V-shaped groove is greater than the diameter of the first ball 221, so that when the first prism bracket 200 is installed, it only needs to align one first ball 221 to complete the positioning and installation, reducing the difficulty of installation; in another embodiment, one of the first clamping grooves 224 can be set as a V-shaped groove arranged opposite to the first limiting groove 223. When one of the first balls 221 is positioned, the installation accuracy of the first prism bracket 200 can also be guaranteed and it can be rotated around the Z axis;

[0044] like Figure 3 As shown in / 5, in one embodiment, the second rotating mechanism 410 includes a second guide member; the second guide member is a second ball 411; the bottom of the second prism bracket 400 is provided with a second positioning groove 412 that cooperates with one of the first balls 221, and a second limiting groove 413 that cooperates with the other first ball 221; the second positioning groove 412 is one of a conical groove, a multi-faceted groove, a V-shaped groove, and a square groove, so that the second ball 411 can only rotate at a fixed point in the second positioning groove 412; the working principle of the second positioning groove 412 is the same as that of the first positioning groove 222; the second limiting groove 413 is a V-shaped groove, The length direction of the V-shaped groove is parallel to the first direction, and the length of the V-shaped groove is greater than the diameter of the second ball 411; the base 100 is provided with a second clamping groove 414 that cooperates with the first guide member; the second clamping groove 414 is one of a conical groove, a multi-faceted groove, a V-shaped groove, and a square groove, so that the second ball 411 can only rotate at a fixed point in the second clamping groove 414; the working principle of the second clamping groove 414 is the same as that of the first clamping groove 224; two second balls 411 are arranged on both sides of the second prism bracket 400, and the distance between the second balls 411 is relatively far, so as to improve the accuracy and stability of rotation in the X direction;

[0045] In one embodiment, the first rotating mechanism 220 includes two first guide members, one of which is a first ball 221, and the other first guide member is a cylindrical shaft whose length direction is parallel to the third direction; the second rotating mechanism 410 includes two second guide members, one of which is a second ball 411, and the other second guide member is a cylindrical shaft whose length direction is parallel to the first direction; (not shown in the figure)

[0046] In one embodiment, the first rotating mechanism 220 includes two first guide members, one of which is a semicircular protrusion provided on the top of the second prism bracket 400, and the other first guide member is a semi-cylindrical protrusion provided on the top of the second prism bracket 400 and whose length direction is parallel to the third direction; that is, the first guide member and the second prism bracket 400 form an integral structure; the second rotating mechanism 410 includes two second guide members, one of which is a semicircular protrusion provided on the base 100, and the other second guide member is a semi-cylindrical protrusion provided on the base 100 and whose length direction is parallel to the first direction; that is, the second guide member and the base 100 form an integral structure; (not shown in the figure)

[0047] In one embodiment, the two first rolling balls 221 are arranged at intervals; the second prism bracket 400 is provided with a magnetic conductive sheet 226 located between the two first rolling balls 221; the bottom of the first prism bracket 200 is provided with a reinforcing magnet 225 that cooperates with the magnetic conductive sheet 226. Through the cooperation between the reinforcing magnet 225 and the magnetic conductive sheet 226, the first prism bracket 200 can continuously and effectively abut against the two first rolling balls 221, thereby enhancing the cooperation stability between the first prism bracket 200 and the second prism bracket 400.

[0048] In one embodiment, when the high-precision two-axis rotary motor architecture is used in a periscope camera module, a lens module 600 is also provided in the accommodating space 101 of the base 100; a top cover 110 is provided on the top of the base 100 to form a complete periscope camera module; a light inlet 111 opposite to the prism 210 is provided on the top cover 110, and light enters the prism 210 through the light inlet 111, and enters the lens module 600 along the Z direction after being reflected by the prism 210.

[0049] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A high-precision two-axis rotary motor architecture, characterized in that: include: Base (100); A first prism bracket (200) is used for being fixedly connected to a prism (210), wherein the prism (210) is used for adjusting light incident along a second direction to be transmitted along a third direction, the third direction being perpendicular to the second direction; A first driving unit (300) for driving the first prism bracket (200) to rotate relative to the base (100) around the third direction; A second prism support (400), used for supporting the first prism support (200); A second driving unit (500) is used to drive the second prism bracket (400) to rotate relative to the base (100) around a first direction, wherein the first direction is perpendicular to the second direction and perpendicular to the third direction; The first prism bracket (200) is rotatably connected to the second prism bracket (400) via a first rotating mechanism (220); the second prism bracket (400) is rotatably connected to the base (100) via a second rotating mechanism (410); the rotation axis of the first prism bracket (200) and the rotation axis of the second prism bracket (400) intersect at one point.

2. The high-precision dual-axis rotary motor architecture according to claim 1, characterized in that: The first driving unit (300) comprises a first coil (310) and a first magnet (320) arranged relative to each other in a third direction; the first coil (310) is arranged on a base (100); and the first magnet (320) is arranged on a first prism bracket (200).

3. The high-precision dual-axis rotary motor architecture according to claim 1, characterized in that: The second driving unit (500) comprises a second coil (510) and a second magnet (520) which are arranged opposite to each other in a second direction; the second coil (510) is arranged on the base (100); and the second magnet (520) is arranged on the second prism bracket (400).

4. The high-precision dual-axis rotary motor architecture according to claim 1, characterized in that: The first rotating mechanism (220) comprises at least two first guide members arranged along a third direction; and the second rotating mechanism (410) comprises at least two second guide members arranged along a first direction.

5. The high-precision dual-axis rotary motor architecture according to claim 4, characterized in that: The first rotating mechanism (220) comprises two first guide members; the first guide member is a first ball (221); the bottom of the first prism bracket (200) is provided with a first positioning groove (222) cooperating with one of the first balls (221), and a first limiting groove (223) cooperating with the other first ball (221); the first positioning groove (222) is one of a conical groove, a multi-faceted groove, a V-shaped groove, and a square groove, so that the first ball (221) can only rotate at a fixed point in the first positioning groove (222); the first limiting groove (223) is a V-shaped groove, and the length direction of the V-shaped groove is parallel to the third direction; the top of the second prism bracket (400) is provided with a first clamping groove (224) cooperating with the first guide member, and the first clamping groove (224) is one of a conical groove, a multi-faceted groove, a V-shaped groove, and a square groove, so that the first ball (221) can only rotate at a fixed point in the first clamping groove (224).

6. The high-precision dual-axis rotary motor structure according to claim 4, characterized in that: The second rotating mechanism (410) comprises two second guide members; the second guide member is a second ball (411); the bottom of the second prism bracket (400) is provided with a second positioning groove (412) cooperating with one of the first balls (221), and a second limiting groove (413) cooperating with the other first ball (221); the second positioning groove (412) is one of a conical groove, a multi-faceted groove, a V-shaped groove, and a square groove, so that the second ball (411) can only rotate at a fixed point in the second positioning groove (412); the second limiting groove (413) is a V-shaped groove, and the length direction of the V-shaped groove is parallel to the first direction; the base (100) is provided with a second clamping groove (414) cooperating with the first guide member, and the second clamping groove (414) is one of a conical groove, a multi-faceted groove, a V-shaped groove, and a square groove, so that the second ball (411) can only rotate at a fixed point in the second clamping groove (414).

7. The high-precision dual-axis rotary motor structure according to claim 4, characterized in that: The first rotating mechanism (220) comprises two first guide members, one of which is a first ball (221), and the other first guide member is a cylindrical shaft arranged in a length direction parallel to the third direction; the second rotating mechanism (410) comprises two second guide members, one of which is a second ball (411), and the other second guide member is a cylindrical shaft arranged in a length direction parallel to the first direction.

8. The high-precision dual-axis rotary motor structure according to claim 4, characterized in that: The first rotating mechanism (220) comprises two first guide members, one of which is a semicircular protrusion arranged on the top of the second prism bracket (400), and the other first guide member is a semi-cylindrical protrusion arranged on the top of the second prism bracket (400) and whose length direction is parallel to the third direction; the second rotating mechanism (410) comprises two second guide members, one of which is a semi-circular protrusion arranged on the base (100), and the other second guide member is a semi-cylindrical protrusion arranged on the base (100) and whose length direction is parallel to the first direction.

9. The high-precision dual-axis rotary motor structure according to claim 5, characterized in that: The two first rolling balls (221) are arranged at intervals; the second prism bracket (400) is provided with a magnetic conductive sheet (226) located between the two first rolling balls (221); and the bottom of the first prism bracket (200) is provided with a reinforcing magnet (225) that cooperates with the magnetic conductive sheet (226).

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