Display device and method for controlling flexible display module in display device to stretch

Abstract

A display device comprises: a flexible display module; the telescopic mechanism comprises a fixed part, a movable part and a telescopic assembly, the fixed part comprises a reel, one end of the flexible display module is connected to the reel, the other end of the flexible display module is connected to the movable part, the telescopic assembly comprises a plurality of folding telescopic frames, each folding telescopic frame comprises a plurality of connecting rods connected in sequence, and each folding telescopic frame is provided with at least one translation part; the translation parts of any two adjacent folding telescopic frames are connected through a balance connecting rod; the reel motor is fixed on the fixed part and is connected to the reel through a transmission gear set; the lead screw motor is arranged between the fixing part and the balance connecting rod closest to the fixing part, the telescopic assembly further comprises an angle sensor used for measuring the included angle between the balance connecting rod and a connecting rod connected with the balance connecting rod in the folding telescopic frame, and the lead screw motor and the reel motor are configured to adjust the angle of the balance connecting rod according to the angle sensed by the angle sensor. And the winding and the unfolding of the flexible display module are compensated.

Description

Technical Field

[0001] The present invention relates to display technology, and in particular to a display device and a method for controlling the expansion and contraction of a flexible display module in the display device. Background Art

[0002] At present, the sliding display device includes a flexible display module and a telescopic mechanism that supports the flexible display module. The telescopic mechanism includes a fixed portion, a movable portion, and a telescopic assembly. The fixed portion and the movable portion are respectively used to connect to the opposite sides of the flexible display module. The two ends of the telescopic assembly are respectively connected to the fixed portion and the movable portion. The telescopic assembly can drive the fixed portion and the movable portion to move away from or approach each other, thereby driving the flexible display module to unfold or retract. Summary of the invention

[0003] On the one hand, the present disclosure provides a display device, comprising: a flexible display module; a telescopic mechanism, the telescopic mechanism comprising a fixed portion, a movable portion and a telescopic assembly, the fixed portion comprising a scroll, one end of the flexible display module is connected to the scroll, and the other end is connected to the movable portion, the telescopic assembly comprises a plurality of folding telescopic frames, each of the folding telescopic frames comprises a plurality of connecting rods connected in sequence, each of the folding telescopic frames has at least one translation portion, during the telescopic process of the folding telescopic frames, the distance between the translation portion and a first center line of the telescopic assembly remains unchanged, and the extension direction of the first center line is in a direction that is consistent with the telescopic direction of the folding telescopic frame. The folding and telescopic frames are arranged in the same direction, and the translation parts of any two adjacent folding and telescopic frames are connected by a balancing link; a scroll motor, which is fixed on the fixed part and connected to the scroll through a transmission gear set; and a screw motor, which is arranged between the fixed part and the balancing link closest to the fixed part, wherein the telescopic assembly also includes an angle sensor for measuring the angle between the balancing link and the link connected to the balancing link in the folding and telescopic frame, and the screw motor and the scroll motor are configured to compensate for the winding and unfolding of the flexible display module according to the angle sensed by the angle sensor.

[0004] Optionally, the lead screw motor and the scroll motor are configured to drive the rolling and unfolding of the flexible display module in a linked manner, so that the rolling length of the flexible display module on the scroll remains equal to the telescopic length of the flexible display module.

[0005] Optionally, one end of the screw motor is connected to the fixed part, and the other end is connected to a first hinge shaft, and the first hinge shaft is located in a first shaft hole of a balancing connecting rod closest to the fixed part.

[0006] Optionally, the lead screw motor is provided with an angle sensor configured to calculate and obtain an actual sliding distance of the lead screw motor.

[0007] Optionally, each of the folding and telescopic frames includes n folding units connected in sequence along the telescopic direction, and each of the folding units has the translation part, so that the telescopic length of the folding and telescopic frame is n times the sliding stroke of the screw motor, and n is a positive integer greater than or equal to 2.

[0008] Optionally, the slip compensation value of the lead screw motor is obtained by the following formula: Wherein, D is the target value of the sliding stroke of the screw motor; L1 is the actual sliding distance of the screw motor; Li is the extension and retraction amount of the i-th folding unit, which is calculated based on the angle sensed by the angle sensor, where i≥2.

[0009] Optionally, the telescopic mechanism is further provided with an angle sensor for measuring the actual rotation angle and number of revolutions of the reel.

[0010] Optionally, the telescopic mechanism also includes two telescopic slide rails, which are located on both sides of the telescopic assembly in the first direction; the telescopic slide rails include a first fixed guide rail, a second fixed guide rail and at least one intermediate guide rail, and the at least one intermediate guide rail is sequentially connected between the first fixed guide rail and the second fixed guide rail, the first fixed guide rail is connected to the fixed part, and the second fixed guide rail is connected to the movable part.

[0011] Optionally, the telescopic mechanism also includes a rear shell, the telescopic assembly is located in the rear shell, the rear shell includes a first stator shell, a second stator shell and at least one intermediate sub-shell, the first stator shell is connected to the fixed part, the second stator shell is connected to the movable part, and the at least one intermediate sub-shell is sequentially connected between the first stator shell and the second stator shell.

[0012] Optionally, the flexible display module includes a flexible display panel and a support member, and the flexible display panel and the support member are attached together and rolled up by the reel.

[0013] Optionally, the telescopic assembly also includes a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are both connected to the middle part of the balancing rod, the first connecting rod and the second connecting rod are respectively located on both sides of the balancing rod in the telescopic direction, and the first connecting rod and the second connecting rod are staggered with each other in the first direction, and the first direction is perpendicular to the telescopic direction.

[0014] Optionally, except for the balancing link connected to the screw motor, the other balancing links are all provided with angle sensors, and the angle sensors are configured to measure the angles between the balancing link and other links connected to the balancing link.

[0015] On the other hand, the present disclosure provides a method for controlling the extension and retraction of a flexible display module in a display device, wherein the display device includes: a flexible display module; a retractable mechanism, the retractable mechanism including a fixed part, a movable part and a retractable assembly, the fixed part including a scroll, one end of the flexible display module is connected to the scroll, and the other end is connected to the movable part, the retractable assembly includes a plurality of folding and retracting frames, each folding and retracting frame includes a plurality of connecting rods connected in sequence, and the translation parts of any two adjacent folding and retracting frames are connected by the balancing connecting rod; a scroll motor, the scroll motor is fixed to the fixed part and connected to the scroll through a transmission gear set; and a screw motor, the screw motor is arranged between the fixed part and the balancing connecting rod closest to the fixed part, wherein the retractable assembly also includes an angle sensor for measuring the angle between the balancing connecting rod and the connecting rod connected to the balancing connecting rod in the folding and retracting frame, and the method includes: according to the angle sensed by the angle sensor, driving the screw motor and the scroll motor to compensate for the winding and unfolding of the flexible display module.

[0016] Optionally, the folding telescopic frame includes n folding units connected in sequence along the telescopic direction, each of the folding units has the translation part, so that the telescopic length of the folding telescopic frame is n times the sliding stroke of the screw motor, n is a positive integer greater than or equal to 2, wherein the slip compensation value of the screw motor is obtained by the following formula: Wherein, D is the target value of the sliding stroke of the screw motor; L1 is the actual sliding distance of the screw motor; Li is the extension and retraction amount of the i-th folding unit, which is calculated based on the angle sensed by the angle sensor, where i≥2. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] According to various disclosed embodiments, the following drawings are examples only for illustration purposes and are not intended to limit the scope of the present invention.

[0018] Figure 1 is a schematic diagram of a display device in some embodiments of the present disclosure being in a retracted state.

[0019] Figure 2 is a schematic diagram of a display device in some embodiments of the present disclosure being in an unfolded state.

[0020] Figure 3 is an exploded view showing the structure of a display device according to some embodiments of the present disclosure.

[0021] Figure 4 is a top view of the telescopic mechanism of the display device in some embodiments of the present disclosure when it is in an unfolded state.

[0022] Figure 5 is a bottom view of the telescopic mechanism of the display device in some embodiments of the present disclosure when it is in an unfolded state.

[0023] Figure 6 is a schematic diagram of a folding telescopic frame of a telescopic assembly in some embodiments of the present disclosure when in an unfolded state.

[0024] Figure 7 yes Figure 6 A schematic diagram of the foldable telescopic frame shown is in a retracted state.

[0025] Figure 8 is a schematic diagram showing the structure of a connecting portion according to some embodiments of the present disclosure.

[0026] Fig. 9 is a schematic diagram showing the structure of a balancing link according to some embodiments of the present disclosure.

[0027] Fig.10 It is a schematic diagram of the telescopic mechanism in some embodiments of the present disclosure when it is in a retracted state.

[0028] Fig.11 is a schematic diagram of a telescopic mechanism in some embodiments of the present disclosure when in an expanded state.

[0029] Fig.12a It is a stereoscopic diagram of a scroll motor and its transmission structure according to some embodiments of the present disclosure.

[0030] Figure 12b The present invention is a schematic diagram showing a roller motor driving a roller to roll up a flexible display module in some embodiments of the present invention.

[0031] Fig.13 is a schematic diagram of a folding telescopic frame of a telescopic assembly in some embodiments of the present disclosure when in an unfolded state.

[0032] Fig.14 is a flow chart showing a method for controlling the extension and retraction of a flexible display module in a display device according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0033] The present disclosure will now be described in more detail with reference to the following examples. It should be noted that the following description of some of the embodiments presented herein is for illustration and description purposes only. It is not intended to be exhaustive or limited to the precise form disclosed.

[0034] The terms used in this disclosure are only used to explain the embodiments of the present disclosure, and are not intended to limit the present disclosure. Unless otherwise defined, the technical terms or scientific terms used in this disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second", "third" and similar words used in this disclosure and the claims do not represent any order, quantity or importance, but are only used to distinguish different components. Similarly, similar words such as "one" or "one" do not represent quantitative restrictions, but rather represent the presence of at least one. Similar words such as "include" or "comprise" mean that the elements or objects appearing in front of "include" or "comprise" cover the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects.

[0035] Figure 1 is a schematic diagram of a display device in some embodiments of the present disclosure being in a retracted state. Figure 2 is a schematic diagram of a display device in some embodiments of the present disclosure in an unfolded state. Figure 1 and Figure 2 As shown, the display device includes a flexible display module 10 and a telescopic mechanism 20. The telescopic mechanism 20 supports the flexible display module 10.

[0036] like Figure 1 As shown, when the display device is in the retracted state, the retractable mechanism 20 is retracted and the flexible display module 10 is at least partially received in a portion of the retractable mechanism 20 (for example, Figure 3 In the fixing part 21 shown in FIG. 1 , the volume of the display device is small at this time. The retracted state can be called a closed state, etc.

[0037] like Figure 2 As shown, when the display device is in the unfolded state, the retractable mechanism 20 is unfolded and the flexible display module 10 is laid flat on the retractable mechanism 20, and the display area of ​​the display device becomes larger. This unfolded state can be called an open state, etc.

[0038] When the display device is in the expanded state, the area of ​​the display region of the flexible display module 10 is n times the area of ​​the display region of the flexible display module 10 when the display device is in the contracted state, where n is a positive integer greater than or equal to 2. For example, n is equal to 2 or 3. The value n is also referred to as the expansion ratio of the flexible display module 10. According to some embodiments of the present disclosure, the expansion ratio n of the flexible display module 10 can reach 5 times or more.

[0039] Figure 3 is an exploded view showing the structure of a display device according to some embodiments of the present disclosure. Figure 3As shown, the flexible display module 10 includes a flexible display panel 11 and a support member 12. The flexible display panel 11 has a display surface and a non-display surface opposite to each other. The support member 12 is located on the non-display surface of the flexible display panel 11 and is used to support the flexible display panel 11. As an example, the flexible display panel 11 can be an OLED (Organic Light-Emitting Diode) display panel. As an example, the support member 12 can be made of a metal material, such as stainless steel or other materials.

[0040] like Figure 3 As shown, the telescopic mechanism 20 includes a fixed portion 21, a movable portion 22, a telescopic assembly 23, two telescopic slide rails 24 and a rear shell 25. The fixed portion 21 and the movable portion 22 are respectively connected to the opposite sides of the flexible display module 10. The telescopic assembly 23 is located between the fixed portion 21 and the movable portion 22 and is connected to the fixed portion 21 and the movable portion 22. The telescopic assembly 23 has a telescopic function and can drive the fixed portion 21 and the movable portion 22 to move away from or closer to each other. The two telescopic slide rails 24 are located on both sides of the telescopic assembly 23 along the first direction y. The two ends of the telescopic slide rail 24 are respectively connected to the fixed portion 21 and the movable portion 22. The telescopic assembly 23 and the telescopic slide rail 24 are located in the rear shell 25.

[0041] When the display device is in the retracted state, a portion of the flexible display panel 11 and a portion of the support member 12 are both stored in the telescopic mechanism 20. When the display device is in the unfolded state, the flexible display panel 11 and the support member 12 are both laid flat on the unfolded telescopic mechanism 20.

[0042] For example, Figure 3 As shown, a winding assembly is provided in the fixed portion 21 of the telescopic mechanism 20 for winding up the flexible display module 10. As an example, the winding assembly includes two reels 211a and 211b, and the reels 211a and 211b are arranged in parallel and spaced apart, and the axial directions of the two reels 211a and 211b are perpendicular to the telescopic direction x of the telescopic assembly 23. Among them, the reel 211a is used to roll up the flexible display panel 11, and the reel 211b is used to roll up the support member 12. Alternatively, the winding assembly may also include only one reel, and the flexible display panel 11 and the support member 12 are attached together and rolled up by one reel.

[0043] Figure 4 is a top view of the telescopic mechanism of the display device in some embodiments of the present disclosure when it is in an unfolded state. Figure 5 FIG. 1 is a bottom view of a display device in some embodiments of the present disclosure when the telescopic mechanism is in an unfolded state. Figure 4 and Figure 5As shown, the telescopic assembly 23 is located between the fixed portion 21 and the movable portion 22 and is connected to the fixed portion 21 and the movable portion 22. Both ends of the telescopic slide rail 24 are respectively connected to the fixed portion 21 and the movable portion 22. The telescopic assembly 23 and the telescopic slide rail 24 are located in the rear housing 25.

[0044] like Figure 4 As shown, in some embodiments, the telescopic guide rail 24 includes a first fixed guide rail 241, a second fixed guide rail 242 and at least one intermediate guide rail 243. The at least one intermediate guide rail 241 is sequentially connected between the first fixed guide rail 242 and the second fixed guide rail 243, the first fixed guide rail 241 is connected to the fixed portion 21, and the second fixed guide rail 242 is connected to the movable portion 22. The embodiment of the present disclosure does not limit the number of intermediate guide rails 243, and can be set according to the size and expansion ratio of the display device.

[0045] When the display device is in the retracted state, the second fixed rail 242 is received in at least one intermediate rail 243, and at least one intermediate rail 243 is received in the first fixed rail 241. Figure 4 As shown, the second fixed guide rail 242 slides out from at least one intermediate guide rail 243 , and at least one intermediate guide rail 243 slides out from the first fixed guide rail 241 .

[0046] like Figure 5 As shown, in some embodiments, the rear housing 25 includes a first fixed sub-housing 251, a second fixed sub-housing 252 and an intermediate sub-housing 253, the first fixed sub-housing 251 is connected to the fixed portion 21, and the second fixed sub-housing 252 is connected to the movable portion 22. The intermediate sub-housing 253 is connected between the first fixed sub-housing 2511 and the second fixed sub-housing 2512. The number of the intermediate sub-housings 253 can be set according to the size and expansion ratio of the display device, for example, it can be 1, 2 or 3, etc.

[0047] When the display device is in the retracted state, the second fixed sub-housing 252 is received in the middle sub-housing 253, and the middle sub-housing 253 is received in the first fixed sub-housing 251. Figure 5 As shown, the second stator housing 252 protrudes from the intermediate housing 253 , and the intermediate housing 253 protrudes from the first stator housing 251 .

[0048] In some embodiments, the back side of the second stator housing 252 has a protrusion 25c, which can serve as a handle to facilitate the user to pull open the rear housing, thereby driving the telescopic assembly and the telescopic slide rail to extend and retract.

[0049] In some embodiments, the sides of the bottom plates of the other sub-housings (e.g., the middle sub-housing 253 and the first fixed sub-housing 251) except the second fixed sub-housing 252 all have avoidance openings 25d matching the protrusions 25c. When the rear housing 25 is in the retracted state, the protrusions 25c are located in the avoidance openings 25d, so as not to affect the telescopic action of the telescopic mechanism.

[0050] like Figure 4 As shown, in some embodiments, the telescopic assembly 23 includes a plurality of folding telescopic frames 231, and the plurality of folding telescopic frames 231 are arranged at intervals along the first direction y. Any two adjacent folding telescopic frames 231 are connected by at least one balancing link 232. For example, Figure 4 In the example shown, the telescopic assembly 23 includes four folding telescopic frames 231, and any two adjacent folding telescopic frames 231 are connected by three balancing connecting rods 232. In the embodiment according to the present disclosure, there is no limit on the number of the folding telescopic frames 231, which can be adjusted according to the actual size of the flexible display module, for example, it can be 2, 3, 5 or 6.

[0051] Figure 6 is a schematic diagram of a folding telescopic frame of a telescopic assembly in some embodiments of the present disclosure when in an unfolded state. Figure 7 yes Figure 6 The schematic diagram of the folding telescopic frame shown is in the retracted state. Figure 6 and Figure 7 In the embodiment, the four folding and telescopic frames are respectively a second folding and telescopic frame 231b, a first folding and telescopic frame 231a, a third folding and telescopic frame 231c and a fourth folding and telescopic frame 231d in order from top to bottom.

[0052] The four folding telescopic frames are divided into a first folding telescopic frame group and a second folding telescopic frame group, and the first folding telescopic frame group and the second folding telescopic frame group are symmetrically arranged about the first center line O of the telescopic assembly 23. The extension direction of the first center line O is consistent with the telescopic direction x of the telescopic assembly 23. That is, the first folding telescopic frame 231a is the folding telescopic frame closest to the first center line O in the first telescopic frame group, and the third folding telescopic frame 231c is the folding telescopic frame closest to the first center line in the second telescopic frame group. The third folding telescopic frame 231c and the first folding telescopic frame 231a are symmetrically arranged about the first center line O, and the fourth folding telescopic frame 231d and the second folding telescopic frame 231b are symmetrically arranged about the first center line O.

[0053] In some embodiments, each folding and telescopic frame 231 includes a plurality of folding units 2310 connected in sequence along the telescopic direction x, and each folding unit 2310 has a translation portion 2310a. During the telescopic process of the folding and telescopic frame 231, the distance between the translation portion 2310a and the first center line O of the telescopic assembly 23 remains unchanged, and displacement occurs only in the telescopic direction x.

[0054] The balancing link 232 is connected between a translation portion 2310a of the first folding unit and a translation portion 2310a of the second folding unit. The first folding unit and the second folding unit belong to two adjacent folding and telescopic frames 231, respectively, and are adjacent in the first direction y. In an ideal state, the distance between the translation portions 2310a of the two adjacent folding units in the first direction y does not change during the telescopic process of the folding and telescopic frames 231. Therefore, setting the balancing link 232 between the translation portions 2310a of the two adjacent folding units 2310 is conducive to driving the two folding units 2310 connected to the balancing link 232 to telescope synchronously.

[0055] In some embodiments, the folding unit 2310 of the first folding telescopic frame 231a is V-shaped and includes a first connecting rod 1a and a second connecting rod 1b. One end of the first connecting rod 1a is connected to one end of the second connecting rod 1b through a first connecting portion, and the other end of the second connecting rod 1b is connected to one end of the first connecting rod 1a of another folding unit 2310 of the first folding telescopic frame 231a through a second connecting portion.

[0056] In some embodiments, the folding unit 2310 of the second folding telescopic frame 231b is V-shaped and includes a third link 1c and a fourth link 1d. One end of the third link 1c is connected to one end of the fourth link 1d through a third connecting portion, and the other end of the fourth link 1d is connected to one end of the third link 1c of another folding unit of the second folding telescopic frame 231b through a fourth connecting portion. The third link 1c is parallel to the first link 1a, and the fourth link 1d is parallel to the second link 1b.

[0057] In some embodiments, the structure of the second folding and telescopic frame 231b is the same as that of the first folding and telescopic frame 231a, and the second folding and telescopic frame 231b can be obtained by translating the first folding and telescopic frame 231a along the first direction y.

[0058] Combination Figure 6 and Figure 7As shown, when each folding telescopic frame 231 is in the unfolded state, assuming that the distance from the second connection part to the first center line O is h, then when each folding telescopic frame 231 is in the folded state, the distance from the second connection part to the first center line O is also h. It can be seen that the distance of the second connection part relative to the first center line O remains unchanged during the telescopic process of the telescopic assembly 23, so the second connection part of the first folding telescopic frame 231a is the translation part 2310a of the first folding telescopic frame 231a. Similarly, the fourth connection part of the second folding telescopic frame 231b is the translation part 2310a of the second folding telescopic frame 231b. The balancing link 232 is connected between the second connection part and the fourth connection part.

[0059] In some embodiments, the folding unit 2310 of the third folding telescopic frame 231c is V-shaped and includes a first link 1a and a second link 1b. One end of the first link 1a is connected to one end of the second link 1b through a first connecting portion, and the other end of the second link 1b is connected to one end of the first link 1a of another folding unit 2310 of the first folding telescopic frame 231c through a second connecting portion.

[0060] In some embodiments, the folding unit 2310 of the fourth folding telescopic frame 231d is V-shaped and includes a third link 1c and a fourth link 1d. One end of the third link 1c and one end of the fourth link 1d are connected by a third connecting portion, and the other end of the fourth link 1d is connected to one end of the third link 1c of another folding unit 2310 of the fourth folding telescopic frame 231d by a fourth connecting portion. The third link 1c is parallel to the first link 1a, and the fourth link 1d is parallel to the second link 1b.

[0061] In some embodiments, the structure of the third folding and telescopic frame 231c is the same as that of the first folding and telescopic frame 231a, and the third folding and telescopic frame 231c can be obtained by translating the fourth folding and telescopic frame 231d along the first direction y.

[0062] The second connection portion of the third folding and telescopic frame 231c is the translation portion of the third folding and telescopic frame 231c. Similarly, the fourth connection portion of the fourth folding and telescopic frame 231d is the translation portion of the fourth folding and telescopic frame 231d.

[0063] Figure 8 Schematic diagram showing the structure of the connecting portion according to some embodiments of the present disclosure. Figure 8As shown, the connection portion includes a first connection structure 2a, a second connection structure 2b and a connection plate 2c. The first connection structure 2a and the second connection structure 2b are respectively fixedly connected to two adjacent connecting rods in the folding and telescopic frame 231, and the first connection structure 2a and the second connection structure 2b are respectively hinged to the connection plate 2c, and the rotation axes of the first connection structure 2a and the second connection structure 2b relative to the connection plate 2c are perpendicular to the telescopic direction x and the first direction y. That is, the first connection structure 2a and the second connection structure 2b extend along the second direction z relative to the rotation axis of the connection plate 2c.

[0064] In some embodiments, the first connecting structure 2a includes two lug plates 21a, the two lug plates 21a are parallel to each other and spaced apart from each other in the second direction z. The second connecting structure 2b also includes two lug plates 21b, the two lug plates 21b are parallel to each other and spaced apart from each other in the second direction z. The two lug plates 21a of the first connecting structure 2a are connected to one end of a connecting rod. The two lug plates 21b of the second connecting structure 2b are connected to one end of another connecting rod. In some embodiments, the two lug plates 21a and the connecting rod to which they are connected can be integrally formed, and the two lug plates 21a and the connecting rod to which they are connected can be integrally formed. A portion of the connecting plate 2c is located between the two lug plates 21a, and another portion of the connecting plate 2c is located between the two lug plates 21b.

[0065] The two ear plates 21a of the first connecting structure 2a and the two ear plates 21b of the second connecting part 2b respectively have axial holes, and the connecting plate 2c has a first axial hole c1 (see Fig. 9 ) and a second axial hole c2 (see Fig. 9 ).

[0066] In some embodiments, a first hinge shaft is provided in the shaft hole in the ear plate 21a of the first connection structure 2a and the first shaft hole c1. The first hinge shaft is interference fit or fixedly connected with the shaft hole in the ear plate 21a, so that the ear plate 21a of the first connection structure 2a is fixedly connected with the first hinge shaft, and the hinge shaft is clearance fit with the first shaft hole c1 on the connection plate 2c, so that the first hinge shaft can rotate in the first shaft hole c1 of the connection plate 2c.

[0067] In some embodiments, a second hinge shaft is provided in the shaft hole in the ear plate 21b and the second shaft hole c2 of the second connection structure 2b. The second hinge shaft is interference fit or fixedly connected with the shaft hole in the ear plate 21b, so that the ear plate of the second connection structure 2b is fixedly connected with the second hinge shaft, and the second hinge shaft is clearance fit with the second shaft hole c2 on the connection plate 2c, so that the second hinge shaft can rotate in the second shaft hole c2 of the connection plate 2c.

[0068] In some embodiments, the outer side wall of the ear plate of the first connecting structure 2a includes a first portion and a second portion, and the first portion and the second portion are connected in the circumferential direction. The first portion is a plane, and the first portion is coplanar with the first side surface of the connecting rod connected to the first connecting structure 2a. The outer side wall of the ear plate of the second connecting structure 2b also includes a first portion and a second portion connected in the circumferential direction, and the first portion is a plane and the first portion is coplanar with the first side surface of the connecting rod connected to the second connecting portion.

[0069] The second portion of the outer side wall of the ear plate of the first connection structure 2a and the second portion of the outer side wall of the second connection structure 2b are both arc surfaces and are tangent to each other.

[0070] The outer side walls of the first connection structure 2a and the second connection structure 2b are provided with tooth structures 2d, respectively. The tooth structures 2d of the first connection structure 2a and the tooth structures 2d of the second connection structure 2b are meshed with each other. Since the tooth structures 2d of the first connection structure 2a and the tooth structures 2d of the second connection structure 2b are meshed with each other, during the telescopic process of the folding telescopic frame 231, Figure 8 The two connecting rods connected by the connecting portion can be opened and closed synchronously, so that the symmetry axis between the two connecting rods is always along the first direction y.

[0071] In some embodiments, the tooth structure 2d can be arranged at the second part of the two ear plates 21a of the first connection structure 2a, or at the second part of any ear plate 21a of the two ear plates 21a of the first connection structure 2a. The tooth structure 2d of the second connection structure 2b is arranged corresponding to the tooth structure 2d of the first connection structure 2a.

[0072] Fig. 9 Schematic diagram showing the structure of a balancing link in some embodiments of the present disclosure. Fig. 9 As shown, the balancing link is divided into three sections, wherein the first section x1 is located between the fourth connection portion of the second folding telescopic frame 231b and the second connection portion of the first folding telescopic frame 231a, the second section x2 is located between the second connection portion of the first folding telescopic frame 231a and the second connection portion of the third folding telescopic frame 231c, and the third section x3 is located between the second connection portion of the third folding telescopic frame 231c and the fourth connection portion of the fourth folding telescopic frame 231d.

[0073] In some embodiments, the connecting plate 2c and the balancing connecting rod 232 of all the connecting parts arranged in sequence along the first direction y are all integrated structures. In this way, the number of parts in the telescopic mechanism can be reduced, and the difficulty of assembly can be reduced.

[0074] In some embodiments, the second connection portion of the first folding telescopic frame 231a is connected to the second connection portion of the third folding telescopic frame 231c via a balancing link 232. The second connection portion of the first folding telescopic frame 231a is connected to the fourth connection portion of the second folding telescopic frame 231b via a balancing link 232. The second connection portion of the third folding telescopic frame 231a is connected to the fourth connection portion of the fourth folding telescopic frame 231d via a balancing link 232.

[0075] Optionally, the plurality of balancing links 232 between all adjacent translation portions in the first direction y may be an integral structure, such as Fig. 9 For example, the balancing link 232 between the second connection part of the first folding telescopic frame 231a and the second connection part of the third folding telescopic frame 231c, the balancing link 232 between the second connection part of the first folding telescopic frame 231a and the fourth connection part of the second folding telescopic frame 231b, and the balancing link 232 between the second connection part of the third folding telescopic frame 231a and the fourth connection part of the fourth folding telescopic frame 231d are an integrated structure. On the one hand, the balancing link of the integrated structure can connect all the folding telescopic frames in series, which is conducive to further improving the telescopic synchronization of each folding telescopic frame; on the other hand, it can reduce the assembly difficulty of the telescopic mechanism and improve the assembly efficiency.

[0076] In some embodiments, in the telescopic direction x, for any folding telescopic frame 231, there are one or more folding units 2310 between the first balancing link and the second balancing link, and the first balancing link and the second balancing link are two balancing links 232 adjacent to each other in the telescopic direction x, among the balancing links connecting two adjacent folding telescopic frames. For example, Figure 6 In the embodiment, there is one folding unit 2310 between the first balancing link and the second balancing link. Alternatively, there are multiple folding units 2310 between the first balancing link and the second balancing link, for example, 2 or 3.

[0077] In the embodiments of the present disclosure, Figure 6 and Figure 7 As shown, the telescopic assembly 23 further includes at least one magnet 234, and at least one magnet 234 is connected to the middle of at least one balancing link 232. The magnet 234 can absorb the support member 12 of the flexible display module 10, prevent the flexible display module 10 from wrinkling, improve the flatness of the flexible display module 10, and thus improve the display effect.

[0078] In the embodiment of the present disclosure, the middle of each balancing link 232 intersecting the first center line O is connected to a magnet 234. In other embodiments, among the multiple balancing links 232 intersecting the first center line O, the middle of a portion of the balancing links 232 is connected to a magnet 234. Optionally, the middle of the balancing links 232 that do not intersect the first center line O (i.e., the balancing links 232 located on both sides of the first center line O) may be connected to the magnet 234 or not.

[0079] Alternatively, if Fig. 9 As shown, the telescopic assembly 23 also includes a first connecting rod 232a and a second connecting rod 232b, one end of the first connecting rod 232a and one end of the second connecting rod 232b are respectively connected to the middle of the balancing link 232, and the first connecting rod 232a and the second connecting rod 232b are respectively located on both sides of the balancing link 232 in the telescopic direction. For example, the first connecting rod 232a is located on the left side of the corresponding balancing link 232, and the second connecting rod 232b is located on the right side of the corresponding balancing link 232, and the length directions of the first connecting rod 232a and the second connecting rod 232b are consistent with the telescopic direction x. The first connecting rod 232a and the second connecting rod 232b are staggered with each other in the first direction y. For example, the first connecting rod 232a and the second connecting rod 232b are located on both sides of the first center line O along the first direction y.

[0080] In some embodiments, the first connecting rod 232a is connected to the first magnet, and the second connecting rod 232b is connected to the second magnet. Optionally, the surface of the first connecting rod 232a close to the flexible display module has a first mounting groove 232c, and the first magnet is located in the first mounting groove 232c. The surface of the second connecting rod 232b close to the flexible display module has a second mounting groove 232d, and the second magnet is located in the second mounting groove 232d.

[0081] Since the first connecting rod and the second connecting rod are staggered in the first direction y, when the multiple folding and telescopic frames are in the folded state, the first connecting rod and the second connecting rod will not affect the folding function of the folding and telescopic frames. When the multiple folding and telescopic frames are in the unfolded state, since the first connecting rod 232a and the second connecting rod 232b are respectively located on both sides of the balance link 232 in the telescopic direction, the flexible display module can be adsorbed on both sides of the balance link 232 at the same time, which is beneficial to improve the flatness of the flexible display module.

[0082] Alternatively, see Figure 6 and Figure 7The telescopic assembly may further include a plurality of synchronous connecting rods 233. For example, the synchronous connecting rod 233 is located between the first connecting portion of the first folding telescopic frame 231a and the third connecting portion of the second folding telescopic frame 231b. During the telescopic process of the telescopic assembly 23, the first connecting portion and the second connecting portion will be displaced in the telescopic direction x and the first direction y, but the distance between the first connecting portion and the second connecting portion will not change. Therefore, a synchronous connecting rod may be provided between the first connecting portion and the second connecting portion, which will not affect the telescopic action of the telescopic assembly and can improve the synchronization of the movement of the first connecting portion and the second connecting portion.

[0083] Fig.10 It is a schematic diagram of the telescopic mechanism in some embodiments of the present disclosure when it is in a retracted state. Fig.11 Schematic diagram of the telescopic mechanism in some embodiments of the present disclosure when in an expanded state. Fig.10 and Fig.11 As shown, different from the above-mentioned embodiment, the display device further includes a reel motor 26 and a lead screw motor 27. In addition, in this embodiment, the reel assembly only includes one reel 211, and the flexible display panel 11 and the support member 12 are attached together and reeled by the reel 211.

[0084] like Fig.11 As shown, the screw motor 27 is disposed between the fixing portion 21 and the balancing connecting rod 232 closest to the fixing portion 21. Fig. 9 As shown, the screw motor 27 is connected between the fixed part 21 and the first hinge shaft in the first shaft hole c1 of the balancing link 232 closest to the fixed part 21. Driven by the screw motor 27, the balancing link 232 can move away from or close to the fixed part 21, thereby realizing the telescopic assembly 23 to be telescopic.

[0085] It should be noted that due to the transmission structure of the telescopic assembly 23, Fig.11 As shown, when the sliding stroke of the screw motor 27 is X, the telescopic length of the entire telescopic assembly 23 can reach 4X. Therefore, the driving force of the screw motor 27 also needs to be amplified by 4 times. In addition, the screw motor 27 is provided with an angle sensor, and the actual sliding distance of the screw motor 27 can be calculated based on the angle measured by the angle sensor.

[0086] Fig.12a It is a stereoscopic diagram of a scroll motor and its transmission structure according to some embodiments of the present disclosure. Figure 12b1 is a schematic diagram showing a reel motor driving a reel to reel in a flexible display module according to some embodiments of the present disclosure. In some embodiments, the fixed portion 21 includes a reel 211, one end of the flexible display module 10 is connected to the reel 211, and the other end is connected to the movable portion 22. The display device also includes a reel motor 26, which is fixed to the fixed portion 21 and connected to the reel 211 through a transmission gear set 28.

[0087] like Fig.12a and Figure 12b As shown, the reel motor 26 rotates, driving the transmission gear set 28 to rotate, and then driving the reel 211 to rotate, so that the flexible display panel 11 and the support member 12 are rolled onto the reel 211, or the flexible display panel 11 is unwound from the reel 211, so that it extends out of the fixing portion 21. Fig.12a and Figure 12b As shown, in some embodiments, the telescopic mechanism 20 further includes a guide wheel 212 for guiding the flexible display panel 11 and the support member 12 to be rolled onto the reel 211. In addition, the telescopic mechanism is further provided with an angle sensor for measuring the actual rotation angle and number of turns of the reel 211.

[0088] In an embodiment according to the present disclosure, the scroll motor 26 cooperates with the transmission gear set 28 to drive the scroll 211 to amplify the output torque, and the lead screw motor 27 cooperates with the scroll motor 26 to control and adjust the tension of the flexible display module 10 .

[0089] Optionally, a bending sensor and a tension sensor may be built into the flexible display module 10 or the display device. At this time, the bending state (flatness when flattened) of the flexible display module 10 and the flattening tension of the flexible display panel 11 can be measured by the bending sensor and the tension sensor, respectively. In this way, the bending state (flatness when flattened) of the flexible display module 10 and the flattening tension of the flexible display panel 11 can be used together with the terminal position of the flexible display module 10 as a compensation control feedback signal, so that the movement process of the flexible display module 10 is stably stressed to improve the user experience.

[0090] Optionally, only one of the bending sensor and the tension sensor may be built into the flexible display module 10 or the display device. In this way, only one of the bending state (flatness when flattened) of the flexible display module 10 and the flattening tension of the flexible display panel 11, together with the end position of the flexible display module 10, is used as a compensation control feedback signal.

[0091] Regarding the motion coordination relationship between the scroll motor 26 and the lead screw motor 27, the basic principle is to keep the scroll length of the flexible display module 10 on the scroll 211 equal to the telescopic length of the flexible display module 10. For example, assuming that the radius of the scroll 211 is R and the thickness of the flexible display module 10 is t, the scroll length of the first circle of the screen is 2π(R+t), the scroll length of the second circle is 2π(R+2t), and so on. The sliding stroke of the lead screw motor in the first circle is 2π(R+t) / 4, and the total sliding stroke of the lead screw motor in the first two circles is [2π(R+t)+2π(R+2t)] / 4, and so on.

[0092] However, if Figure 4 and Figure 5 As shown, since the folding and telescopic frame 231 used in the present disclosure includes multiple connecting rods, the connecting rods are transmitted through the tooth structure 2d, and there are many transmission levels (7 levels of transmission through the tooth structure 2d), the virtual position will be magnified, and problems such as bulging of the flexible display module 10 may easily occur.

[0093] To this end, according to an embodiment of the present disclosure, a display device is provided, which can eliminate the above technical problems. Fig.13 Schematic diagram of a folding telescopic frame of a telescopic assembly in some embodiments of the present disclosure in an unfolded state. Fig.13 As shown, the four folding telescopic frames are respectively the second folding telescopic frame 231b, the first folding telescopic frame 231a, the third folding telescopic frame 231c and the fourth folding telescopic frame 231d in order from top to bottom. The third folding telescopic frame 231c and the first folding telescopic frame 231a are symmetrically arranged about the first center line O of the telescopic assembly 23, and the fourth folding telescopic frame 231d and the second folding telescopic frame 231b are symmetrically arranged about the first center line O.

[0094] In some embodiments, each folding telescopic frame 231 includes a plurality of folding units 2310 connected in sequence along the telescopic direction x, and each folding unit 2310 has a translation portion 2310a. The balancing link 232 is connected between a translation portion 2310a of a first folding unit and a translation portion 2310a of a second folding unit, and the first folding unit and the second folding unit belong to two adjacent folding telescopic frames 231, respectively, and are adjacent in the first direction y.

[0095] In some embodiments, the folding unit 2310 of the first folding telescopic frame 231a is V-shaped and includes a first link 1a and a second link 1b. In some embodiments, the folding unit 2310 of the second folding telescopic frame 231b is V-shaped and includes a third link 1c and a fourth link 1d. The specific structures of the first link 1a, the second link 1b, the third link 1c and the fourth link 1d and the connection relationship between them can be referred to in the description of the embodiment of the present invention. Figure 5 and Figure 6 The description will not be repeated here.

[0096] and Figure 5 and Figure 6 The difference from the example is that, except for the balancing link 232 connected to the screw motor 27, the remaining balancing links 232 are all provided with angle sensors. Fig.13 As shown, the three balancing links 232 on the right side of the figure are respectively provided with a first angle sensor AS1, a second angle sensor AS2, and a third angle sensor AS3. The first angle sensor AS1, the second angle sensor AS2, and the third angle sensor AS3 are respectively used to measure the angle between the balancing link 232 and other links connected to the balancing link 232.

[0097] By providing an angle sensor on the balancing link 232, the virtual position caused by the multi-stage transmission can be compensated.

[0098] For example, assuming that the real-time target value of the sliding stroke of the screw motor 27 is D, the real-time actual opening angles θ1, θ2, θ3 of the connecting rod are measured by each angle sensor AS1, AS2, AS3, and the real-time actual total opening length of the bracket L1+L2+L3+L4 can be calculated, wherein L1 is calculated based on the angle measured by the angle sensor of the screw motor 27, and L2, L3, L4 are calculated based on the actual opening angles θ1, θ2, θ3 of the connecting rod. Then the real-time sliding compensation value of the screw motor is D-(L1+L2+L3+L4) / 4.

[0099] However, the present disclosure is not limited thereto. In the case where the folding telescopic frame 231 includes n folding units 2310 sequentially connected along the telescopic direction x, the slip compensation value of the lead screw motor 27 can be obtained by the following formula:

[0100]

[0101] Wherein, D is the target sliding stroke value of the screw motor 27; L1 is the actual sliding distance of the screw motor 27; Li is the extension and retraction amount of the i-th folding unit, which is calculated based on the angle sensed by the angle sensor, where i≥2.

[0102] In addition, since the relationship between the number of winding turns of the flexible display module 10 and the minimum winding force of the flexible display module 10 and the stress on the film layer of the flexible display module 10 is not constant, the winding force is large and the stress on the film layer is large when the number of winding turns is large, and the minimum winding force is small and the stress on the film layer is small when the number of winding turns is small, the motor control position compensation value can be adjusted to optimize the tension in the winding and unwinding process, so that the flexible display module 10 remains flat throughout the movement and the tension is minimized, so as to improve the winding reliability of the flexible display module 10 and optimize the motor power consumption.

[0103] On the other hand, the present invention provides a method for controlling the extension and retraction of a flexible display module in a display device, which can ensure that the flexible display module remains flat throughout the entire movement. Fig.14 is a flow chart showing a method for controlling the extension and retraction of a flexible display module in a display device according to some embodiments of the present disclosure. Fig.14 As shown, the method includes steps S1 to S10.

[0104] S1. Initialize and reset the reel motor 26 and the lead screw motor 27.

[0105] S2, read the displacement position and speed input value of the whole machine expansion / closing action. The displacement position is the position where the flexible display module 10 is expected to reach. When the sliding stroke target value of the screw motor 27 is D, the displacement position of the whole machine is 4D under ideal conditions. The speed input value indicates the speed at which the flexible display module 10 is expected to expand and contract.

[0106] S3, calculating the angular displacement and angular velocity input / compensation value of the screw motor. The angular displacement and angular velocity are calculated based on the displacement position and velocity input values ​​read in step S2. When compensation is involved, the displacement position and velocity compensation value are calculated in step S3.

[0107] S4, calculate the corresponding screw motor angular displacement and angular velocity input / compensation value. The corresponding screw motor angular displacement and angular velocity input value is obtained by calculation based on the principle of keeping the scroll length of the flexible display module 10 on the scroll 211 equal to the telescopic length of the flexible display module 10. When compensation is involved, the corresponding screw motor angular displacement and velocity compensation value are calculated in step S4.

[0108] S5, start the screw motor 27 and the reel motor 26.

[0109] S6, read the values ​​of the screw and reel angle sensors. At this time, read the angle measured by the angle sensor of the screw motor and the angle measured by the angle sensor of the reel motor.

[0110] S7, detecting the motion error. According to the angle read in step S6, determine whether there is a motion error. If there is a motion error, perform motor feedback control and restart the motor from step S3. If there is no motion error, proceed to step S8.

[0111] S8, read the angle sensor value of the folding telescopic frame. Fig.13 As shown, in Fig.13 In the embodiment of FIG. 5 , what is read at this time are the values ​​of the first angle sensor AS1 , the second angle sensor AS2 , and the third angle sensor AS3 .

[0112] S9, calculate the actual unfolded / closed length of the whole machine. Fig.13 As shown, in Fig.13 In the embodiment, at this time, assuming that the real-time sliding stroke target value of the screw motor 27 is D, the real-time actual opening angles θ1, θ2, θ3 of the connecting rod are measured by each angle sensor AS1, AS2, AS3, and the real-time actual total opening length of the bracket L1+L2+L3+L4 can be calculated, wherein L1 is calculated based on the angle measured by the angle sensor of the screw motor 27, and L2, L3, L4 are calculated based on the actual opening angles θ1, θ2, θ3 of the connecting rod.

[0113] S10, determine whether the end position has been reached. Fig.13 As shown, in Fig.13 In the embodiment of , at this time, compare D with (L1+L2+L3+L4) / 4; if D=(L1+L2+L3+L4) / 4, it means reaching the end position, then the screw motor 27 and the reel motor 26 are terminated. If D is not equal to (L1+L2+L3+L4) / 4, virtual position compensation feedback control is performed, and the process returns to step S3. Fig.13 In the embodiment of , at this time, the screw motor slip compensation value is D-(L1+L2+L3+L4) / 4.

[0114] In some embodiments, when the folding and telescopic frame 231 includes n folding units 2310 sequentially connected along the telescopic direction x, n is a positive integer greater than or equal to 2, the slip compensation value of the lead screw motor 27 can be obtained by the following formula:

[0115]

[0116] Wherein, D is the target sliding stroke value of the screw motor 27; L1 is the actual sliding distance of the screw motor 27; Li is the extension and retraction amount of the i-th folding unit, which is calculated based on the angle sensed by the angle sensor, where i≥2.

[0117] Optionally, in some embodiments, a bending sensor and / or a tension sensor may be built into the flexible display module 10 or the display device. At this time, in step S10, the bending state (flatness when flattened) of the flexible display module 10 and / or the flattening tension of the flexible display panel 11 and the terminal position of the flexible display module 10 may be used as a compensation control feedback signal to ensure that the movement of the flexible display module 10 is stably stressed to improve the user experience.

[0118] For the purpose of illustration and description, the above description of the embodiment of the present invention has been given. It is not exhaustive, nor is it intended to limit the present invention to the precise form or exemplary embodiment disclosed. Therefore, the foregoing description should be considered illustrative rather than restrictive. Obviously, many modifications and changes will be obvious to those skilled in the art. The embodiments are selected and described to explain the principles of the present invention and its best mode practical application, so that those skilled in the art can understand the various embodiments of the present invention and the various modifications suitable for the specific use or implementation under consideration. The scope of the present invention is intended to be defined by the appended claims and their equivalents, in which all terms are meant to have the broadest reasonable meaning unless otherwise stated. Therefore, the term "the present invention" and the like do not necessarily limit the scope of the claims to specific examples, and the reference to the exemplary embodiments of the present invention does not mean a limitation of the present invention, and such limitation should not be inferred. The present invention is limited only by the spirit and scope of the appended claims. In addition, these claims may involve the use of "first", "second", etc., followed by a noun or element. These terms should be understood as nomenclature, and should not be interpreted as limiting the number of elements modified by these nomenclatures, unless a specific number has been given. Any advantages and benefits described may not apply to all embodiments of the present invention. It should be understood that those skilled in the art may make changes to the described embodiments without departing from the scope of the present invention as defined by the appended claims. In addition, the elements and assemblies in this disclosure are not intended to be contributed to the public, regardless of whether the element or assembly is clearly described in the appended claims.

Claims

1. A display device, comprising: Flexible display module; A telescopic mechanism, the telescopic mechanism comprising a fixed portion, a movable portion and a telescopic assembly, the fixed portion comprising a scroll, one end of the flexible display module is connected to the scroll, and the other end is connected to the movable portion, the telescopic assembly comprises a plurality of folding telescopic frames, at least one of the folding telescopic frames comprises a plurality of connecting rods connected in sequence, each of the folding telescopic frames has at least one translation portion, during the telescopic process of the folding telescopic frame, the distance between the translation portion and a first center line of the telescopic assembly remains unchanged, the extension direction of the first center line is consistent with the telescopic direction of the folding telescopic frame, and the translation portions of any two adjacent folding telescopic frames are connected by a balancing connecting rod; a reel motor, the reel motor being fixed to the fixing portion and connected to the reel via a transmission gear set; and A screw motor, wherein the screw motor is arranged between the fixing portion and a balancing connecting rod closest to the fixing portion, The telescopic assembly further comprises an angle sensor for measuring the angle between the balancing link and a link in the folding telescopic frame connected to the balancing link, and The lead screw motor and the roller motor are configured to compensate for the rolling and unfolding of the flexible display module according to the angle sensed by the angle sensor.

2. The display device according to claim 1, wherein: The lead screw motor and the scroll motor are configured to drive the reeling and unreeling of the flexible display module in a linked manner, so that the rolling length of the flexible display module on the scroll remains equal to the telescopic length of the flexible display module.

3. The display device according to claim 1, wherein: One end of the screw motor is connected to the fixing part, and the other end is connected to the first hinge shaft, and the first hinge shaft is located in the first shaft hole of the balance connecting rod closest to the fixing part.

4. The display device according to any one of claims 1 to 3, wherein: The lead screw motor is provided with an angle sensor configured to calculate and obtain an actual sliding distance of the lead screw motor.

5. The display device according to any one of claims 1 to 4, wherein: Each of the folding and telescopic frames comprises n folding units connected in sequence along the telescopic direction, and each of the folding units has the translation part, so that the telescopic length of the folding and telescopic frame is n times the sliding stroke of the screw motor, and n is a positive integer greater than or equal to 2.

6. The display device according to claim 5, wherein: The slip compensation value of the screw motor is obtained by the following formula: Wherein, D is the target value of the sliding stroke of the screw motor; L1 is the actual sliding distance of the screw motor; Li is the extension and retraction amount of the i-th folding unit, which is calculated based on the angle sensed by the angle sensor, where i≥2.

7. The display device according to any one of claims 1 to 6, wherein: The telescopic mechanism is also provided with an angle sensor for measuring the actual rotation angle and number of turns of the reel.

8. The display device according to any one of claims 1 to 7, wherein: The telescopic mechanism further comprises two telescopic slide rails, wherein the two telescopic slide rails are located on both sides of the telescopic assembly in a first direction, and the first direction is perpendicular to the telescopic direction; The telescopic slide rail includes a first fixed guide rail, a second fixed guide rail and at least one intermediate guide rail, wherein the at least one intermediate guide rail is sequentially connected between the first fixed guide rail and the second fixed guide rail, the first fixed guide rail is connected to the fixed part, and the second fixed guide rail is connected to the movable part.

9. The display device according to any one of claims 1 to 8, wherein: The telescopic mechanism further comprises a rear shell, and the telescopic assembly is located in the rear shell. The rear shell includes a first stator housing, a second stator housing, and at least one intermediate housing, wherein the first stator housing is connected to the fixed portion, the second stator housing is connected to the movable portion, and the at least one intermediate housing is sequentially connected between the first stator housing and the second stator housing.

10. The display device according to any one of claims 1 to 9, wherein: The flexible display module comprises a flexible display panel and a support member. The flexible display panel and the support member are attached together and rolled up by the reel.

11. The telescopic mechanism according to any one of claims 1 to 10, wherein: The telescopic assembly also includes a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are both connected to the middle part of the balancing link, the first connecting rod and the second connecting rod are respectively located on both sides of the balancing link in the telescopic direction, and the first connecting rod and the second connecting rod are staggered with each other in the first direction, and the first direction is perpendicular to the telescopic direction.

12. The telescopic mechanism according to any one of claims 1 to 11, wherein: Except for the balancing link connected to the screw motor, the other balancing links are all provided with angle sensors, and the angle sensors are configured to measure the angles between the balancing link and other links connected to the balancing link.

13. A method for controlling the extension and retraction of a flexible display module in a display device, wherein: The display device comprises: Flexible display module; A telescopic mechanism, the telescopic mechanism comprising a fixed part, a movable part and a telescopic assembly, the fixed part comprising a scroll, one end of the flexible display module is connected to the scroll, and the other end is connected to the movable part, the telescopic assembly comprises a plurality of folding telescopic frames, each folding telescopic frame comprises a plurality of connecting rods connected in sequence, and the translation parts of any two adjacent folding telescopic frames are connected by the balancing connecting rod; a reel motor, the reel motor being fixed to the fixing portion and connected to the reel via a transmission gear set; and A screw motor, wherein the screw motor is arranged between the fixing portion and a balancing connecting rod closest to the fixing portion, The telescopic assembly further comprises an angle sensor for measuring the angle between the balancing link and a link in the folding telescopic frame connected to the balancing link, and The method comprises: According to the angle sensed by the angle sensor, the lead screw motor and the scroll motor are driven to compensate for the rolling and unfolding of the flexible display module.

14. The method according to claim 13, wherein: The folding telescopic frame comprises n folding units connected in sequence along the telescopic direction, each of the folding units has the translation part, so that the telescopic length of the folding telescopic frame is n times the sliding stroke of the screw motor, and n is a positive integer greater than or equal to 2. The slip compensation value of the lead screw motor is obtained by the following formula: Wherein, D is the target value of the sliding stroke of the screw motor; L1 is the actual sliding distance of the screw motor; Li is the extension and retraction amount of the i-th folding unit, which is calculated based on the angle sensed by the angle sensor, where i≥2.

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