Two-shaft rotating motor framework

Abstract

The invention relates to a two-shaft rotating motor framework which comprises a shell, a prism, a first support, a second support, a first fulcrum component and a second fulcrum component. The first fulcrum component comprises a main component providing the first shaft and an auxiliary component arranged far away from the main component; a second fulcrum member disposed between the second bracket and the housing to provide a second axis; the distance between the intersection point of the first shaft and the second shaft in space and the bottom of the shell is larger than or equal to the distance between the main component and the bottom of the shell. According to the invention, the coverage range of the supporting structure of the first bracket can be effectively expanded, and the first fulcrum component has a larger available installation area, so that the influence of the gravity torque of the prism can be better offset; and rotation in the Z direction is completed through the second support, so that the distance between the rotating pieces is increased, and the precision and stability of rotation in the Z direction are improved.

Description

Technical Field

[0001] The present invention relates to the field of optical imaging, and in particular to a 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, in the process of anti-shake of the traditional periscope optical system, the rotation center (Mc) is inconsistent with the optical center (Oc), such as Figure 2 As shown in the figure, during the rotation of the mechanism, the optical center is also coupled with the up and down displacement, causing the position of the field of view spot to be off-center, resulting in the problem of reduced resolution; secondly, in order to improve the stability of the optical image, it is necessary to accurately sense its position and be able to accurately adjust the position of the reflective prism; generally speaking, the nodding mechanism (corresponding to Figure 1 In the prior art, for every 1 degree rotation of the θx direction (in the θx direction), the optical axis rotates 2 degrees, so the mechanism accuracy in the nodding direction (θx direction) is twice that in the shaking direction (θy direction); in the prior art, the shaking mechanism is usually arranged on the outside, and the nodding mechanism is arranged on the inside of the shaking mechanism, so the movement in the θx direction will be affected by the crosstalk of the movement in the θy direction, resulting in a decrease in the accuracy of θx; or on the basis of the prior art, in order to improve the accuracy, very high requirements are placed on the matching accuracy of the components, and errors caused by material deformation must be avoided; on the other hand, due to the triangular structure of the reflecting prism and its higher density than that of the bracket, the weight of the reflecting prism setting point will be relatively larger, and its gravitational torque will significantly affect the control of the rotation in the θx direction, increasing the difficulty of control, and the uneven weight distribution will also affect the response speed and power consumption of the rotation, and in some cases may also cause the reflecting prism to overturn. Summary of the invention

[0005] In order to solve the above problems in the prior art, the present invention provides a two-axis rotary motor structure and a periscope camera module thereof.

[0006] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0007] A two-axis rotary motor architecture, comprising:

[0008] a housing having an interior space;

[0009] a prism disposed in the housing and changing the direction of light to the direction of the optical axis;

[0010] A first bracket, carrying the prism and capable of rotating relative to the housing around a first axis;

[0011] A second bracket, carrying the first bracket and capable of rotating relative to the housing around a second axis; the first axis and the second axis are perpendicular to each other; the first bracket is capable of rotating relative to the second bracket;

[0012] A first fulcrum member is disposed between the first bracket and the second bracket; the first fulcrum member comprises a main member providing the first axis and an auxiliary member disposed away from the main member;

[0013] a second fulcrum member disposed between the second bracket and the housing to provide the second axis;

[0014] The distance between the intersection of the first axis and the second axis in space and the bottom of the shell is greater than or equal to the distance between the main component and the bottom of the shell.

[0015] Furthermore, it also includes a first driving unit for driving the first bracket to rotate; the first driving unit includes a first coil and a first magnet arranged opposite to each other in the direction of the optical axis; the first coil is arranged on the shell; and the first magnet is arranged on the first bracket.

[0016] Furthermore, it also includes a second driving part for driving the second bracket to rotate; the second driving part includes a second coil and a second magnet arranged opposite to each other in the first axis direction; the second coil is arranged on the shell; and the second magnet is arranged on the second bracket.

[0017] Furthermore, the main component and the auxiliary component are both ball components; the main component is arranged between a first accommodating groove formed in the first bracket and a second accommodating groove formed in the second bracket; the first accommodating groove and the second accommodating groove are arranged opposite to each other; the main component rotates in situ in a sandwiched state between the first accommodating groove and the second accommodating groove; the first bracket and the second bracket both partially accommodate the auxiliary component; the first bracket and the second bracket include a guide groove extending along the circumferential direction of the first axis and cooperating with the auxiliary component.

[0018] Furthermore, the main component is a spherical component; the main component is a split structure or is integrally formed with the first bracket or the second bracket; the auxiliary component is a spherical component; the auxiliary component is a split structure or is integrally formed with the first bracket or the second bracket.

[0019] Furthermore, the main component is a spherical component; the auxiliary component is a smooth sliding gasket; the main component is a split structure or is integrally formed with the first bracket or is integrally formed with the second bracket.

[0020] Furthermore, the second fulcrum member is a spherical member; the second fulcrum member is a split structure or is integrally formed with the second bracket or is integrally formed with the shell; the second bracket and / or the shell is provided with a third accommodating groove that cooperates with the second fulcrum member.

[0021] Furthermore, the first accommodating groove and the second accommodating groove are one of a conical groove, a multi-faceted groove, a V-shaped groove, and a square groove, so that the main component can only rotate in situ.

[0022] Furthermore, the distance between the intersection of the first axis and the second axis in space and the bottom of the shell is greater than the distance between the main component and the bottom of the shell.

[0023] Furthermore, a magnetic conductive sheet is disposed on the second bracket; and a reinforcing magnet cooperating with the magnetic conductive sheet is disposed at the bottom of the first bracket.

[0024] The beneficial effects of the present invention are as follows: the distance between the intersection of the first axis and the second axis in space and the bottom of the shell is greater than or equal to the distance between the main component and the bottom of the shell; through this design, the coverage of the support structure of the first bracket can be effectively improved, that is, the area included in the first fulcrum component is larger, which can also be understood as that the first fulcrum component has a larger range of support points, so that the first bracket and the prism can be supported more stably; the prism module composed of the first bracket, the second bracket and the prism is approximately square when viewed from the Z-axis direction, mainly in order to reduce the volume as much as possible, and the prism module is designed according to the long hypotenuse size of the prism; the first bracket mainly realizes rotation around the Y direction, and the first fulcrum component is arranged between the first bracket and the second bracket. When the position of the first fulcrum component is located below the second fulcrum component, the first fulcrum component has a larger available installation area, which can better offset the influence of the gravity torque of the prism;

[0025] The rotation in the Z direction is completed by the second bracket, thereby increasing the spacing between the rotating parts, which helps to improve the accuracy and stability of the rotation in the Z direction; and the second fulcrum member is used to control the rotation of the entire prism module, and the prism module is square as a whole, which can more easily control the uniform distribution of the weight of the prism module, thereby reducing the adverse effects of the gravitational torque; when the rotation in the Z direction is set on the second bracket, the weight of the prism module on both sides of the X direction is almost equal, the control difficulty when the second driving unit is driven is greatly reduced, and the response speed is also faster, thereby improving the rotation accuracy in the Z direction, and can effectively ensure the high-precision requirements of the prism module in the Z direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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.

[0027] Figure 1 It is a schematic diagram of the optical path of a prism module in the prior art;

[0028] Figure 2 It is prior art;

[0029] Figure 3 It is an exploded view of the structure of the present invention;

[0030] Figure 4 is a side view of the prism module of the present invention;

[0031] Figure 5 The structure of the present invention explodes Figure 2 ;

[0032] Figure 6 It is a partial exploded view of the structure of the present invention;

[0033] Description of reference numerals:

[0034] 100, shell; 110, top cover; 111, light entrance hole; 120, high-precision magnetic field sensing IC; 200, prism; 300, first bracket; 310, first fulcrum member; 311, main member; 312, auxiliary member; 320, first driving part; 321, first coil; 322, first magnet; 330, reinforcing magnet; 340, first receiving groove; 400, second bracket; 410, second fulcrum member; 420, second driving part; 421, second coil; 422, second magnet; 430, magnetic conductive sheet; 440, second receiving groove; 450, guide groove; A1, first axis; A2, second axis. DETAILED DESCRIPTION

[0035] 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.

[0036] 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.

[0037] 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.

[0038] Example:

[0039] like Figure 3 As shown, the optical axis direction is parallel to the X direction, the first axis A1 is parallel to the Y direction, and the second axis A2 is parallel to the Z direction; for the convenience of description, the optical axis direction may also be referred to as the X direction, the first axis A1 direction may also be referred to as the Y direction, and the second axis A2 direction may also be referred to as the Z direction; when the second bracket 400 rotates around the second axis A2 by a certain angle, the first axis A1 will present a certain angle with the Y direction, and the first axis A1 is parallel to the Y direction only when it is in the initial state, and the following description is mainly based on the initial state in which the first axis A1 is parallel to the Y direction;

[0040] A two-axis rotary motor architecture, comprising a housing 100, a prism 200, a first bracket 300, a second bracket 400, a first fulcrum member 310, and a second fulcrum member 410; the housing 100 has an internal space for protecting and supporting the optical element contained therein; the housing 100 is usually provided with a top cover 110 on the top, and the top cover 110 partially closes the housing 100; the top cover 110 is provided with a light inlet 111 for light to enter the prism 200; the prism 200 is arranged in the internal space of the housing 100, and the prism 200 can change the direction of light to the direction of the optical axis; the optical axis direction is parallel to the X-axis direction; the first bracket 300 is used to carry the prism 200 and can rotate relative to the second bracket 400; the second bracket 400 is used to carry the first bracket 300 and can rotate around the second axis A2; the first axis A1 is perpendicular to the second axis A2;

[0041] See also Figure 3, the rotation of the prism 200 includes rotation around the first axis A1 and rotation around the second axis A2; the prism 200 is carried by the first bracket 300, and the rotation of the first bracket 300 around the first axis A1 directly drives the prism 200 to rotate around the first axis A1; the first bracket 300 is carried on the second bracket 400, and the rotation of the second bracket 400 around the second axis A2 drives the first bracket 300 to rotate around the second axis A2 and then drives the prism 200 to rotate; the first bracket 300 can be supported by a first fulcrum member 310, and the first fulcrum member 310 is inserted between the first bracket 300 and the second bracket 400 to rotate around the first axis A1 formed by the main member 311, and can be supported by the auxiliary member 312 away from the main member 311, and the auxiliary member 312 can also play a guiding role; the second fulcrum member 410 is arranged between the second bracket 400 and the shell 100 to provide the second axis A2;

[0042] The distance between the intersection of the first axis A1 and the second axis A2 in space and the bottom of the shell 100 is greater than or equal to the distance between the main component 311 and the bottom of the shell 100; through this design, the coverage of the support structure of the first bracket 300 can be effectively improved, that is, the area covered by the first fulcrum component 310 is larger, which can also be understood as the first fulcrum component 310 has a larger range of support points, so that the first bracket 300 and the prism 200 can be supported more stably; Figure 4 As shown, the prism 200 module composed of the first bracket 300, the second bracket 400, and the prism 200 is approximately square in shape when viewed from the Z-axis direction. This is mainly to minimize the volume. The prism 200 module is designed based on the long hypotenuse size of the prism 200. The intersection of the first axis A1 and the second axis A2 in space is at Figure 4 The first support member 300 is located at the center of the second fulcrum member 410; in the present application, the first bracket 300 mainly realizes the rotation around the Y direction, and the first fulcrum member 310 is arranged between the first bracket 300 and the second bracket 400. When the position of the first fulcrum member 310 is located below the second fulcrum member 410, the first fulcrum member 310 has a larger available installation area, which can better offset the influence of the gravity moment of the prism 200; preferably, in one embodiment, the distance between the intersection of the first axis A1 and the second axis A2 in space and the bottom of the shell 100 is greater than the distance between the main component 311 and the bottom of the shell 100, so that the first fulcrum member 310 has a larger installation area.

[0043] Compared with the earlier solutions, in the present application, the rotation axes of the first bracket 300 and the second bracket 400 are swapped, and the highly sensitive rotation structure in the Z direction is set on the outer layer, that is, the second bracket 400 completes the rotation in the Z direction, thereby increasing the spacing between the rotating parts, which helps to improve the accuracy and stability of the rotation in the Z direction; and the second fulcrum member 410 is used to control the rotation of the entire prism 200 module, and the prism 200 module is square as a whole, which can more easily control the uniform distribution of the weight of the prism 200 module, thereby reducing the adverse effects of the gravitational torque; when the rotation in the Z direction is set on the second bracket 400, the weight of the prism 200 module on both sides of the X direction is almost equal, the control difficulty when the second drive unit 420 is driven is greatly reduced, and the response speed is also faster, thereby improving the rotation accuracy in the Z direction, and effectively ensuring that the prism 200 module is in the Z direction High-precision rotation requirements; In the prior art, the Z-direction rotation structure is arranged between the first bracket 300 and the second bracket 400 to control the first bracket 300 to rotate in the Z direction; Since the first bracket 300 and the prism 200 are triangular when viewed from the side (Z direction), when the first bracket 300 rotates in the Z direction, it is obvious that the prism 200 causes its weight in the positive direction of the X axis to be greater. When rotating along the Z direction, the driving component needs to overcome the influence of the gravity torque to drive the first bracket 300 to rotate. The influence of the gravity torque of the prism 200 is constantly changing with different rotation angles, which poses a huge test to the control method, and the uneven weight distribution also leads to a reduction in the control speed, which directly affects the rotation accuracy and response speed; If the counterweight balance is to be achieved through the structure of the first bracket 300, higher requirements are also placed on the structure of the first bracket 300;

[0044] In the present application, the rotation structure in the Y direction is built-in, that is, the first bracket 300 is responsible for rotating in the Y direction, which can ensure better support for the prism 200, reduce the risk of overturning, and make the movement of the entire bracket more stable. At the same time, the setting of this structure directly avoids the influence of the gravity moment of the prism 200; the gravity moment of the prism 200 mainly affects the rotation in the Z direction, and the rotation in the Z direction is set to drive the entire prism 200 module to rotate around the Z direction, and the weight distribution of the entire prism 200 module relative to the Z direction is easier to achieve relatively balanced weight distribution due to its square structure, thereby effectively reducing the influence of the weight moment brought by the prism 200; the first fulcrum member 310 provides a larger support area, which can effectively ensure the support effect of the prism 200;

[0045] In one embodiment, a magnetic conductive sheet 430 is provided on the second bracket 400; a reinforcing magnet 330 cooperating with the magnetic conductive sheet 430 is provided at the bottom of the first bracket 300. Through the cooperation between the reinforcing magnet 330 and the magnetic conductive sheet 430, the first bracket 300 can continuously and effectively abut against the first fulcrum member 310, thereby enhancing the cooperation stability between the first bracket 300 and the second bracket 400; the rotation of the first bracket 300 and the second bracket 400 is independent, and there will be no direct mutual interference in precision between the two, thereby ensuring high-precision control of their respective rotations.

[0046] like Figure 5 As shown, in one embodiment, the main component 311 and the auxiliary component 312 are both ball components; the main component 311 is arranged between the first receiving groove 340 formed in the first bracket 300 and the second receiving groove 440 formed in the second bracket 400; the first receiving groove 340 and the second receiving groove 440 are arranged opposite to each other; the main component 311 rotates in situ in the sandwich state of the first receiving groove 340 and the second receiving groove 440; the main component 311 can provide the rotation axis (i.e., the first axis A1) of the first bracket 300; the first bracket 300 and the second bracket 400 both partially accommodate the auxiliary component 312; the first bracket 300 and the second bracket 400 include a guide groove 450 extending along the circumferential direction of the first axis A1 and cooperating with the auxiliary component 312; the auxiliary component 312 can support the first bracket 300 to prevent the rotation axis of the first bracket 300 from tilting;

[0047] Reference Figure 4 , the main component 311 can be partially accommodated in the first accommodating groove 340 and the second accommodating groove 440; the first accommodating groove 340 and the second accommodating groove 440 are one of a conical groove, a multi-faceted groove, a V-shaped groove, and a square groove, so that the main component 311 can only rotate in place; the multi-faceted groove is provided with at least three faces, so as to support the main component 311 at three points, and the main component 311 can only perform rotational movement instead of translational movement; when the first bracket 300 rotates around the first axis A1, the main component 311 can maintain a fixed position relative to the first bracket 300 and the second bracket 400, that is, the main component 311 can provide a swing axis (i.e., the first axis A1) of the first bracket 300; therefore, the main component 311 can be supported by three points, thereby preventing the first axis A1 from moving; similarly, the multi-faceted groove can include three or more inclined surfaces, and the main component 311 can contact an inclined surface at one point; the first accommodating groove 340 and the second accommodating groove 440 can be in the shape of a triangular pyramid with a truncated head;

[0048] The auxiliary member 312 may also be partially accommodated in the guide groove 450, and the guide groove 450 may extend along a curve; in one embodiment, the guide groove 450 may extend along the circumferential direction of the first axis A1; in one embodiment, the guide groove 450 may extend in an arc shape around the first axis A1, for example, the center of curvature of the guide groove 450 is located on the first axis A1; when the guide groove 450 has a curved shape, the first bracket 300 can swing more stably.

[0049] In one embodiment, the main component 311 is a spherical component; the main component 311 is a split structure or is integrally formed with the first bracket 300 or the second bracket 400; the auxiliary component 312 is a spherical component; the auxiliary component 312 is a split structure or is integrally formed with the first bracket 300 or the second bracket 400. When the main component 311 is integrally formed with the first bracket 300 or the second bracket 400, the main component 311 is actually a raised semicircular component or a spherical component, which can achieve a similar effect;

[0050] In one embodiment, the main component 311 is a spherical component; the auxiliary component 312 is a smooth sliding gasket; the main component 311 is a split structure or is integrally formed with the first bracket 300 or with the second bracket 400; the sliding gasket can be made of smooth POM material;

[0051] In one embodiment, the second fulcrum member 410 is a spherical member; the second fulcrum member 410 is a split structure or is integrally formed with the second bracket 400 or is integrally formed with the shell 100; a third receiving groove that cooperates with the second fulcrum member 410 is provided on the second bracket 400 and / or the shell 100.

[0052] The first bracket 300 and the second bracket 400 have their own independent rotation axes, and the centers of the two rotation axes are the rotation centers. During production, it is necessary to ensure that the two virtual rotation axes have an intersection to form the rotation center. In the present invention, the second bracket 400 has mounting holes for the first fulcrum component 310 and the second fulcrum component 410, so that the structure can be used to ensure the controllable production accuracy and the position reliability of the rotation center. The first bracket 300 has a first receiving groove 340 that cooperates with the main component 311, and the optical center is determined by the prism 200 installed on the first bracket 300. The physical cooperation between the first receiving groove 340 and the main component 311 can achieve the concentricity of the rotation center and the optical center, which can avoid the problem of motor optical center offset and improve the optical effect of the motor.

[0053] In one embodiment, it also includes a first driving part 320 for driving the first bracket 300 to rotate; the first driving part 320 includes a first coil 321 and a first magnet 322 arranged relatively to each other in the optical axis direction; the first coil 321 is arranged on the shell 100; the first magnet 322 is arranged on the first bracket 300.

[0054] In one embodiment, it also includes a second driving unit 420 that drives the second bracket 400 to rotate; the second driving unit 420 includes a second coil 421 and a second magnet 422 that are relatively arranged in the direction of the first axis A1; the second coil 421 is arranged on the shell 100; and the second magnet 422 is arranged on the second bracket 400.

[0055] like Figure 6 As shown, in one embodiment, a high-precision magnetic field sensing IC120 is further provided in the shell 100, which is used to sense the rotation angle around the first axis A1 and the second axis A2, so as to achieve precise control; the high-precision magnetic field sensing IC120 is arranged on the outside of the first coil 321 and / or the second coil 421 to reduce the coil magnetic field interference and improve the positioning accuracy; two high-precision magnetic field sensing IC120 are arranged to respectively sense the rotation around the first axis A1 and the second axis A2.

[0056] In one embodiment, when the two-axis rotary motor architecture is used in a periscope camera module, a lens module is also provided in the bottom shell; a top cover 110 is provided on the top of the bottom shell to form a complete periscope camera module; a light inlet 111 opposite to the prism 200 is provided on the top cover 110, and light enters the prism 200 through the light inlet 111, and after being reflected by the prism 200, enters the lens module along the X direction (optical axis direction).

[0057] 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 two-axis rotary motor architecture, characterized in that: include: A housing (100) having an inner space; a prism (200) disposed in the housing (100) and changing the direction of light to the direction of the optical axis; A first bracket (300) carrying the prism (200) and capable of rotating relative to the housing (100) around a first axis (1); a second bracket (400) which carries the first bracket (300) and is rotatable relative to the housing (100) around a second axis (2); the first axis (1) and the second axis (2) are perpendicular to each other; and the first bracket (300) is rotatable relative to the second bracket (400); a first fulcrum member (310) disposed between the first bracket (300) and the second bracket (400); the first fulcrum member (310) comprises a main member (311) providing the first axis (1) and an auxiliary member (312) disposed away from the main member (311); A second fulcrum member (410) disposed between the second bracket (400) and the housing (100) to provide the second axis (2); The distance between the intersection of the first axis (1) and the second axis (2) in space and the bottom of the shell (100) is greater than or equal to the distance between the main component (311) and the bottom of the shell (100).

2. The dual-axis rotary motor structure according to claim 1, characterized in that: It also includes a first driving unit (320) for driving the first bracket (300) to rotate; the first driving unit (320) includes a first coil (321) and a first magnet (322) arranged relative to each other in the direction of the optical axis; the first coil (321) is arranged on the housing (100); and the first magnet (322) is arranged on the first bracket (300).

3. The dual-axis rotary motor structure according to claim 1, characterized in that: It also includes a second driving unit (420) for driving the second bracket (400) to rotate; the second driving unit (420) includes a second coil (421) and a second magnet (422) arranged relative to each other in the direction of the first axis (1); the second coil (421) is arranged on the housing (100); and the second magnet (422) is arranged on the second bracket (400).

4. The dual-axis rotary motor structure according to claim 1, characterized in that: The main component (311) and the auxiliary component (312) are both ball components; the main component (311) is arranged between a first accommodating groove (340) formed in the first bracket (300) and a second accommodating groove (440) formed in the second bracket (400); the first accommodating groove (340) and the second accommodating groove (440) are arranged opposite to each other; the main component (311) rotates in situ in a sandwiched state between the first accommodating groove (340) and the second accommodating groove (440); the first bracket (300) and the second bracket (400) both partially accommodate the auxiliary component (312); the first bracket (300) and the second bracket (400) include a guide groove (450) extending along the circumferential direction of the first axis (1) and cooperating with the auxiliary component (312).

5. The dual-axis rotary motor structure according to claim 1, characterized in that: The main component (311) is a spherical component; the main component (311) is a split structure or is integrally formed with the first bracket (300) or is integrally formed with the second bracket (400); The auxiliary component (312) is a spherical component; the auxiliary component (312) is a split structure or is integrally formed with the first bracket (300) or is integrally formed with the second bracket (400).

6. The dual-axis rotary motor structure according to claim 1, characterized in that: The main component (311) is a spherical component; the auxiliary component (312) is a smooth sliding gasket; the main component (311) is a split structure or is integrally formed with the first bracket (300) or is integrally formed with the second bracket (400).

7. The dual-axis rotary motor structure according to claim 1, characterized in that: The second fulcrum member (410) is a spherical member; the second fulcrum member (410) is a split structure or is integrally formed with the second bracket (400) or is integrally formed with the shell (100); the second bracket (400) and / or the shell (100) is provided with a third receiving groove that cooperates with the second fulcrum member (410).

8. The dual-axis rotary motor structure according to claim 4, characterized in that: The first accommodating groove (340) and the second accommodating groove (440) are one of a tapered groove, a multi-faceted groove, a V-shaped groove, and a square groove, so that the main component (311) can only rotate in situ.

9. The dual-axis rotary motor structure according to claim 1, characterized in that: The distance between the intersection of the first axis (1) and the second axis (2) in space and the bottom of the shell (100) is greater than the distance between the main component (311) and the bottom of the shell (100).

10. The dual-axis rotary motor structure according to claim 1, characterized in that: A magnetic conductive sheet (430) is provided on the second bracket (400); and a reinforcing magnet (330) cooperating with the magnetic conductive sheet (430) is provided at the bottom of the first bracket (300).

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