Display device and method of controlling expansion and contraction of flexible display module in display device

Abstract

A display device comprises a flexible display module, a telescopic mechanism comprising a fixed part, a movable part and a telescopic assembly, the fixed part comprising a reel, one end of the flexible display module being connected to the reel and the other end being connected to the movable part, the telescopic assembly comprising a plurality of folding telescopic frames, each folding telescopic frame comprising a plurality of connecting rods connected in sequence, each folding telescopic frame having at least one translation part, and the translation parts of any two adjacent folding telescopic frames being connected by a balance connecting rod, a reel motor fixed on the fixed part and connected to the reel through a transmission gear set, and a lead screw motor arranged between the fixed part and the balance connecting rod closest to the fixed part, wherein the telescopic assembly further comprises an angle sensor for measuring the included angle between the balance connecting rod and the connecting rod of the folding telescopic frame connected to the balance connecting rod, and the lead screw motor and the reel motor are configured to compensate for the winding and unwinding of the flexible display module according to the angle sensed by the angle sensor.

Description

Technical Field

[0001] This invention relates to display technology, and more particularly to a display device and a method for controlling the extension and retraction of a flexible display module in the display device. Background Technology

[0002] Currently, roll-up display devices include a flexible display module and a telescopic mechanism that carries the flexible display module. The telescopic mechanism includes a fixed part, a movable part, and a telescopic assembly. The fixed part and the movable part are respectively used to connect to the opposite sides of the flexible display module. The two ends of the telescopic assembly are connected to the fixed part and the movable part, respectively. The extension and retraction of the telescopic assembly can cause the fixed part and the movable part to move away from or towards each other, thereby causing the flexible display module to unfold or roll up. Summary of the Invention

[0003] On one hand, this disclosure provides a display device, including: a flexible display module; a telescopic mechanism, the telescopic mechanism including a fixed part, a movable part, and a telescopic assembly, the fixed part including a scroll, one end of the flexible display module being connected to the scroll and the other end being connected to the movable part, the telescopic assembly including a plurality of folding telescopic frames, each folding telescopic frame including a plurality of sequentially connected links, each folding telescopic frame having at least one translational part, during the telescopic process of the folding telescopic frame, the distance between the translational part and a first centerline of the telescopic assembly remains unchanged, the extension direction of the first centerline being perpendicular to the telescopic direction of the folding telescopic frame. The telescopic assembly includes a lateral motor, which is fixed to the fixed part and connected to the lateral motor via a balance link; a screw motor, which is disposed between the fixed part and the balance link closest to the fixed part; and an angle sensor for measuring the angle between the balance link and the link connecting the balance link in the folding telescopic frame. The screw motor and the lateral motor are configured to compensate for the winding and unfolding of the flexible display module based on the angle sensed by the angle sensor.

[0004] Optionally, the lead screw motor and the reel motor are configured to drive the winding and unfolding of the flexible display module in a coordinated manner, such that the winding length of the flexible display module on the reel is equal to the extension length of the flexible display module.

[0005] Optionally, one end of the lead screw motor is connected to the fixed part, and the other end is connected to the first hinge shaft, which is located in the first shaft hole of the balance link closest to the fixed part.

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

[0007] Optionally, each of the folding telescopic frames includes n folding units connected sequentially along the telescopic direction, and each folding unit has the translation part, such that the telescopic length of the folding telescopic frame is n times the sliding stroke of the lead screw motor, where 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: Where D is the target value of the sliding stroke of the lead screw motor; L1 is the actual sliding distance of the lead 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 equipped with an angle sensor for measuring the actual rotation angle and number of rotations of the reel.

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

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

[0012] Optionally, the flexible display module includes a flexible display panel and a support member, wherein the flexible display panel is attached to the support member and is wound up by the roller.

[0013] Optionally, the telescopic assembly further includes a first connecting rod and a second connecting rod, both of which are connected to the middle of the balance link. The first connecting rod and the second connecting rod are located on both sides of the balance link in the telescopic direction, and are staggered from each other in a first direction, which is perpendicular to the telescopic direction.

[0014] Optionally, in addition to the balance link connected to the lead screw motor, the other balance links are equipped with angle sensors, which are configured to measure the angle between the balance link and other links connected to the balance link.

[0015] On the other hand, this 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; an extension mechanism, the extension mechanism including a fixed part, a movable part, and an extension assembly, the fixed part including a scroll, one end of the flexible display module being connected to the scroll and the other end being connected to the movable part, the extension assembly including a plurality of folding extension frames, each folding extension frame including a plurality of sequentially connected links, the translational parts of any two adjacent folding extension frames being connected through the balance link; a scroll motor, the scroll motor being fixed on the fixed part and connected to the scroll through a transmission gear set; and a lead screw motor, the lead screw motor being disposed between the fixed part and the balance link closest to the fixed part, wherein the extension assembly further includes an angle sensor for measuring the angle between the balance link and the link connecting the balance link in the folding extension frame, and the method includes: driving the lead screw motor and the scroll motor to compensate for the winding and unfolding of the flexible display module according to the angle sensed by the angle sensor.

[0016] Optionally, the folding telescopic frame includes n folding units connected sequentially along the telescopic direction, each folding unit having the translational part, such that the telescopic length of the folding telescopic frame is n times the sliding stroke of the lead screw motor, where n is a positive integer greater than or equal to 2, wherein the sliding compensation value of the lead screw motor is obtained by the following formula: Where D is the target value of the sliding stroke of the lead screw motor; L1 is the actual sliding distance of the lead 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. Attached Figure Description

[0017] The following figures are merely illustrative examples based on various disclosed embodiments and are not intended to limit the scope of the invention.

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

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

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

[0021] Figure 4 This is a top view of the display device in the extended state according to some embodiments of the present disclosure.

[0022] Figure 5 This is a bottom view of the display device in the extended state according to some embodiments of the present disclosure.

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

[0024] Figure 7 yes Figure 6 The diagram shown illustrates the folding telescopic frame in its retracted state.

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

[0026] Figure 9 This is a schematic diagram illustrating the structure of a balance link according to some embodiments of the present disclosure.

[0027] Figure 10 This is a schematic diagram of the telescopic mechanism in a retracted state according to some embodiments of the present disclosure.

[0028] Figure 11 This is a schematic diagram of the telescopic mechanism in the deployed state according to some embodiments of this disclosure.

[0029] Figure 12a This is a perspective view of a reel motor and its transmission structure according to some embodiments of the present disclosure.

[0030] Figure 12b This is a schematic diagram illustrating a flexible display module driven by a reel motor for winding up a reel, according to some embodiments of this disclosure.

[0031] Figure 13 This is a schematic diagram of the folding telescopic frame of the telescopic assembly in the unfolded state according to some embodiments of the present disclosure.

[0032] Figure 14 This is a flowchart illustrating 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 Implementation

[0033] This disclosure will now be described in more detail with reference to the following embodiments. It should be noted that the following description of some embodiments presented herein is for illustrative and descriptive purposes only. It is not exhaustive or limited to the precise forms disclosed.

[0034] The terminology used in this disclosure is for illustrative purposes only and is not intended to limit the scope of the disclosure. Unless otherwise defined, the technical or scientific terms used in this disclosure should be understood in their ordinary sense by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” “third,” and similar terms used in this disclosure and the claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising” or “including” and similar terms mean that the elements or objects preceding “comprising” or “including” encompass the elements or objects listed following “comprising” or “including” and their equivalents, but do not exclude other elements or objects.

[0035] Figure 1 This is a schematic diagram of a display device in a retracted state according to some embodiments of the present disclosure. Figure 2 This is a schematic diagram showing the display device in an unfolded state according to some embodiments of this disclosure. For example... 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 telescopic mechanism 20 retracts and the flexible display module 10 is at least partially housed within a portion of the telescopic mechanism 20 (e.g., Figure 3 In the fixed part 21 shown, the display device is smaller in size at this time. This retracted state can be referred to as the closed state, etc.

[0037] like Figure 2 As shown, when the display device is in the unfolded state, the telescopic mechanism 20 unfolds and the flexible display module 10 lies flat on the telescopic mechanism 20, thus increasing the display area of ​​the display device. This unfolded state can be referred to as the open state, etc.

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

[0039] Figure 3 This is an exploded view showing the structure of a display device according to some embodiments of the present disclosure. For example... 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 display surfaces and non-display surfaces that are opposite 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 may be an OLED (Organic Light-Emitting Diode) display panel. As an example, the support member 12 may be made of a metal material, such as stainless steel.

[0040] like Figure 3 As shown, the telescopic mechanism 20 includes a fixed part 21, a movable part 22, a telescopic component 23, two telescopic slide rails 24, and a rear shell 25. The fixed part 21 and the movable part 22 are respectively connected to opposite sides of the flexible display module 10. The telescopic component 23 is located between and connected to the fixed part 21 and the movable part 22. The telescopic component 23 has a telescopic function, capable of moving the fixed part 21 and the movable part 22 away from or towards each other. The two telescopic slide rails 24 are located on both sides of the telescopic component 23 along the first direction y. The two ends of the telescopic slide rails 24 are respectively connected to the fixed part 21 and the movable part 22. The telescopic component 23 and the telescopic slide rails 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 housed in the telescopic mechanism 20. When the display device is in the extended state, the flexible display panel 11 and the support member 12 are laid flat on the extended telescopic mechanism 20.

[0042] For example, such as Figure 3 As shown, the fixing part 21 of the telescopic mechanism 20 is provided with a winding assembly for winding up the flexible display module 10. As an example, the winding assembly includes two spools 211a and 211b, which are arranged parallel to each other and spaced apart. The axial directions of both spools 211a and 211b are perpendicular to the telescopic direction x of the telescopic assembly 23. Spool 211a is used to wind up the flexible display panel 11, and spool 211b is used to wind up the support member 12. Alternatively, the winding assembly may also include only one spool, with the flexible display panel 11 and the support member 12 attached together and wound up using a single spool.

[0043] Figure 4 This is a top view of the display device in the extended state according to some embodiments of the present disclosure. Figure 5 This is a bottom view of the display device in its extended state according to some embodiments of this disclosure. (In conjunction with...) Figure 4 and Figure 5As shown, the telescopic assembly 23 is located between and connected to the fixed part 21 and the movable part 22. The two ends of the telescopic slide rail 24 are connected to the fixed part 21 and the movable part 22, respectively. The telescopic assembly 23 and the telescopic slide rail 24 are located within the rear housing 25.

[0044] like Figure 4 As shown, in some embodiments, the telescopic slide 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 part 21, and the second fixed guide rail 242 is connected to the movable part 22. The number of intermediate guide rails 243 is not limited in this embodiment 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 guide rail 242 is housed within at least one intermediate guide rail 243, and the at least one intermediate guide rail 243 is housed within the first fixed guide rail 241. When the display device is in the extended state, as... 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 shell 25 includes a first fixed sub-shell 251, a second fixed sub-shell 252, and an intermediate sub-shell 253. The first fixed sub-shell 251 is connected to the fixed part 21, and the second fixed sub-shell 252 is connected to the movable part 22. The intermediate sub-shell 253 is connected between the first fixed sub-shell 2511 and the second fixed sub-shell 2512. The number of intermediate sub-shells 253 can be set according to the size and expansion ratio of the display device, for example, it can be one, two, or three.

[0047] When the display device is in the retracted state, the second fixed sub-shell 252 is housed within the intermediate sub-shell 253, which in turn is housed within the first fixed sub-shell 251. When the display device is in the extended state, as... Figure 5 As shown, the second fixed sub-shell 252 extends from the intermediate sub-shell 253, and the intermediate sub-shell 253 extends from the first fixed sub-shell 251.

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

[0049] In some embodiments, the bottom plates of the other sub-shells (e.g., the intermediate sub-shell 253 and the first fixed sub-shell 251) besides the second fixed sub-shell 252 all have clearance openings 25d that match the protrusions 25c. When the rear shell 25 is in the retracted state, the protrusions 25c are located in the clearance openings 25d, so as not to affect the telescopic movement 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, which are arranged at intervals along a first direction y. Any two adjacent folding telescopic frames 231 are connected by at least one counterweight 232. For example, in 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 balance links 232. In the embodiments according to this disclosure, the number of folding telescopic frames 231 is not limited and can be adjusted according to the actual size of the flexible display module, for example, it can be 2, 3, 5 or 6, etc.

[0051] Figure 6 This is a schematic diagram of the folding telescopic frame of the telescopic assembly in the unfolded state according to some embodiments of the present disclosure. Figure 7 yes Figure 6 The diagram shows the folding telescopic frame in its retracted state. Figure 6 and Figure 7 In the middle, the four folding telescopic frames are, in order from top to bottom, 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.

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

[0053] In some embodiments, each folding telescopic frame 231 includes a plurality of folding units 2310 connected sequentially along the telescopic direction x, and each folding unit 2310 has a translational portion 2310a. During the telescopic process of the folding telescopic frame 231, the distance between the translational 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] A balance link 232 connects a translation part 2310a of the first folding unit and a translation part 2310a of the second folding unit. The first and second folding units belong to two adjacent folding telescopic frames 231 and are adjacent in the first direction y. Ideally, the distance between the translation parts 2310a of the two adjacent folding units in the first direction y will not change during the extension and retraction of the folding telescopic frame 231. Therefore, placing the balance link 232 between the translation parts 2310a of the two adjacent folding units 2310 facilitates the synchronous extension and retraction of the two folding units 2310 connected to the balance link 232.

[0055] 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. One end of the first link 1a and one end of the second link 1b are connected by a first connecting part, 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 231a by a second connecting part.

[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 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 of the second folding telescopic frame 231b 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.

[0057] In some embodiments, the structure of the second folding telescopic frame 231b is the same as that of the first folding telescopic frame 231a, and the second folding telescopic frame 231b can be obtained by translating the first folding 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, let the distance from the second connecting part to the first center line O be h. Then, when each folding telescopic frame 231 is in the folded state, the distance from the second connecting part to the first center line O is also h. It can be seen that the distance of the second connecting part relative to the first center line O remains unchanged during the extension and retraction of the telescopic assembly 23. Therefore, the second connecting part of the first folding telescopic frame 231a is the translation part 2310a of the first folding telescopic frame 231a. Similarly, the fourth connecting part of the second folding telescopic frame 231b is the translation part 2310a of the second folding telescopic frame 231b. The balance link 232 connects the second connecting part and the fourth connecting 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 and one end of the second link 1b are connected by a first connecting part, 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 by a second connecting part.

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

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

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

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

[0065] The two lugs 21a of the first connecting structure 2a and the two lugs 21b of the second connecting part 2b each have shaft holes, and the connecting plate 2c has a first shaft hole c1 that mates with the first connecting structure 2a (see...). Figure 9 ) and the second shaft hole c2 that mates with the second connecting structure 2b (see Figure 9 ).

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

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

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

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

[0070] The outer walls of the first connecting structure 2a and the second connecting structure 2b each have a toothed structure 2d, which meshes with each other. Because the toothed structures 2d of the first connecting structure 2a and the second connecting structure 2b mesh with each other, during the extension and retraction of the folding telescopic frame 231, [the following occurs]. Figure 8 The two connecting rods in the middle can open and close synchronously, so that the axis of symmetry between the two connecting rods is always along the first direction y.

[0071] In some embodiments, the tooth structure 2d may be disposed in the second portion of the two ear plates 21a of the first connecting structure 2a, or disposed in the second portion of either ear plate 21a of the first connecting structure 2a. The tooth structure 2d of the second connecting structure 2b is disposed correspondingly to the tooth structure 2d of the first connecting structure 2a.

[0072] Figure 9 This is a schematic diagram illustrating the structure of a balance link according to some embodiments of the present disclosure. For example... Figure 9 As shown, the balance link is divided into three sections. The first section x1 is located between the fourth connecting part of the second folding telescopic frame 231b and the second connecting part of the first folding telescopic frame 231a. The second section x2 is located between the second connecting part of the first folding telescopic frame 231a and the second connecting part of the third folding telescopic frame 231c. The third section x3 is located between the second connecting part of the third folding telescopic frame 231c and the fourth connecting part of the fourth folding telescopic frame 231d.

[0073] In some embodiments, the connecting plate 2c and the balance rod 232, which are arranged sequentially along the first direction y, are both integral structures. This reduces the number of parts in the telescopic mechanism and lowers the assembly difficulty.

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

[0075] Optionally, the multiple balancing links 232 between all adjacent translation parts in the first direction y can be a single integrated structure, such as... Figure 9 As shown. For example, the balance link 232 between the second connecting part of the first folding telescopic frame 231a and the second connecting part of the third folding telescopic frame 231c, the balance link 232 between the second connecting part of the first folding telescopic frame 231a and the fourth connecting part of the second folding telescopic frame 231b, and the balance link 232 between the second connecting part of the third folding telescopic frame 231a and the fourth connecting part of the fourth folding telescopic frame 231d are all integral structures. On the one hand, the integral structure of the balance link can connect all the folding telescopic frames together, which is beneficial to further improve the synchronization of the telescopic movement 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 is one or more folding units 2310 between the first balance link and the second balance link. The first balance link and the second balance link are two adjacent balance links 232 in the telescopic direction x among the balance links connecting two adjacent folding telescopic frames. For example... Figure 6 In this configuration, there is a folding unit 2310 between the first balance link and the second balance link. Alternatively, there may be multiple folding units 2310 between the first balance link and the second balance link, such as two or three.

[0077] In the embodiments disclosed herein, such as Figure 6 and Figure 7 As shown, the telescopic component 23 also includes at least one magnet 234, and at least one magnet 234 is connected to the middle of at least one balance link 232. The magnet 234 can attract the support member 12 of the flexible display module 10, preventing the flexible display module 10 from wrinkling, improving the flatness of the flexible display module 10, and thus improving the display effect.

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

[0079] Optionally, such as Figure 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 balance link 232. The first connecting rod 232a and the second connecting rod 232b are located on both sides of the balance link 232 in the telescopic direction. For example, the first connecting rod 232a is located on the left side of the corresponding balance link 232, and the second connecting rod 232b is located on the right side of the corresponding balance link 232. The length direction of both the first connecting rod 232a and the second connecting rod 232b is consistent with the telescopic direction x. The first connecting rod 232a and the second connecting rod 232b are staggered 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 centerline 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 near the flexible display module has a first mounting groove 232c, in which the first magnet is located. The surface of the second connecting rod 232b near the flexible display module has a second mounting groove 232d, in which the second magnet is located.

[0081] Because the first connecting rod and the second connecting rod are staggered in the first direction y, the first connecting rod and the second connecting rod do not affect the folding function of the folding telescopic frame when multiple folding telescopic frames are in the folded state. When multiple folding telescopic frames are in the unfolded state, since the first connecting rod 232a and the second connecting rod 232b are located on both sides of the balance link 232 in the telescopic direction, the flexible display module can be simultaneously adsorbed on both sides of the balance link 232, which helps improve the flatness of the flexible display module.

[0082] Optionally, see Figure 6 and Figure 7The telescopic assembly may also include multiple synchronous links 233. For example, the synchronous link 233 is located between the first connecting part of the first folding telescopic frame 231a and the third connecting part of the second folding telescopic frame 231b. During the telescopic process of the telescopic assembly 23, the first connecting part and the second connecting part will both be displaced in the telescopic direction x and the first direction y. However, the distance between the first connecting part and the second connecting part will not change. Therefore, a synchronous link can be set between the first connecting part and the second connecting part without affecting the telescopic action of the telescopic assembly, while improving the synchronization of the movement of the first connecting part and the second connecting part.

[0083] Figure 10 This is a schematic diagram of the telescopic mechanism in a retracted state according to some embodiments of the present disclosure. Figure 11 This is a schematic diagram showing the telescopic mechanism in its deployed state according to some embodiments of this disclosure. For example... Figure 10 and Figure 11 As shown, unlike the previous embodiments, the display device also includes a reel motor 26 and a lead screw motor 27. Furthermore, in this embodiment, the winding assembly includes only one reel 211, with the flexible display panel 11 and the support member 12 attached together and wound up via the reel 211.

[0084] like Figure 11 As shown, the lead screw motor 27 is disposed between the fixed part 21 and the balance link 232 closest to the fixed part 21. Specifically, refer to... Figure 9 As shown, the lead screw motor 27 is connected between the fixed part 21 and the first hinge shaft in the first shaft hole c1 of the balance link 232 closest to the fixed part 21. Driven by the lead screw motor 27, the balance link 232 can move away from or towards the fixed part 21, thereby realizing the extension and retraction of the telescopic component 23.

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

[0086] Figure 12a This is a perspective view of a reel motor and its transmission structure according to some embodiments of the present disclosure. Figure 12bThis is a schematic diagram illustrating a flexible display module driven by a reel motor to wind up a reel, according to some embodiments of the present disclosure. In some embodiments, the fixing part 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 part 22. The display device also includes a reel motor 26, which is fixed to the fixing part 21 and connected to the reel 211 via a transmission gear set 28.

[0087] like Figure 12a and Figure 12b As shown, the rotating reel motor 26 rotates, driving the transmission gear set 28 to rotate, which in turn drives the reel 211 to rotate, thereby winding the flexible display panel 11 and the support member 12 onto the reel 211, or unwinding the flexible display panel 11 from the reel 211, thus extending it from the fixing part 21. Furthermore, as... Figure 12a and Figure 12b As shown, in some embodiments, the telescopic mechanism 20 further includes guide wheels 212 for guiding the flexible display panel 11 and the support member 12 to be wound onto the reel 211. In addition, the telescopic mechanism is equipped with an angle sensor for measuring the actual rotation angle and number of rotations of the reel 211.

[0088] In an embodiment according to this disclosure, a reel motor 26, in conjunction with a transmission gear set 28, drives a reel 211 to amplify the output torque. A lead screw motor 27, in conjunction with a reel motor 26, controls and adjusts the tension of the flexible display module 10.

[0089] Optionally, a bending sensor and a tension sensor can be built into the flexible display module 10 or the display device. In this case, the bending state of the flexible display module 10 (flatness when unfolded) and the flattening tension of the flexible display panel 11 can be measured by the bending sensor and the tension sensor, respectively. Thus, the bending state of the flexible display module 10 (flatness when unfolded) and the flattening tension of the flexible display panel 11, together with the end position of the flexible display module 10, can serve as a compensation control feedback signal, ensuring smooth force application during the movement of the flexible display module 10 and improving the user experience.

[0090] Optionally, the flexible display module 10 or the display device may include only one of a bending sensor and a tension sensor. In this way, only one of the bending state of the flexible display module 10 (flatness when unfolded) and the unfolding tension of the flexible display panel 11, together with the end position of the flexible display module 10, serves as the compensation control feedback signal.

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

[0092] However, as Figure 4 and Figure 5 As shown, since the folding telescopic frame 231 used in this disclosure includes multiple links, and the links are transmitted through a toothed structure 2d, the transmission stages are numerous (7 stages of transmission through the toothed structure 2d), the vacancy will be amplified, which can easily lead to problems such as the flexible display module 10 bulging.

[0093] Therefore, an embodiment of the present disclosure provides a display device that can eliminate the above-mentioned technical problems. Figure 13 This is a schematic diagram of the folding telescopic frame of the telescopic assembly in the unfolded state according to some embodiments of this disclosure. For example... Figure 13 As shown, the four folding telescopic frames are, from top to bottom, 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. The third folding telescopic frame 231c and the first folding telescopic frame 231a are arranged symmetrically 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 arranged symmetrically about the first center line O.

[0094] In some embodiments, each folding telescopic frame 231 includes a plurality of folding units 2310 connected sequentially along the telescopic direction x, and each folding unit 2310 has a translation portion 2310a. A balance link 232 connects 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 telescopic frames 231 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 their connection relationships, can be found in the documentation regarding... Figure 5 and Figure 6 The explanation will not be repeated here.

[0096] and Figure 5 and Figure 6 The example differs in that, except for the balance link 232 connected to the lead screw motor 27, all other balance links 232 are equipped with angle sensors. For example, as Figure 13 As shown in the figure, the three balance links 232 on the right side are respectively equipped 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 used to measure the included angle between the balance link 232 and other links connected to the balance link 232.

[0097] By installing an angle sensor on the balance link 232, it is possible to compensate for the misalignment caused by multi-stage transmission.

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

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

[0100]

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

[0102] Furthermore, since the relationship between the number of winding turns of the flexible display module 10 and the minimum winding force and the stress on the film layer of the flexible display module 10 is not constant, when the number of winding turns is large, the winding force is large and the stress on the film layer is large; when the number of winding turns is small, the minimum winding force is small and the stress on the film layer is small. Therefore, the motor control position compensation value can be adjusted to optimize the tension during the winding and unwinding process, so as to keep the flexible display module 10 flat throughout the entire movement and minimize the tension, thereby improving the winding reliability of the flexible display module 10 and optimizing the power consumption of the motor.

[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 enables the flexible display module to remain flat throughout the entire movement. Figure 14 This is a flowchart illustrating 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. In some embodiments, such as Figure 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 values ​​of the entire machine's unfolding / closing action. The displacement position is the desired position of the flexible display module 10. When the target sliding stroke of the lead screw motor 27 is D, the ideal displacement position of the entire machine is 4D. The speed input value represents the desired extension and retraction speed of the flexible display module 10.

[0106] S3. Calculate the input / compensation values ​​of the angular displacement and angular velocity of the lead 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 values ​​are calculated in step S3.

[0107] S4. Calculate the corresponding lead screw motor angular displacement and angular velocity input / compensation values. The corresponding lead screw motor angular displacement and angular velocity input values ​​are calculated based on the principle of maintaining the winding length of the flexible display module 10 on the scroll 211 equal to the extension length of the flexible display module 10. When compensation is involved, the corresponding lead screw motor angular displacement and velocity compensation values ​​are calculated in step S4.

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

[0109] S6. Read the values ​​from the lead screw and reel angle sensors. At this time, read the angles measured by the angle sensor on the lead screw motor and the angle measured by the angle sensor on the reel motor.

[0110] S7. Detect motion error. Based on the angle read in step S6, determine whether there is a motion error. If a motion error exists, 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. Combined with... Figure 13 As shown, in Figure 13 In this embodiment, the values ​​read are those 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 entire machine. (Combined with...) Figure 13 As shown, in Figure 13 In this embodiment, assuming the target value of the real-time sliding stroke of the lead screw motor 27 is D, the real-time actual opening angles θ1, θ2, and θ3 of the connecting rods are measured by the angle sensors AS1, AS2, and AS3, and the real-time actual total opening length of the bracket L1+L2+L3+L4 can be calculated. Here, L1 is calculated based on the angle measured by the angle sensor on the lead screw motor 27, and L2, L3, and L4 are calculated based on the actual opening angles θ1, θ2, and θ3 of the connecting rods.

[0113] S10. Determine if the destination has been reached. (Combined with...) Figure 13 As shown, in Figure 13 In this embodiment, D is compared with (L1+L2+L3+L4) / 4; if D = (L1+L2+L3+L4) / 4, it indicates that the endpoint position has been reached, and the lead screw motor 27 and the reel motor 26 are terminated. If D is not equal to (L1+L2+L3+L4) / 4, then illusory position compensation feedback control is performed, and the process returns to step S3. Figure 13 In this embodiment, the lead screw motor slip compensation value is D-(L1+L2+L3+L4) / 4.

[0114] In some embodiments, when the folding telescopic frame 231 includes n folding units 2310 connected sequentially along the telescopic direction x, where 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] Where D is the target value of the sliding stroke of the lead screw motor 27; L1 is the actual sliding distance of the lead screw motor 27; Li is the extension and retraction 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. In this case, in step S10, data such as the bending state of the flexible display module 10 (flatness when unfolded) and / or the unfolding tension of the flexible display panel 11, together with the end position of the flexible display module 10, can be used as a compensation control feedback signal to ensure that the flexible display module 10 is subjected to force smoothly during its movement, thereby improving the user experience.

[0118] For illustrative and descriptive purposes, the foregoing description of embodiments of the invention has been provided. It is not exhaustive, nor is it intended to limit the invention to the precise forms or exemplary embodiments disclosed. Therefore, the foregoing description should be considered illustrative rather than restrictive. Clearly, many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described to explain the principles of the invention and its best mode of practical application, thereby enabling those skilled in the art to understand the various embodiments of the invention and the various modifications suitable for the particular use or implementation contemplated. The scope of the invention is intended to be defined by the appended claims and their equivalents, wherein, unless otherwise stated, all terms are to be interpreted in their broadest reasonable sense. Therefore, the terms “the invention,” “the present invention,” etc., do not necessarily limit the scope of the claims to specific examples, and references to exemplary embodiments of the invention do not imply limitation of the invention, nor should such limitation be inferred. The invention is defined only by the spirit and scope of the appended claims. Furthermore, these claims may involve the use of “first,” “second,” etc., followed by nouns or elements. These terms should be understood as nomenclature and should not be construed 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 invention. It should be understood that changes to the described embodiments can be made by those skilled in the art without departing from the scope of the invention as defined by the appended claims. Furthermore, the elements and components in this disclosure are not intended for public distribution, whether or not they are expressly recited in the appended claims.

Claims

1. A display device, comprising: Flexible display module; A telescopic mechanism includes a fixed part, a movable part, and a telescopic assembly. The fixed part includes a scroll, one end of a flexible display module is connected to the scroll, and the other end is connected to the movable part. The telescopic assembly includes multiple folding telescopic frames, at least one of the folding telescopic frames includes multiple connecting rods connected in sequence, and each folding telescopic frame has at least one translation part. During the extension and retraction of the folding telescopic frame, the distance between the translation part and the first center line of the telescopic assembly remains unchanged. The extension direction of the first center line is consistent with the extension and retraction direction of the folding telescopic frame. The translation parts of any two adjacent folding telescopic frames are connected by a balance link. A reel motor, fixed to the fixed part and connected to the reel via a transmission gear set; and A lead screw motor is disposed between the fixed part and the balance connecting rod closest to the fixed part. The telescopic assembly further includes an angle sensor for measuring the angle between the balance link and the connecting rod in the folding telescopic frame that connects to the balance link. The lead screw motor and the winding motor are configured to compensate for the winding and unfolding of the flexible display module based on the angle sensed by the angle sensor. Each of the folding telescopic frames includes n folding units connected sequentially along the telescopic direction. Each folding unit has a translational part, such that the telescopic length of the folding telescopic frame is n times the sliding stroke of the lead screw motor, where 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: D-(L1+ ) / n; Where D is the target sliding stroke value of the lead screw motor; L1 is the actual sliding distance of the lead screw motor; Li is the extension / retraction amount of the i-th folding unit, calculated based on the angle sensed by the angle sensor, where i≥2. The telescopic assembly further includes at least one magnet, and at least one magnet is connected to the middle of at least one balance link.

2. The display device according to claim 1, wherein, The lead screw motor and the reel motor are configured to drive the flexible display module to wind up and unwind in a coordinated manner, such that the winding length of the flexible display module on the reel is equal to the extension length of the flexible display module.

3. The display device according to claim 1, wherein, One end of the lead screw motor is connected to the fixed part, and the other end is connected to the first hinge shaft, which is located in the first shaft hole of the balance link closest to the fixed part.

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

5. The display device according to any one of claims 1 to 3, wherein, The telescopic mechanism is also equipped with an angle sensor to measure the actual rotation angle and number of rotations of the reel.

6. The display device according to any one of claims 1 to 3, wherein, The telescopic mechanism further includes two telescopic slide rails, which are located on both sides of the telescopic component 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. 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.

7. The display device according to any one of claims 1 to 3, wherein, The telescopic mechanism also includes a rear housing, and the telescopic assembly is located within the rear housing. The rear shell includes a first fixed sub-shell, a second fixed sub-shell, and at least one intermediate sub-shell. The first fixed sub-shell is connected to the fixed part, the second fixed sub-shell is connected to the movable part, and the at least one intermediate sub-shell is sequentially connected between the first fixed sub-shell and the second fixed sub-shell.

8. The display device according to any one of claims 1 to 3, wherein, The flexible display module includes a flexible display panel and a support member. The flexible display panel is attached to the support member and is wound up by the roller.

9. The display device according to any one of claims 1 to 3, wherein, The telescopic assembly further includes a first connecting rod and a second connecting rod, both of which are connected to the middle of the balance link. The first connecting rod and the second connecting rod are located on both sides of the balance link in the telescopic direction, and are staggered from each other in a first direction, which is perpendicular to the telescopic direction.

10. The display device according to any one of claims 1 to 3, wherein, Except for the balance link connected to the lead screw motor, all other balance links are equipped with angle sensors, which are configured to measure the angle between the balance link and other links connected to the balance link.

11. A method for controlling the extension and retraction of a flexible display module in a display device, wherein, The display device includes: Flexible display module; The telescopic mechanism includes a fixed part, a movable part, and a telescopic assembly. The fixed part includes 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 includes multiple folding telescopic frames, each folding telescopic frame includes multiple connecting rods connected in sequence, and the translation parts of any two adjacent folding telescopic frames are connected by a balance link. A reel motor, fixed to the fixed part and connected to the reel via a transmission gear set; and A lead screw motor is disposed between the fixed part and the balance connecting rod closest to the fixed part. The telescopic assembly further includes an angle sensor for measuring the angle between the balance link and the connecting rod in the folding telescopic frame that connects to the balance link. The method includes: Based on the angle sensed by the angle sensor, the lead screw motor and the winding motor are driven to compensate for the winding and unfolding of the flexible display module. The folding telescopic frame comprises n folding units connected sequentially along the telescopic direction. Each folding unit has the translational part, such that the telescopic length of the folding telescopic frame is n times the sliding stroke of the lead screw motor, where 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: D-(L1+ ) / n; Where D is the target sliding stroke value of the lead screw motor; L1 is the actual sliding distance of the lead screw motor; Li is the extension / retraction amount of the i-th folding unit, calculated based on the angle sensed by the angle sensor, where i≥2. The telescopic assembly further includes at least one magnet, and at least one magnet is connected to the middle of at least one balance link.

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