Miniature gimbal, camera module and electronic device

Abstract

This application discloses a miniature gimbal, camera module, and electronic device, including a first bracket, a second bracket, a third bracket, a platform, a first driving component, a second driving component, and a third driving component. The second bracket is located inside the first bracket and is rotatably connected to the first bracket about a first axis. The third bracket is located inside the second bracket and is rotatably connected to the second bracket about a second axis. The platform is located inside the third bracket and is rotatably connected to the third bracket about a third axis. The first driving component drives the second bracket to rotate relative to the first bracket. The second driving component drives the third bracket to rotate relative to the second bracket. The third driving component drives the platform to rotate relative to the third bracket. In this application, the miniature gimbal adopts a nested bracket design and is equipped with three independently decoupled rotating driving components, so that the miniature gimbal can achieve three-axis rotation without crosstalk, and can achieve a larger angle of rotation when performing image stabilization.

Description

Technical Field

[0001] This application relates to the field of optical image stabilization technology, and more specifically, to a miniature gimbal, camera module, and electronic device. Background Technology

[0002] Currently available electronic devices using miniature gimbal cameras encapsulate the image sensor and lens on a cross-shaped bracket, which is then mounted within a drive frame. The drive frame is then mounted on a drive base. The drive frame drives the bracket to rotate around the X and Y axes, while the drive base drives the drive frame and bracket together to rotate around the Z axis. This allows the camera to rotate along three axes to compensate for lens shake during shooting, thus achieving image stabilization.

[0003] Since the camera's X-axis and Y-axis rotation is achieved through the same set of drive frames and brackets, when the bracket rotates around one axis, it will inevitably affect the bracket's rotation angle around the other axis, resulting in crosstalk. This increases the difficulty for the image stabilization system to determine the actual amount of bracket rotation and also limits the actual rotation angle of the bracket. Summary of the Invention

[0004] The purpose of this application is to provide a miniature gimbal, camera module and electronic device, in which the first bracket, second bracket, third bracket and platform are nested in sequence, and three independent decoupled rotation drive components are set for driving the second bracket, third bracket and platform respectively, so that the miniature gimbal can achieve three-axis rotation without crosstalk, and can achieve a larger angle of rotation when performing the image stabilization function.

[0005] In one aspect, this application provides a miniature gimbal, including a first bracket, a second bracket, a third bracket, a platform, a first drive component, a second drive component, and a third drive component.

[0006] The second bracket is located inside the first bracket and is rotatably connected to the first bracket about the first axis.

[0007] The third bracket is located inside the second bracket and is rotatably connected to the second bracket about the second axis.

[0008] The platform is located inside the third support and is rotatably connected to the third support about the third axis. The first axis, the second axis, and the third axis are perpendicular to each other.

[0009] The first driving component is used to drive the second bracket to rotate relative to the first bracket.

[0010] The second driving component is used to drive the third support to rotate relative to the second support.

[0011] The third driving component is used to drive the platform to rotate relative to the third support.

[0012] The miniature gimbal in this application employs a nested design of a first bracket, a second bracket, a third bracket, and a platform, each with three independently decoupled rotating drive components. The first drive component drives the second bracket to rotate around a first axis, which in turn drives the third bracket and the platform to rotate synchronously around a third axis. The second drive component drives the third bracket to rotate around a second axis, which in turn drives the platform to rotate synchronously around a second axis. The third drive component directly drives the platform to rotate around the third axis. During image stabilization, the platform and the lens assembly on it are free from crosstalk, allowing for relatively independent determination of the actual rotation of the lens assembly around each axis, thus reducing the computational complexity of the image stabilization system. Furthermore, since there is no crosstalk between the brackets or platform during rotation, no compensation rotation is required. Therefore, the maximum rotation angle initially designed for the brackets or platform is the actual achievable rotation angle, enabling larger rotation angles during image stabilization.

[0013] In one possible design, the first bracket and the second bracket are rotatably connected by a first rotating shaft and a second rotating shaft, which are distributed along the first axis.

[0014] A first ball bearing and a second ball bearing are circumferentially arranged between the first support and the second support. The first ball bearings are circumferentially distributed around the first axis of rotation, and the second ball bearings are circumferentially distributed around the second axis of rotation.

[0015] Compared to other rotating connection methods, it is easier to implement. In addition, the first ball bearing and the second ball bearing are set between the first bracket and the second bracket, so that the frictional resistance generated when the first bracket and the second bracket rotate relative to each other is a small rolling frictional resistance. This ensures the flexibility of the first bracket and the second bracket when rotating relative to each other, thereby reducing the load and design difficulty of the first drive component, and thus reducing the overall design difficulty of the micro gimbal.

[0016] In one possible design, the first bracket has a first hole at the location where the second rotating shaft is set, a first plate is set in the first hole, a first sleeve is fixedly inserted through the first plate, and the first sleeve is fixed to the second rotating shaft.

[0017] The second bracket is provided with a bushing that rotatably engages with the first and second rotating shafts, and the first bracket is also provided with a bushing that is fixed to the first rotating shaft.

[0018] The first support is provided with a first pressure plate, which covers the opening of the first hole and is fixed to the first sleeve and the first support respectively, so that the first plate and the second ball elastically abut against each other, so as to press the second ball, the second support, the first ball and the first support in sequence in a direction parallel to the first axis.

[0019] The first pressure plate allows the first plate to elastically abut against the second ball, thereby pressing the second ball, the second bracket, the first ball, and the first bracket in sequence, so that the second bracket will not move inside the first bracket, thus improving the rotational accuracy of the second bracket when performing the anti-shake function.

[0020] In one possible design, at the first pivot, the first bracket and / or the second bracket are provided with a first limiting groove to accommodate the first ball.

[0021] At the second pivot, the second bracket has a second limiting groove for accommodating the second ball.

[0022] This ensures that the first and second balls are respectively constrained around the first and second rotating shafts to prevent them from dislodging and moving elsewhere, thus ensuring the rotational stability of the second support.

[0023] In one possible design, the second and third supports are rotatably connected by a third and a fourth pivot, which are distributed along the second axis.

[0024] A third ball bearing and a fourth ball bearing are rolled between the second support and the third support. The third ball bearings are circumferentially distributed around the third axis, and the fourth ball bearings are circumferentially distributed around the fourth axis.

[0025] It is easier to implement than other rotating connection methods. It ensures flexibility when the second and third supports rotate relative to each other, thereby reducing the load and design complexity of the second drive component.

[0026] In one possible design, the second bracket has a second hole at the location where the fourth rotating shaft is set, a second plate is set in the second hole, a second sleeve is fixedly inserted through the second plate, and the second sleeve is fixed to the fourth rotating shaft.

[0027] The third bracket is equipped with a bushing that rotatably engages with the third and fourth rotating shafts, and the second bracket is also equipped with a bushing that is fixed to the third rotating shaft.

[0028] The second bracket is provided with a second pressure plate, which covers the opening of the second hole and is fixed to the second sleeve and the second bracket respectively, so that the second plate and the fourth ball elastically abut against each other, so as to press the fourth ball, the third bracket, the third ball and the second bracket in sequence in a direction parallel to the second axis.

[0029] This prevents the third support from shifting inside the second support, thereby improving the rotational accuracy of the third support when performing the anti-shake function.

[0030] In one possible design, at the third pivot, the second and / or third brackets are provided with a third limiting groove to accommodate the third ball.

[0031] At the fourth pivot, the third bracket has a fourth limiting groove to accommodate the fourth ball bearing.

[0032] To prevent the third and fourth ball bearings from dislodging and moving elsewhere, ensuring the rotational stability of the third support.

[0033] In one possible design, the third support is rotatably connected to the platform via a fifth pivot.

[0034] A fifth ball bearing is rolled between the third support and the platform, and multiple fifth balls bearings are circumferentially distributed around the fifth axis of rotation.

[0035] It is easier to implement than other rotating connection methods. It ensures flexibility when the third support rotates relative to the platform, thereby reducing the load and design complexity of the third drive component.

[0036] In one possible design, the stage is equipped with a third sleeve, which is fixed to the fifth rotating shaft.

[0037] The third bracket is equipped with a bushing that rotates with the fifth rotating shaft.

[0038] The third support and the platform are equipped with magnetic attraction components, which attract each other to press the platform, the fifth ball bearing, and the third support together in a direction parallel to the third axis.

[0039] This prevents the stage from shifting inside the third support, thereby improving the rotational accuracy of the stage when performing the anti-shake function.

[0040] In one possible design, the third drive element includes a third magnet fixed to the stage, and a second reinforcing plate is fixed to the third support.

[0041] The third magnet and the second reinforcing plate together form a magnetic attraction assembly.

[0042] This allows the second reinforcing plate to have a "multi-purpose" effect, reducing manufacturing costs.

[0043] In one possible design, the third support and / or platform has a fifth limiting groove for accommodating the fifth ball.

[0044] To prevent the fifth ball from dislodging and moving elsewhere, ensuring the rotational stability of the stage.

[0045] In one possible design, the first driving element includes a first coil and a first magnet. There are two first coils located on both sides of a first shaft, and there are two first magnets arranged in a one-to-one correspondence with the first coils.

[0046] Two first coils are located on both sides of the first shaft, and two first magnets are located on both sides of the first shaft, which allows for more precise control of the rotation angle of the second support.

[0047] In one possible design, the outer peripheral wall of the second bracket has two first mounting slots, and two first magnets are respectively fixed in the two first mounting slots. The first bracket has first mounting holes at the part opposite to the two first mounting slots, and two first coils are respectively fixed in the two first mounting holes.

[0048] This installation method is simple in structure and easy to implement.

[0049] In one possible design, the second driving element includes a second coil and a second magnet. There are two second coils located on both sides of the second shaft, and there are two second magnets arranged in a one-to-one correspondence with the second coils.

[0050] In one possible design, the inner peripheral wall of the second bracket has two second mounting slots, and the two second magnets are respectively fixed in the two second mounting slots. The third bracket has a third mounting slot at the part opposite to the two second mounting slots, and the two second coils are respectively fixed in the two third mounting slots.

[0051] In one possible design, the third drive element includes a third coil and a third magnet. There are two third coils located on both sides of the third shaft, and there are two third magnets arranged in a one-to-one correspondence with the third coils.

[0052] In one possible design, the bottom wall of the third support has two second mounting holes, and the two third coils are fixed in the two second mounting holes respectively. The platform has a fourth mounting groove at the part opposite to the two second mounting holes, and the two third magnets are fixed in the two fourth mounting grooves respectively.

[0053] In one possible design, the miniature gimbal also includes a coil carrier plate, which comprises a first part, a second part, and a third part. The first part and the third part are sheet-like and respectively provided with a first coil and a third coil. The second part is strip-like and is used to connect the first part, the third part, and the second coil.

[0054] The first part has a first reinforcing plate on the side opposite to the first coil, and the first reinforcing plate is fixed to the first bracket. The third part has a second reinforcing plate on the side opposite to the third coil, and the second reinforcing plate is fixed to the third bracket.

[0055] The first and second reinforcing plates are fixed to the first and third brackets respectively, thereby allowing the first coil to be securely suspended in the first mounting hole and the third coil to be securely suspended in the second mounting hole.

[0056] In one possible design, the first limiting groove is arc-shaped and has a trapezoidal cross-section. The number of first limiting grooves on the first or second bracket is multiple and they are symmetrically distributed relative to the first axis.

[0057] This reduces damage to the second support substrate and ensures the strength and reliability of the second support. Furthermore, the first limiting groove has a trapezoidal cross-sectional shape, eliminating the need to excessively consider the fit between the groove width and the first ball bearing, thus reducing manufacturing difficulty.

[0058] In one possible design, the first limiting groove is annular and has a trapezoidal cross-sectional shape.

[0059] This allows multiple first balls to be evenly distributed in the annular first limiting groove, thereby forming uniform rotational support at the rotational connection between the first bracket and the second bracket.

[0060] Secondly, this application also provides a camera module, including a housing, a lens assembly, and a miniature gimbal of any of the above. The housing is fixed to the bottom wall of the first bracket, the lens assembly is fixed to the platform, and a portion of the lens assembly is located inside the housing.

[0061] The camera module in this application, since it includes the aforementioned miniature gimbal, also has the technical effects of the aforementioned miniature gimbal, which will not be elaborated here.

[0062] In one possible design, the lens assembly also includes two data transmission components arranged symmetrically with respect to the first axis. The first end of the data transmission component is connected to the lens assembly, and the second end of the data transmission component extends out of the housing.

[0063] From the first end to the second end, the data transmission member has a first member that bends and extends in a direction parallel to the third axis, a second member that bends and extends in a direction parallel to the first axis, a third member that bends and extends in a direction parallel to the third axis, a fourth member that extends in a direction parallel to the second axis, a fifth member that bends and extends in a direction parallel to the first axis, a sixth member that bends and extends in a direction parallel to the second axis, and a seventh member that extends in a direction parallel to the third axis.

[0064] The data transmission component in this application has six bends from the first end to the second end, which gives the data transmission component a certain extension margin. When the lens assembly is driven to rotate by the micro gimbal, the data transmission component is stretched and deformed, thereby preventing the data transmission component from being stretched by the lens assembly and causing the electrical connection at both ends to fail, thus ensuring the reliability of data transmission.

[0065] Meanwhile, the data transmission component has six bends, giving it a degree of freedom to be dragged and stretched in multiple directions. This ensures that when the lens assembly is rotated by the micro gimbal, the data transmission component will not obstruct the lens assembly's rotation around the first, second, and third axes, thus improving the lens assembly's flexibility in performing image stabilization.

[0066] In addition, the above-mentioned structural design of the data transmission component makes the overall structure of the camera module 1 compact. The reason is that the data transmission component avoids the first and second brackets of the micro gimbal and is arranged in the gap between the first and second brackets and the housing. The housing does not need to be designed to be too large to cover the data transmission component and the micro gimbal together, so that the final camera module has a compact overall structure, which is more conducive to miniaturized and thinner application scenarios.

[0067] Thirdly, this application also provides an electronic device, including the aforementioned camera module.

[0068] The electronic device in this application, since it includes the aforementioned camera module, also has the technical effects of the aforementioned camera module, which will not be described in detail here. Attached Figure Description

[0069] Figure 1 This is a schematic diagram of a miniature gimbal camera in related technologies;

[0070] Figure 2 This is a schematic diagram of a smartphone provided in an embodiment of this application;

[0071] Figure 3 This is a schematic diagram of the camera module provided in an embodiment of this application;

[0072] Figure 4 yes Figure 3 Exploded view of the camera module in the image;

[0073] Figure 5 This is a schematic diagram of the lens assembly provided in an embodiment of this application;

[0074] Figure 6 This is a schematic diagram of the data transmission device provided in an embodiment of this application;

[0075] Figure 7 yes Figure 3 A schematic diagram of the camera module hidden in its housing.

[0076] Figure 8 This is a schematic diagram of the miniature gimbal provided in an embodiment of this application;

[0077] Figure 9 yes Figure 8 A schematic diagram of the miniature gimbal from another perspective;

[0078] Figure 10 yes Figure 8 Exploded view of the miniature gimbal in the image;

[0079] Figure 11 yes Figure 8 An exploded view of the miniature gimbal from another perspective;

[0080] Figure 12 This is a cross-sectional view of the miniature gimbal provided in the embodiments of this application;

[0081] Figure 13 yes Figure 12 Enlarged view of point A in the middle;

[0082] Figure 14 yes Figure 12 Enlarged view of point B in the middle;

[0083] Figure 15 yes Figure 12 Enlarged view of point C in the middle;

[0084] Figure 16 This is a cross-sectional view of the miniature gimbal provided in the embodiments of this application from another perspective;

[0085] Figure 17 yes Figure 16 Enlarged view at point D;

[0086] Figure 18 yes Figure 16 Enlarged view at point E in the middle;

[0087] Figure 19 yes Figure 16 Enlarged view at point F;

[0088] Figure 20 This is a partial schematic diagram of the second support provided in an embodiment of this application;

[0089] Figure 21 This is a schematic diagram of the first bracket, the second bracket, and the first driving component provided in the embodiments of this application;

[0090] Figure 22 This is a schematic diagram of the second bracket, the third bracket, and the second driving component provided in the embodiments of this application;

[0091] Figure 23 This is a schematic diagram of the third support, platform, and third driving component provided in the embodiments of this application;

[0092] Figure 24 This is a schematic diagram of the coil carrier provided in an embodiment of this application;

[0093] Figure 25 This is a schematic diagram of the manufacturing method of the miniature gimbal provided in the embodiments of this application.

[0094] Figure label:

[0095] 01. Bracket; 02. Drive frame; 03. Drive base;

[0096] O1, First Axis; O2, Second Axis; O3, Third Axis;

[0097] 10. First bracket; 11. First pressure plate; 12. First hole; 13. First plate; 14. First sleeve; 15. First mounting hole;

[0098] 20. Second bracket; 21. Second pressure plate; 22. Second hole; 23. Second plate; 24. Second sleeve; 25. First mounting groove; 26. Second mounting groove;

[0099] 30. Third bracket; 31. Third mounting slot; 32. Second mounting hole;

[0100] 40. Platform; 41. Fourth mounting slot; 42. Third sleeve;

[0101] 50. First driving element; 51. First coil; 52. First magnet;

[0102] 60. Second driving element; 61. Second coil; 62. Second magnet;

[0103] 70. Third driving component; 71. Third coil; 72. Third magnet;

[0104] 81. First ball; 811. First limiting groove; 82. Second ball; 821. Second limiting groove; 83. Third ball; 831. Third limiting groove; 84. Fourth ball; 841. Fourth limiting groove; 85. Fifth ball; 851. Fifth limiting groove;

[0105] 91. First rotating shaft; 92. Second rotating shaft; 93. Third rotating shaft; 94. Fourth rotating shaft; 95. Fifth rotating shaft; 96. Bushing;

[0106] 10a, Coil carrier plate; 11a, First part; 12a, Second part; 13a, Third part; 14a, First reinforcing plate; 15a, Second reinforcing plate; 100a, Magnetic attraction assembly;

[0107] 100. Miniature gimbal;

[0108] 200. Shell;

[0109] 300. Lens assembly; 301. Housing; 302. Lens element; 303. Circuit board; 304. Image sensor;

[0110] 400. Data transmission component; 401. First component; 402. Second component; 403. Third component; 404. Fourth component; 405. Fifth component; 406. Sixth component; 407. Seventh component; 408. First end; 409. Second end;

[0111] 1000, Camera module; 2000, Housing; 2001, Mid-frame; 2002, Back cover; 3000, Display screen. Detailed Implementation

[0112] The following are exemplary descriptions of relevant content that may be involved in the embodiments of this application. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0113] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0114] In the description of this application, it should be understood that the terms "upper", "lower", "side", "inner", "outer", "top", "bottom", etc., indicate the orientation or positional relationship based on the installation orientation or positional relationship, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0115] It should also be noted that in the embodiments of this application, the same reference numerals are used to represent the same component or part. For the same part in the embodiments of this application, the reference numerals may only be used to mark one part or part as an example in the figure. It should be understood that the reference numerals are also applicable to other identical parts or parts.

[0116] In the description of this application, it should be noted that the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0117] When users take photos using electronic devices such as smartphones and tablets, light passes through the lens and enters the image sensor the moment the shutter is pressed. The image sensor then captures this light to form an image. Since users typically handhold electronic devices, unavoidable camera shake can occur. This shake can cause the image sensor to receive different light sources at the same location, resulting in a blurred image. This problem is particularly noticeable in low-light shooting scenarios. Users often find that photos taken at night are easily blurred because in low light, phones typically use slower shutter speeds to capture more light, which amplifies the effects of camera shake. Even slight movements can easily lead to blurry photos.

[0118] Besides taking photos, video recording is also affected by camera shake. Camera shake reduces the continuity and stability of video footage, especially when the user is walking or moving. In such shaky shooting scenarios, excessive camera shake can drastically reduce video quality, making the video content unreadable.

[0119] To improve the image blurring caused by camera shake in electronic devices, there are currently two main technical approaches. One is optical image stabilization (OIS). Its working principle is to use a gyroscope to detect minute camera shakes and transmit the displacement information generated by the shake to a microprocessor. The microprocessor immediately calculates the amount of displacement that needs to be compensated, and then moves the lens or image sensor in the opposite direction to counteract the displacement deviation between the lens and image sensor caused by camera shake, thereby effectively suppressing the impact of camera shake on the imaging of electronic devices.

[0120] Another approach involves using miniature gimbal technology on electronic devices. As mentioned above, optical image stabilization reduces image shake by moving the lens or image sensor. However, significant movement of the lens relative to the image sensor can cause widespread image quality loss in off-center areas. Unlike optical image stabilization, miniature gimbal technology moves the lens and image sensor as a whole in opposite directions. There is no relative displacement between the lens and the image sensor, effectively solving the problem of image quality loss at the edges and providing a better shooting experience compared to optical image stabilization.

[0121] Figure 1 This is a schematic diagram of a miniature gimbal camera in related technologies. Among them, Figure 1 (a) in the diagram is a schematic of a miniature gimbal camera without image stabilization; Figure 1 (b) is a schematic diagram of a miniature gimbal camera during image stabilization.

[0122] like Figure 1 As shown, currently available electronic devices using miniature gimbal cameras integrate a photosensitive chip with a lens. Figure 1(Not shown in the image) The camera is encapsulated in a cross-shaped bracket 01, which is then mounted within a drive frame 02. The drive frame 02 and bracket 01 are then mounted together on a drive base 03. The drive frame 02 drives the bracket 01 to rotate around the X and Y axes, while the drive base 03 drives the drive frame 02 and bracket 01 together to rotate around the Z axis. This allows the camera to achieve three-axis rotation to compensate for lens shake during shooting, thus achieving image stabilization. It can be seen that since the X and Y axis rotation of the camera is achieved through the same set of drive frames 02 and bracket 01, when the bracket 01 rotates around any one axis, it will inevitably affect the rotation angle of the bracket 01 around the other axis, resulting in crosstalk. This increases the difficulty for the image stabilization system to determine the actual rotation amount of the bracket 01 and also limits the actual rotation angle of the bracket 01.

[0123] like Figure 1 As shown in (b), taking the rotation of bracket 01 around the X-axis as an example, during image stabilization shooting, the rotation of bracket 01 around the X-axis will inevitably cause a positional deviation between bracket 01 and the Y-axis. If bracket 01 needs to perform Y-axis rotation, it is necessary to first compensate for the rotational deviation caused by the X-axis rotation, which increases the difficulty of determining the actual rotation amount of the Y-axis and easily leads to poor image stabilization effect during shooting.

[0124] Furthermore, the existence of crosstalk issues also limits the actual rotation angle of the bracket 01. For example, taking the rotation of the bracket 01 around the X-axis as an example, this rotation will inevitably cause a positional deviation between the bracket 01 and the Y-axis. No matter how much the bracket 01 rotates around the X-axis, there will always be a rotational deviation of n° between the bracket 01 and the Y-axis. Assuming the original design rotation of the bracket 01 around the Y-axis is 10°, if the bracket 01 is required to perform rotation around the Y-axis, the n° rotational deviation must first be compensated for. That is, the actual rotation of the bracket 01 around the Y-axis is always 10° - n°. It is clear that no matter how large the designed rotation of the bracket 01 around the Y-axis is, the actual rotation can never reach that designed angle. Therefore, the angle of the bracket 01 during image stabilization rotation is limited, restricting the actual rotation angle of the bracket 01.

[0125] In view of this, in order to solve the above-mentioned technical problems, this application provides a miniature gimbal, a camera module and an electronic device, which adopts a nested design of the first bracket, the second bracket, the third bracket and the platform, and respectively sets three independent decoupled rotation drive components to drive the second bracket, the third bracket and the platform, so that the miniature gimbal can achieve three-axis rotation without crosstalk, and can achieve a larger angle of rotation when performing the image stabilization function.

[0126] This application first provides an electronic device, which may also be referred to as a mobile device, terminal device, mobile terminal, or terminal. This electronic device includes, but is not limited to, handheld devices, in-vehicle devices, wearable devices, computing devices, or other processing devices connected to a wireless modem. For example, the electronic device may include a smartwatch, smart wristband, smartphone, personal digital assistant (PDA) computer, tablet computer, laptop computer, in-vehicle computer, smart glasses, handheld game console, and other electronic devices with cameras that require camera image stabilization.

[0127] To more conveniently illustrate the electronic devices provided in the embodiments of this application, and as an example rather than a limitation, the technical solutions of this application will be described in detail below using a smartphone as an example.

[0128] Figure 2 This is a schematic diagram of a smartphone provided in an embodiment of this application. Wherein, Figure 2 (a) in the figure is a front view of a smartphone provided in an embodiment of this application; Figure 2 (b) is a schematic diagram of the back of a smartphone provided in an embodiment of this application.

[0129] like Figure 2 As shown, the smartphone provided in this application embodiment includes a display screen 3000, a housing 2000, and a camera module 1000. The housing 2000 further includes a mid-frame 2001 and a back cover 2002. The mid-frame 2001 has a hollow annular structure. The display screen 3000 is fixedly mounted on the front end of the mid-frame 2001, and the back cover 2002 is fixedly mounted on the rear end of the mid-frame 2001. The display screen 3000, the mid-frame 2001, and the back cover 2002 together define the accommodating space of the smartphone, which is used to install various functional components of the smartphone, such as the camera module 1000 in the embodiments described later, as well as other functional components such as a battery, microphone, and processor.

[0130] Optionally, the back cover 2002 can be screwed or snapped onto the middle frame 2001. A sealing ring can be provided between the back cover 2002 and the middle frame 2001 to improve the sealing and waterproofing effect at the joint between the back cover 2002 and the middle frame 2001. The sealing ring can be made of highly elastic materials such as silicone or rubber.

[0131] Optionally, the camera module 1000 can be used for either a rear camera or a front camera. For example, as Figure 2As shown in (a), the front of the smartphone, with camera module 1000 for the front-facing camera.

[0132] Currently, most smartphone rear cameras on the market use "leapfrog" zoom, which means they use two or more lenses with different focal lengths, combined with algorithm-based digital zoom, to achieve hybrid optical zoom.

[0133] Therefore, the number of camera modules 1000 installed is not limited to one; it can be two or even more, for example, as shown below. Figure 2 As shown in (b), four camera modules 1000 are installed on the back of the smartphone. That is, the number of camera modules 1000 installed in this embodiment of the application is not limited.

[0134] In order not to affect the appearance of the smartphone and to protect the camera module 1000, the smartphone also includes a camera deco, which is a hollow shell-shaped decorative piece made of metal or plastic, and the camera module 1000 can be arranged inside the camera deco.

[0135] In addition, smartphones may also include functional components such as: processor, universal serial bus (USB) interface, charging management module, power management module, battery, microphone, mobile communication module, antenna, wireless communication module, audio module, headphone jack, sensor module, buttons, camera, and subscriber identification module (SIM) card interface.

[0136] These functional components can be modified according to user needs. It is understood that the specific embodiments described above are only one specific implementation of this application. Other ways to implement the solution of this application are also within the scope of protection of this application, and will not be elaborated here.

[0137] The camera module 1000 provided in this application will now be described in detail with reference to the accompanying drawings.

[0138] Figure 3 This is a schematic diagram of the camera module 1000 provided in an embodiment of this application. Figure 4 yes Figure 3 An exploded view of the camera module 1000.

[0139] like Figures 3-4As shown in the figure, a camera module 1000 provided in this application embodiment includes a housing 200, a lens assembly 300, a data transmission device 400, and a miniature gimbal 100. The miniature gimbal 100 includes a first support 10, and the housing 200 is fixed to the bottom wall of the first support 10, such that the housing 200 and the bottom wall of the first support 10 enclose a receiving space. Part of the lens assembly 300 and part of the data transmission device 400 are located in the receiving space. The miniature gimbal 100, excluding the bottom wall of the first support 10, is also partially located in the receiving space.

[0140] The miniature gimbal 100 also includes a stage 40 for supporting and fixing the lens assembly 300, enabling the stage 40 to rotate the lens assembly 300 around a first axis O1, a second axis O2, and a third axis O3. The first axis O1, second axis O2, and third axis O3 are mutually perpendicular. The first axis O1 can be understood as the X-axis mentioned earlier, or as the pitch axis in related fields. The second axis O2 can be understood as the Y-axis mentioned earlier, or as the yaw axis in related fields. The third axis O3 can be understood as the Z-axis mentioned earlier, or as the roll axis in related fields. Pitch, yaw, and roll are terms describing the rotation of an object in space, commonly used in computer graphics or aerospace fields.

[0141] Figure 5 This is a schematic diagram of the lens assembly 300 provided in an embodiment of this application. Figure 5 As shown, the lens assembly 300 includes a housing 301, a lens 302, a circuit board 303, a photosensitive chip 304, a focusing mechanism, etc.

[0142] The circuit board 303 can be a printed circuit board (PCB). The housing 301 is fixedly connected to the circuit board 303 to jointly define an accommodating space. This accommodating space is used to install the lens 302, the photosensitive chip 304, the focusing mechanism, etc. The housing 301 is also provided with telescopic holes for avoiding the lens 302.

[0143] Lens 302 is used to send out emitted light to the photosensitive chip 304, that is, to form the light signal of the subject and reflect it to the photosensitive chip 304. Lens 302 can be composed of multiple spherical or aspherical lenses and has optical properties.

[0144] The focusing mechanism drives the lens 302 along the optical axis, allowing it to extend and retract on the housing 301, thereby adjusting the distance between the lens 302 and the photosensitive chip 304 to achieve focusing. The focusing mechanism includes a focusing drive chip, a lens mount, a guide post, a focusing electromagnetic coil, and a focusing magnet. The lens mount is used to mount the lens 302 and is slidably connected to the housing 301 via the guide post or rolling elements. The lens mount can move along the thickness direction of the housing 301, or along the third axis O3. The focusing electromagnetic coil is fixed to the inner wall of the housing 301, and the focusing magnet is fixed to the outer wall of the lens mount. The focusing drive chip adjusts the current direction and magnitude of the focusing electromagnetic coil, generating different electromagnetic directions and intensities to magnetically engage with the focusing magnet. This allows the focusing magnet to drive the lens mount, carrying the lens 302, to reciprocate along the thickness direction of the housing 301, thus achieving focusing.

[0145] The photosensitive chip 304 can be packaged on the circuit board 303 or mounted on a bracket of other components. The photosensitive chip 304 receives the light emitted from the lens 302. Specifically, it performs photoelectric conversion and analog-to-digital (A / D) conversion on the light signal corresponding to the subject, thereby outputting image data for display units such as the display screen 3000. Optionally, the photosensitive chip 304 may include, but is not limited to, a complementary metal-oxide-semiconductor (CMOS) image sensor or a charge-coupled device (CCD) image sensor.

[0146] The circuit board 303 can be directly connected to the platform 40 of the miniature gimbal 100, thereby enabling the lens assembly 300 to be installed and fixed to the miniature gimbal 100. Alternatively, the housing 301 can be extended downward to form a flange, and the flange of the housing 301 can be connected to the platform 40 to achieve the same installation and fixation of the lens assembly 300 to the miniature gimbal 100.

[0147] Optionally, when the circuit board 303 is fixed to the stage 40, it can be bonded by adhesive, secured by screws, inserted by a socket structure, or snapped together by a snap-fit ​​structure.

[0148] Optionally, the camera module 1000 also includes a light filter disposed between the lens 302 and the image sensor 304. The light filter is used to filter out stray light, which can further improve the image quality of the lens 302 on the image sensor 304.

[0149] Optionally, the camera module 1000 also includes a filter bracket with a light-transmitting hole in the middle. On the side near the lens 302, the opening of the light-transmitting hole is recessed inward to form a groove, and the filter is fixedly installed in the groove.

[0150] Figure 6 This is a schematic diagram of the data transmission device 400 provided in an embodiment of this application. Figure 6 As shown, there are two data transmission devices 400 arranged symmetrically with respect to the first axis O1. The first end 408 of the data transmission device 400 is connected to the lens assembly 300, and the second end 409 of the data transmission device 400 extends out of the housing 200. Specifically, the first end 408 of the data transmission device 400 is electrically connected to the circuit board 303 of the lens assembly 300. There are two data transmission devices 400 arranged symmetrically, which are used to electrically connect the positive and negative terminals of the circuit board 303, respectively. The second end 409 of the data transmission device 400 extends out of the housing 200 and is electrically connected to the motherboard. The data transmission device 400 can transmit the image and video signals collected by the photosensitive chip 304 to the system-on-chip (SoC) on the motherboard. At the same time, the SoC chip can also transmit the focus control command to the focus mechanism through the data transmission device 400, and the SoC chip can also transmit the image stabilization rotation command to the driver through the data transmission device 400.

[0151] From the first end 408 to the second end 409, the data transmission member 400 has a first member 401 that bends and extends in a direction parallel to the third axis O3, a second member 402 that bends and extends in a direction parallel to the first axis O1, a third member 403 that bends and extends in a direction parallel to the third axis O3, a fourth member 404 that extends in a direction parallel to the second axis O2, a fifth member 405 that bends and extends in a direction parallel to the first axis O1, a sixth member 406 that bends and extends in a direction parallel to the second axis O2, and a seventh member 407 that extends in a direction parallel to the third axis O3.

[0152] It should be noted that the terms "parallel" and "perpendicular" used in this application to describe relative positional relationships are relative to the current technological level, and not absolute or strict mathematical definitions. Slight deviations are permissible; approximations of parallelism and perpendicularity are acceptable. For example, "the fifth component 405 is parallel to the first axis O1" means that the fifth component 405 and the first axis O1 are parallel or approximately parallel, and the angle between the fifth component 405 and the first axis O1 can be between 0° and 10°. Similarly, "the first axis O1 is perpendicular to the second axis O2" means that the second axis O2 is perpendicular or approximately perpendicular to each other, and the angle between the first axis O1 and the second axis O2 can be between 85° and 95°.

[0153] In this embodiment, the data transmission device 400 has six bends from its first end 408 to its second end 409, giving it a certain amount of extension allowance. When the lens assembly 300 is driven to rotate by the miniature gimbal 100, the data transmission device 400 is stretched and deformed, thereby preventing the electrical connection at both ends from failing due to the stretching of the data transmission device 400 by the lens assembly 300, and ensuring the reliability of data transmission of the data transmission device 400.

[0154] Meanwhile, the data transmission component 400 has six bends, giving it the freedom to be dragged and stretched in multiple directions. This ensures that when the lens assembly 300 is rotated by the miniature gimbal 100, the data transmission component 400 will not obstruct the rotation of the lens assembly 300 around the first axis O1, the second axis O2, and the third axis O3, thus improving the flexibility of the lens assembly 300 when performing image stabilization.

[0155] Furthermore, the above-mentioned structural design of the data transmission component 400 also makes the overall structure of the camera module 1000 more compact. The specific reasons are as follows: Figure 7 yes Figure 3 A schematic diagram of the camera module 1000 hidden in the housing 200, as shown below. Figure 7 As shown, the data transmission component 400 avoids the first bracket 10 and the second bracket 20 of the miniature gimbal 100 (the first bracket 10 and the second bracket 20 will be described in detail in the following embodiments), and is arranged in the gap between the first bracket 10 and the second bracket 20 and the housing 200. The housing 200 does not need to be designed to be too large to cover the data transmission component 400 and the miniature gimbal 100 together, so that the final camera module 1000 has a compact overall structure, which is more conducive to miniaturized and thinner application scenarios.

[0156] In this embodiment, the data transmission device 400 can be a wire or a flexible printed circuit (FPC).

[0157] Alternatively, the wire can be a bare wire or a flexible flat cable.

[0158] Bare wires refer to products that consist only of a conductor and lack an insulation layer. These include various metals such as copper and aluminum, as well as composite metal round single wires. Typically, apart from bare wires, other types of wires are wrapped with rubber, plastic, or other non-metallic insulation layers outside the conductor.

[0159] Flexible flat cable (FFC) allows for arbitrary selection of the number and spacing of wires, making wiring more convenient. It is best suited for use as a data transmission cable between moving parts and the motherboard, between two printed circuit boards, and in miniaturized electrical devices.

[0160] Flexible circuit boards are highly reliable and extremely flexible circuit boards made with polyimide or polyester film as the substrate.

[0161] Whether it is a bare wire, a conventional wire, a flexible flat cable, or a flexible circuit board, all of them have bendability and will not damage the internal circuit when the data transmission component 400 is bent and shaped as described above. At the same time, when the lens assembly 300 is driven to rotate by the miniature gimbal 100, the lens assembly 300 will not cause the data transmission component 400 to bend or twist further, which will not cause the circuit to break and the signal transmission function to fail.

[0162] The above text provides a macro-level overview of the overall structure of the camera module 1000. The following text will focus on a more detailed description of the miniature gimbal 100, as follows.

[0163] Figure 8 This is a schematic diagram of the miniature gimbal 100 provided in the embodiments of this application. Figure 9 yes Figure 8 A schematic diagram of the miniature gimbal 100 from another perspective. Figure 10 yes Figure 8 An exploded view of the miniature gimbal 100. Figure 11 yes Figure 8 An exploded view of the miniature gimbal 100 from another perspective.

[0164] This application provides a miniature gimbal 100, which includes a first bracket 10, a second bracket 20, a third bracket 30, a platform 40, a first drive component 50, a second drive component 60, and a third drive component 70.

[0165] The first bracket 10 can be composed of two parallel and longitudinally arranged side walls and a horizontally or horizontally placed bottom wall. Of course, the structure of the first bracket 10 is not limited to this, and other designs are also possible, such as not designing a bottom wall, fixing the two side walls with the housing 200 of the camera module 1000, or fixing the two side walls with a connecting rod.

[0166] The second support 20 can be a ring-shaped frame structure, located inside the first support 10. The interior of the first support 10 can be understood as the space enclosed by the side walls and bottom wall of the first support 10. The second support 20 is rotatably connected to the first support 10 around the first axis O1. Specifically, the first support 10 and the second support 20 can be rotatably connected by a rotating shaft. Alternatively, it can be achieved using a circular track and ball bearings or rollers located within the track.

[0167] The third support 30 has a structure roughly similar to the first support 10, and can also consist of two parallel and longitudinally arranged side walls and a horizontally or horizontally placed bottom wall. The third support 30 is located inside the second support 20, where the interior of the second support 20 can be understood as the space enclosed by an annular frame. The third support 30 is rotatably connected to the second support 20 about the second axis O2, specifically through a rotating shaft, or through a circular track and ball bearings or rollers located within the track.

[0168] The platform 40 can be a flat plate structure or a grid structure, etc. The platform 40 is located inside the third support 30, which can be understood as the space enclosed by the side walls and bottom walls of the third support 30. The platform 40 is rotatably connected to the third support 30 around the third axis O3. Specifically, it can be connected by rotating a shaft, or it can be achieved by a circular track and ball bearings or rollers located in the track.

[0169] The first driving member 50 is used to drive the second support 20 to rotate relative to the first support 10. The second driving member 60 is used to drive the third support 30 to rotate relative to the second support 20. The third driving member 70 is used to drive the platform 40 to rotate relative to the third support 30.

[0170] The first driving component 50, the second driving component 60, and the third driving component 70 can all be motors, which are respectively installed on the first support 10, the second support 20, and the third support 30, and drive the second support 20, the third support 30, and the platform 40 to rotate through a reduction gear set; or, the first driving component 50, the second driving component 60, and the third driving component 70 can also be electromagnetic components composed of coils and magnets, which drive the rotation of each support using the principle of electromagnetic force. The specific design scheme will be described in detail in the embodiments described later.

[0171] The miniature gimbal 100 in this embodiment employs a nested design for the first support 10, the second support 20, the third support 30, and the platform 40, each with three independently decoupled rotating drive components. The first drive component 50 drives the second support 20 to rotate around the first axis O1, which in turn drives the third support 30 and the platform 40 to rotate synchronously around the third axis O3. The second drive component 60 drives the third support 30 to rotate around the second axis O2, which in turn drives the platform 40 to rotate synchronously around the second axis O2. The third drive component directly drives the platform 40 to rotate around the third axis O3. The platform 40 and the lens assembly 300 on it are free from crosstalk during image stabilization, allowing for relatively independent determination of the actual rotation of the lens assembly 300 around each axis, thus reducing the computational complexity of the image stabilization system. Furthermore, since the support or platform 40 rotates without crosstalk, no compensation rotation is required. Therefore, the maximum rotation angle initially designed for the support or platform 40 is the actual achievable rotation angle, enabling larger rotation angles during image stabilization.

[0172] Figure 12 This is a cross-sectional view of the miniature gimbal 100 provided in the embodiments of this application. Figure 13 yes Figure 12 Enlarged view of point A in the middle. Figure 14 yes Figure 12 Enlarged view of point B in the middle.

[0173] As mentioned above, the first bracket 10 and the second bracket 20 can be rotatably connected by a pivot, as in one embodiment provided in this application. Figures 12-14 As shown, the first bracket 10 and the second bracket 20 are rotatably connected by a first rotating shaft 91 and a second rotating shaft 92, which are distributed along the first axis O1. In a specific implementation, shaft holes can be directly opened on the first bracket 10 and the second bracket 20, and the first rotating shaft 91 and the second rotating shaft 92 can be inserted into the shaft holes. Alternatively, bushings 96 can be fixedly installed on the first bracket 10 and the second bracket 20, and the first rotating shaft 91 and the second rotating shaft 92 can be inserted into the bushings 96. This can reduce the wear of the first rotating shaft 91 and the second rotating shaft 92.

[0174] A first ball bearing 81 and a second ball bearing 82 are circumferentially arranged between the first support 10 and the second support 20. The first ball bearing 81 is circumferentially distributed around the first rotating shaft 91, and the second ball bearing 82 is circumferentially distributed around the second rotating shaft 92.

[0175] In this embodiment, the first bracket 10 and the second bracket 20 are rotatably connected by a first rotating shaft 91 and a second rotating shaft 92. This connection method is simple and reliable, and easier to implement compared to other rotating connection methods. Furthermore, the first ball bearing 81 and the second ball bearing 82 are provided between the first bracket 10 and the second bracket 20, which reduces the rolling friction resistance generated when the first bracket 10 and the second bracket 20 rotate relative to each other. This ensures the flexibility of the first bracket 10 and the second bracket 20 during relative rotation, thereby reducing the load and design difficulty of the first drive component 50, and consequently reducing the overall design difficulty of the miniature gimbal 100.

[0176] Optionally, the first ball bearing 81 and the second ball bearing 82 may not be provided between the first bracket 10 and the second bracket 20. In this case, the sliding contact part of the first bracket 10 and the second bracket 20 may be provided with a wear-resistant coating or a self-lubricating material, thereby reducing the frictional resistance when the second bracket 20 slides on the first bracket 10, thereby improving the flexibility of the second bracket 20 when rotating.

[0177] The aforementioned wear-resistant coating can be a diamond-like carbon (DLC) coating, which has wear resistance and self-lubricating properties. It can be applied using two methods: physical vapor deposition (PVD) and chemical vapor deposition (CVD).

[0178] The self-lubricating materials mentioned above can be engineering plastics, such as polytetrafluoroethylene (PTFE), polyformaldehyde (POM), polycarbonate (PC), and polyamide (PA).

[0179] The assembly method of the first ball bearing 81 and the second ball bearing 82 will be further described below. First, it's important to understand that, theoretically, after the first bracket 10, the second bracket 20, the first ball bearing 81, and the second ball bearing 82 are assembled, the gap between the first bracket 10 and the second bracket 20 should be just large enough to accommodate the first ball bearing 81 and the second ball bearing 82. This would ensure that the first ball bearing 81 and the second ball bearing 82 tightly press against the first bracket 10 and the second bracket 20, preventing the second bracket 20 from shifting within the first bracket 10, especially along the direction parallel to the first axis O1, thereby improving the rotational accuracy of the second bracket 20 when performing the anti-shake function. However, in actual production, it has been found that any component has unavoidable dimensional and assembly tolerances. These dimensional and assembly tolerances manifest in the first bracket 10 and the second bracket 20 as either too small or too large a gap between them. When the gap between the first support 10 and the second support 20 is too small, the first ball bearing 81 and the second ball bearing 82 will press the first support 10 and the second support 20 too tightly, causing stress to accumulate at the rotating connection of the first support 10 and the second support 20, which may cause excessive wear after prolonged use. When the gap between the first support 10 and the second support 20 is too large, the first ball bearing 81 and the second ball bearing 82 will not be able to press the first support 10 and the second support 20 tightly, making the second support 20 prone to movement inside the first support 10, thus affecting the rotational accuracy of the second support 20 when performing the image stabilization function.

[0180] Therefore, in order to solve the above problems and reduce the impact of dimensional tolerances and assembly tolerances on the rotational accuracy of the second bracket 20, see [link to relevant documentation]. Figures 12-14 As shown, in one embodiment provided in this application, the first bracket 10 has a first hole 12 at the location where the second rotating shaft 92 is set. A first plate 13 is disposed in the first hole 12, and a first sleeve 14 is fixedly inserted through the first plate 13. The first sleeve 14 is fixed to the second rotating shaft 92. The second bracket 20 is provided with a bushing 96 that rotatably engages with the second rotating shaft 92 and the first rotating shaft 91. The first bracket 10 is also provided with a bushing 96 fixed to the first rotating shaft 91. The first bracket 10 is provided with a first pressure plate 11, which covers the opening of the first hole 12 and is fixed to the first sleeve 14 and the first bracket 10 respectively, so that the first plate 13 elastically abuts against the second ball 82, thereby pressing the second ball 82, the second bracket 20, the first ball 81, and the first bracket 10 sequentially in a direction parallel to the first axis O1, that is, in Figure 12 Press them together sequentially in the direction of a.

[0181] In this embodiment, the first plate 13 can be elastically abutted against the second ball 82 by the first pressure plate 11, thereby pressing the second ball 82, the second bracket 20, the first ball 81 and the first bracket 10 in sequence, so that the second bracket 20 will not move inside the first bracket 10, thereby improving the rotational accuracy of the second bracket 20 when performing the anti-shake function.

[0182] To facilitate understanding of the above advantages, the technical principle of this embodiment will now be described in detail with reference to the accompanying drawings: First, it is important to understand that there is a very small gap between the bushing 96 and the first rotating shaft 91 and the second rotating shaft 92. This allows the first rotating shaft 91 and the second rotating shaft 92 to rotate relative to the bushing 96 within the bushing 96. Similarly, due to the small gap, the first rotating shaft 91 and the second rotating shaft 92 can also slide slightly axially relative to the bushing 96. Figure 13 As shown, when the first pressure plate 11 covers the opening of the first hole 12, and the first pressure plate 11 is fixed to the first sleeve 14 and the first bracket 10 respectively, the first plate 13 elastically abuts against the second ball bearing 82, thereby pushing the second bracket 20 and the bushing 96 to move slightly to the left along the second rotating shaft 92 via the second ball bearing 82. While the first pressure plate 11 pushes the second bracket 20 to the left via the second ball bearing 82, on the other side, as shown... Figure 14 As shown, the second bracket 20 and the bushing 96 also move slightly to the left along the first rotating shaft 91, so that the second bracket 20 pushes the first ball 81 to hold tightly against the first bracket 10, thereby achieving the sequential pressing of the second ball 82, the second bracket 20, the first ball 81 and the first bracket 10, so that the second bracket 20 will not move inside the first bracket 10.

[0183] Optionally, to facilitate the positioning and assembly of the first pressure plate 11 and the first bracket 10, a limiting step is provided at the opening of the first hole 12 so that the first pressure plate 11 is fixed to the limiting step.

[0184] Optionally, such as Figure 14 As shown, on the side where the first pressure plate 11 does not need to be covered, the part on the first bracket 10 used to install the first rotating shaft 91 can also be a bushing 96 or a first sleeve 14, which is directly fixed to the first rotating shaft 91. Alternatively, the part on the first bracket 10 used to install the first rotating shaft 91 can have a mounting hole, and the first rotating shaft 91 can be directly fixed in the mounting hole.

[0185] See also Figures 13-14 As shown, in order to limit the first ball 81 and the second ball 82, in one embodiment provided in this application, at the first rotating shaft 91, both the first bracket 10 and the second bracket 20 are provided with a first limiting groove 811 to accommodate the first ball 81. At the second rotating shaft 92, the second bracket 20 is provided with a second limiting groove 821 to accommodate the second ball 82.

[0186] In this embodiment, by opening a first limiting groove 811 for accommodating the first ball 81 in the first bracket 10 and the second bracket 20, and opening a second limiting groove 821 for accommodating the second ball 82 in the second bracket 20, the first ball 81 and the second ball 82 are respectively constrained around the first rotating shaft 91 and the second rotating shaft 92, so as to prevent the first ball 81 and the second ball 82 from dislodging and moving to other places, and ensuring the rotational stability 20 of the second bracket.

[0187] In another embodiment provided in this application, at the first rotating shaft 91, the first bracket 10 and the second bracket 20 do not need to have the first limiting groove 811 opened at the same time. It is sufficient for one of the first bracket 10 and the second bracket 20 to have the first limiting groove 811 opened to accommodate the first ball 81.

[0188] Figure 16 This is a cross-sectional view of the miniature gimbal 100 provided in the embodiments of this application from another perspective. Figure 17 yes Figure 16 Enlarged view of point D in the middle. Figure 18 yes Figure 16 Enlarged view of point E in the middle.

[0189] like Figures 16-18 As shown, in one embodiment provided in this application, the second bracket 20 and the third bracket 30 are rotatably connected by a third rotating shaft 93 and a fourth rotating shaft 94, which are distributed along the second axis O2. Third ball bearings 83 and fourth ball bearings 84 are rolled between the second bracket 20 and the third bracket 30, with the third ball bearings 83 circumferentially distributed around the third rotating shaft 93 and the fourth ball bearings 84 circumferentially distributed around the fourth rotating shaft 94.

[0190] In this embodiment, the second bracket 20 and the third bracket 30 are rotatably connected by a third rotating shaft 93 and a fourth rotating shaft 94. This connection method is simple and reliable, and easier to implement compared to other rotating connection methods. Furthermore, the third ball bearing 83 and the fourth ball bearing 84 are provided between the second bracket 20 and the third bracket 30, which reduces the rolling friction resistance generated when the second bracket 20 and the third bracket 30 rotate relative to each other. This ensures the flexibility of the second bracket 20 and the third bracket 30 during relative rotation, thereby reducing the load and design difficulty of the second drive component 60, and consequently reducing the overall design difficulty of the micro gimbal 100.

[0191] Similarly, to reduce the impact of dimensional and assembly tolerances on the rotational accuracy of the third bracket 30, see [link to relevant documentation]. Figures 16-18As shown, in one embodiment provided in this application, the second bracket 20 has a second hole 22 at the location where the fourth rotating shaft 94 is located. A second plate 23 is disposed in the second hole 22, and a second sleeve 24 is fixedly inserted through the second plate 23. The second sleeve 24 is fixed to the fourth rotating shaft 94. The third bracket 30 is provided with a bushing 96 that rotatably engages with the third rotating shaft 93 and the fourth rotating shaft 94. The second bracket 20 is also provided with a bushing 96 fixed to the third rotating shaft 93. The second bracket 20 is provided with a second pressure plate 21, which covers the opening of the second hole 22 and is fixed to the second sleeve 24 and the second bracket 20 respectively, so that the second plate 23 elastically abuts against the fourth ball 84, thereby pressing the fourth ball 84, the third bracket 30, the third ball 83, and the second bracket 20 sequentially in a direction parallel to the second axis O2, that is, in Figure 16 Press them in sequence along direction b.

[0192] In this embodiment, the second plate 23 can be elastically abutted against the fourth ball 84 by the second pressure plate 21, thereby pressing the fourth ball 84, the third bracket 30, the third ball 83 and the second bracket 20 in sequence, so that the third bracket 30 will not move inside the second bracket 20, thereby improving the rotational accuracy of the third bracket 30 when performing the anti-shake function.

[0193] To facilitate understanding of the above advantages, the technical principles of this embodiment will now be described in detail with reference to the accompanying drawings: Figure 17 As shown, when the second pressure plate 21 covers the opening of the second hole 22, and the second pressure plate 21 is fixed to the second sleeve 24 and the second bracket 20 respectively, the second plate 23 elastically abuts against the fourth ball bearing 84, thereby pushing the third bracket 30 and the bushing 96 to move slightly to the left along the fourth rotating shaft 94 through the fourth ball bearing 84. While the second pressure plate 21 pushes the third bracket 30 to the left through the fourth ball bearing 84, on the other side, as shown... Figure 18 As shown, the third bracket 30 and the bushing 96 also move slightly to the left along the fourth rotating shaft 94, so that the third bracket 30 pushes the third ball 83 to hold tightly against the second bracket 20, thereby achieving the sequential pressing of the fourth ball 84, the third bracket 30, the third ball 83 and the second bracket 20, so that the third bracket 30 will not move inside the second bracket 20.

[0194] Optionally, to facilitate the positioning and assembly of the second pressure plate 21 and the second bracket 20, a limiting step is provided at the opening of the second hole 22 so that the second pressure plate 21 is fixed to the limiting step.

[0195] Optionally, such as Figure 18As shown, on the side where the second pressure plate 21 does not need to be covered, the part on the second bracket 20 used to install the third rotating shaft 93 can also be a bushing 96 or a second sleeve 24, with the bushing 96 or the first sleeve 14 directly fixed to the first rotating shaft 91. Alternatively, a mounting hole can be provided on the part of the second bracket 20 used to install the third rotating shaft 93, and the third rotating shaft 93 can be directly fixed in the mounting hole.

[0196] See also Figures 16-18 As shown, in order to limit the third ball 83 and the fourth ball 84, in one embodiment provided in this application, the second bracket 20 and the third bracket 30 are provided with a third limiting groove 831 to accommodate the third ball 83 at the third rotating shaft 93. At the fourth rotating shaft 94, the third bracket 30 is provided with a fourth limiting groove 841 to accommodate the fourth ball 84.

[0197] In this embodiment, by opening a third limiting groove 831 for accommodating the third ball 83 in the second bracket 20 and the third bracket 30, and opening a fourth limiting groove 841 for accommodating the fourth ball 84 in the third bracket 30, the third ball 83 and the fourth ball 84 are respectively constrained around the third rotating shaft 93 and the fourth rotating shaft 94, so as to prevent the third ball 83 and the fourth ball 84 from dislodging and moving to other places.

[0198] In another embodiment provided in this application, at the third rotating shaft 93, the second bracket 20 and the third bracket 30 do not need to have the third limiting groove 831 opened at the same time. Only one of the second bracket 20 and the third bracket 30 needs to have the third limiting groove 831 opened to accommodate the third ball 83.

[0199] Figure 15 yes Figure 12 A magnified view of point C in the middle. (See image below.) Figure 15 As shown, in one embodiment provided in this application, the third support 30 and the platform 40 are rotatably connected by a fifth rotating shaft 95. A fifth ball bearing 85 is rolled between the third support 30 and the platform 40, and multiple fifth ball bearings 85 are circumferentially distributed around the fifth rotating shaft 95.

[0200] In this embodiment, the third support 30 and the platform 40 are rotatably connected via a fifth rotating shaft 95. This connection method is simple and reliable, and easier to implement compared to other rotating connection methods. Furthermore, the fifth ball bearing 85 is provided between the third support 30 and the platform 40, which reduces the rolling friction resistance generated when the three supports 30 and the platform 40 rotate relative to each other. This ensures the flexibility of the platform 40 and the third support 30 during relative rotation, thereby reducing the load and design complexity of the third drive component 70, and consequently reducing the overall design complexity of the miniature gimbal 100.

[0201] Figure 19 yes Figure 16 A magnified view of point F. Due to the positional relationship between the fifth ball bearing 85 and the third magnet 72, they cannot be displayed simultaneously on the same cross-section; therefore, it is necessary to combine the two cross-sectional views for better viewing. (See image below.) Figure 19 As shown, and in combination Figure 15 As shown, in one embodiment provided in this application, the platform 40 is provided with a third sleeve 42, which is fixed to the fifth rotating shaft 95. The third support 30 is provided with a bushing 96 that rotatably engages with the fifth rotating shaft 95.

[0202] The third support 30 and the platform 40 are equipped with magnetic attraction components 100a. These components attract each other to sequentially press the platform 40, the fifth ball bearing 85, and the third support 30 in a direction parallel to the third axis O3. Figure 15 and Figure 19 Press them together sequentially in the c direction.

[0203] The magnetic attraction component 100a can be a combination of a magnet and a metal sheet, or a combination of two magnets with opposite magnetic poles. In this embodiment, the magnetic attraction component 100a can be composed of a second reinforcing plate 15a and a third magnet 72. The third magnet 72 is a component constituting the third driving member 70, and the second reinforcing plate 15a is a component used to mount the coil carrier plate 10a and prevent magnetic leakage. For a more detailed description, please refer to the content regarding the third driving member 70 and the coil carrier plate 10a in the following embodiments.

[0204] In this embodiment, the magnetic suction assembly 100a can sequentially press the stage 40, the fifth ball bearing 85, and the third support 30 together, so that the stage 40 will not move inside the third support 30, thereby improving the rotational accuracy of the stage 40 when performing the anti-shake function.

[0205] See also Figure 15 As shown, in one embodiment provided in this application, both the third support 30 and the platform 40 are provided with a fifth limiting groove 851 for accommodating the fifth ball 85.

[0206] In this embodiment, by opening a fifth limiting groove 851 for accommodating the fifth ball 85 in the third bracket 30 and the platform 40, the fifth ball 85 is constrained around the fifth rotating shaft 95 to prevent the fifth ball 85 from dislodging and moving elsewhere.

[0207] In another embodiment provided in this application, one of the third support 30 and the stage 40 is provided with a fifth limiting groove 851 for accommodating the fifth ball 85.

[0208] As mentioned above, since the lens 302 is usually composed of multiple spherical or aspherical lenses with optical properties, the lens assembly 300 is relatively bulky. This results in a large load on the stage 40, which may cause the groove wall of the fifth limiting groove 851 to be pressed into the part that contacts the fifth ball 85, thereby affecting the rolling effect of the fifth ball 85 and causing the stage 40 to get stuck.

[0209] Therefore, to solve the above problems, a reinforcing pad can be added to the groove wall of the fifth limiting groove 851. This reinforcing pad is made of a material with high hardness, which can effectively prevent dents from being pressed into the part of the groove wall of the fifth limiting groove 851 that contacts the fifth ball 85. Since the reinforcing pad is only added to the groove wall of the fifth limiting groove 851, the parts of the platform 40 and the third support 30, except for the part where the fifth limiting groove 851 is formed, can use plastic materials with lower hardness, lower cost, and easier processing. This reduces the overall manufacturing cost of the platform 40 and the third support 30 while ensuring strong local hardness.

[0210] Optionally, when the platform 40 and the third support 30 are made of plastic, polyvinyl chloride (PVC), polyethylene (PE), polypropylene (PP), etc. can be selected.

[0211] Alternatively, the reinforcing pad can be made of carbon fiber or metal.

[0212] Specifically, carbon fiber material has higher hardness than conventional plastic material. Even a thin carbon fiber reinforced pad can support the fifth ball bearing 85 without being dented.

[0213] Specifically, the metal reinforcement pad can be a single metal or an alloy. Using an alloy can achieve a greater Brinell hardness. For example, adding elements such as manganese (Mn), chromium (Cr), and tungsten (W) to a steel pad can increase its strength, allowing it to support the fifth ball bearing 85 even when it is thinner without being dented.

[0214] Alternatively, when the stage 40 and the third support 30 are made of plastic, carbon fiber or metal reinforcing pads can be molded onto the stage 40 and the third support 30 using an insert molding method.

[0215] Alternatively, when the reinforcing pad is fixedly connected to the platform 40 and the third bracket 30, it can also be bonded with adhesive, locked with screws, inserted through a socket structure, or snapped together with a snap-fit ​​structure.

[0216] Figure 20 This is a partial schematic diagram of the second support 20 provided in the embodiments of this application.

[0217] like Figure 20 As shown, and in combination Figure 14 As shown, in one embodiment provided in this application, the first limiting groove 811 is arc-shaped and has a trapezoidal cross-section. The second bracket 20 has two first limiting grooves 811, which are symmetrically distributed relative to the first axis O1. The first limiting groove 811 has a trapezoidal cross-section with its long base facing outwards.

[0218] In this embodiment, the first limiting groove 811 for accommodating the first ball bearing 81 is composed of two arc-shaped grooves, which can reduce damage to the base of the second support 20 and ensure the strength and reliability of the second support 20. Furthermore, the cross-sectional shape of the first limiting groove 811 is trapezoidal, thus eliminating the need to excessively consider the fit between the groove width and the first ball bearing 81, thereby reducing manufacturing difficulty. This is because the trapezoidal cross-section allows the groove width to gradually decrease, and the first ball bearing 81 will naturally be inserted into the groove during the pressing process, so there is no need to specifically consider the groove width. Imagine if the cross-section of the first limiting groove 811 were rectangular; then the fit between the groove width and the diameter of the first ball bearing 81 would necessarily need to be considered, which would require higher manufacturing precision and increase the manufacturing difficulty of the second support 20.

[0219] In other embodiments provided in this application, the number of first limiting grooves 811 on the second bracket 20 is three, four, etc., and they are distributed in a centrally symmetrical manner relative to the first axis O1.

[0220] In one embodiment provided in this application, two first ball bearings 81 are provided in each first limiting groove 811. This ensures the supporting balance of the first ball bearings 81 while reducing the number of first ball bearings 81 used, thereby reducing costs.

[0221] In one embodiment provided in this application, the second bracket 20 has one first limiting groove 811, which is an annular through groove containing a plurality of first balls 81 evenly distributed along the circumference of the annulus. The plurality of first balls 81 are evenly distributed in the annular first limiting groove 811, thereby forming a uniform rotational support for the rotational connection between the first bracket 10 and the second bracket 20.

[0222] Similarly, in other embodiments provided in this application, the second limiting groove 821, the third limiting groove 831, the fourth limiting groove 841, and the fifth limiting groove 851 also adopt the design scheme of the first limiting groove 811 in the above embodiments, which will not be described again here.

[0223] As mentioned earlier, the first driving component 50, the second driving component 60, and the third driving component 70 can be electromagnetic components. The specific design scheme of the electromagnetic components will be introduced below.

[0224] Figure 21 This is a schematic diagram of the first bracket 10, the second bracket 20, and the first driving member 50 provided in the embodiments of this application.

[0225] like Figure 21 As shown, in one embodiment provided in this application, the first driving member 50 includes a first coil 51 and a first magnet 52. There are two first coils 51 located on both sides of the first shaft O1, and there are two first magnets 52 arranged in a one-to-one correspondence with the first coils 51.

[0226] In this embodiment, two first coils 51 are located on both sides of the first shaft O1, and two first magnets 52 are located on both sides of the first shaft O1, which can more precisely control the rotation angle of the second support 20.

[0227] Optionally, the mounting base for the first coil 51 and the first magnet 52 is not limited. For example, the first coil 51 can be mounted on the first bracket 10, and the first magnet 52 can be mounted on the second bracket 20; or, the first magnet 52 can be mounted on the second bracket 20, and the first coil 51 can be mounted on the first bracket 10.

[0228] Optionally, each first magnet 52 is configured as two magnet units with opposite magnetic poles. This increases the overall magnetic flux density of the first magnet 52, that is, it increases the magnetic induction intensity, thereby making the surrounding magnetic field stronger. Magnetic induction intensity, also known as magnetic flux density, is a physical quantity that describes the strength and direction of a magnetic field; a larger magnetic induction intensity value indicates a stronger magnetic field.

[0229] See also Figure 21 As shown, in one embodiment provided in this application, the outer peripheral wall of the second bracket 20 is provided with two first mounting grooves 25, and the two first magnets 52 are respectively fixed in the two first mounting grooves 25. The first bracket 10 is provided with first mounting holes 15 at the part opposite to the two first mounting grooves 25, and the two first coils 51 are respectively fixed in the two first mounting holes 15.

[0230] In this embodiment, the mounting base for the first coil 51 and the first magnet 52 is restricted, and the specific mounting method is also restricted. This mounting method has a simple structure and is easy to implement.

[0231] Optionally, when the first magnet 52 is fixedly connected to the first mounting groove 25, it can be bonded with adhesive, locked with screws, inserted with a socket structure, snapped with a snap-fit ​​structure, or the first magnet 52 can be directly embedded and secured in the first mounting groove 25.

[0232] Figure 22 This is a schematic diagram of the second bracket 20, the third bracket 30, and the second driving member 60 provided in the embodiments of this application.

[0233] like Figure 22 As shown, in one embodiment provided in this application, the second driving member 60 includes a second coil 61 and a second magnet 62. There are two second coils 61 located on both sides of the second shaft O2, and there are two second magnets 62 arranged in a one-to-one correspondence with the second coils 61.

[0234] In this embodiment, two second coils 61 are located on both sides of the second axis O2, and two second magnets 62 are located on both sides of the second axis O2, which allows for more precise control of the rotation angle of the third support 30.

[0235] See also Figure 22 As shown, in one embodiment provided in this application, the inner peripheral wall of the second bracket 20 is provided with two second mounting grooves 26, and the two second magnets 62 are respectively fixed in the two second mounting grooves 26. The third bracket 30 is provided with a third mounting groove 31 at the part opposite to the two second mounting grooves 26, and the two second coils 61 are respectively fixed in the two third mounting grooves 31.

[0236] In this embodiment, the mounting base for the second coil 61 and the second magnet 62 is restricted, and the specific mounting method is also restricted. This mounting method has a simple structure and is easy to implement.

[0237] Optionally, when the second magnet 62 is fixedly connected to the second mounting groove 26, it can be bonded with adhesive, locked with screws, inserted through a socket structure, snapped with a snap-fit ​​structure, or the second magnet 62 can be directly embedded and secured in the second mounting groove 26.

[0238] Figure 23 This is a schematic diagram of the third support 30, the platform 40, and the third drive component 70 provided in the embodiments of this application.

[0239] like Figure 23 As shown, in one embodiment provided in this application, the third driving member 70 includes a third coil 71 and a third magnet 72. There are two third coils 71 located on both sides of the third axis O3, and there are two third magnets 72 arranged in a one-to-one correspondence with the third coils 71.

[0240] In this embodiment, two third coils 71 are located on both sides of the third axis O3, and two third magnets 72 are located on both sides of the third axis O3, which can more precisely control the rotation angle of the stage 40.

[0241] See also Figure 23 As shown, in one embodiment provided in this application, the bottom wall of the third bracket 30 has two second mounting holes 32, and the two third coils 71 are respectively fixed in the two second mounting holes 32. The platform 40 has a fourth mounting groove 41 at the part opposite to the two second mounting holes 32, and the two third magnets 72 are respectively fixed in the two fourth mounting grooves 41.

[0242] In this embodiment, the mounting base for the third coil 71 and the third magnet 72 is restricted, and the specific mounting method is also restricted. This mounting method has a simple structure and is easy to implement.

[0243] Optionally, when the third magnet 72 is fixedly connected to the fourth mounting groove 41, it can be bonded with adhesive, locked with screws, inserted with a socket structure, snapped with a snap-fit ​​structure, or the third magnet 72 can be directly embedded and secured in the fourth mounting groove 41.

[0244] Optionally, magnetic conductive sheets can be provided on the side of the first magnet 52 facing away from the first coil 51, the side of the second magnet 62 facing away from the second coil 61, and the side of the third magnet 72 facing away from the third coil 71. As paramagnetic materials, these sheets change the direction of the magnetic field and converge it in the magnetic circuit, thereby enhancing the magnetic field strength of the first magnet 52, the second magnet 62, and the third magnet 72, making them more sensitive when electromagnetically driven. The magnetic conductive sheets can be made of cold-rolled carbon steel sheets, ferritic stainless steel sheets, silicon steel sheets, etc.

[0245] Figure 24 This is a schematic diagram of the coil carrier 10a provided in an embodiment of this application.

[0246] like Figure 24 As shown, in one embodiment provided in this application, the miniature gimbal 100 further includes a coil carrier plate 10a. The coil carrier plate 10a includes a first part 11a, a second part 12a, and a third part 13a. The first part 11a and the third part 13a are sheet-like and respectively provided with a first coil 51 and a third coil 71. The second part 12a is strip-like and used to connect the first part 11a, the third part 13a, and the second coil 61. A first reinforcing piece 14a is provided on the side of the first part 11a opposite to the first coil 51, and the first reinforcing piece 14a is fixed to the first bracket 10. A second reinforcing piece 15a is provided on the side of the third part 13a opposite to the third coil 71, and the second reinforcing piece 15a is fixed to the third bracket 30.

[0247] The coil carrier 10a can be a flexible circuit board used for electrically connecting the first coil 51, the second coil 61, and the third coil 71. The coil carrier 10a is also electrically connected to the data transmission device 400. As mentioned earlier, the data transmission device 400 can be electrically connected to the SoC chip on the motherboard. Through this SoC chip, the magnitude and direction of the current in the first coil 51, the second coil 61, and the third coil 71 can be controlled, thereby changing the magnitude and direction of the magnetic field generated by the coils to drive the support and the platform to rotate.

[0248] As mentioned earlier, the second coil 61 is fixed in the third mounting groove 31 of the third bracket 30. Since the groove wall of the third mounting groove 31 can serve as a mounting base, the second coil 61 can be easily fixed in the third mounting groove 31 by means of bonding or other methods. The first coil 51 is fixed in the first mounting hole 15 of the first bracket 10, and the third coil 71 is fixed in the second mounting hole 32 of the third bracket 30. Since there is no base in the hole to provide support, in order to securely fix the first coil 51 and the third coil 71, an indirect fixing method is required, namely the technical solution provided in this embodiment. The first coil 51 and the third coil 71 are set on the coil carrier plate 10a, and then a first reinforcing piece 14a and a second reinforcing piece 15a are set on the coil carrier plate 10a. The first reinforcing piece 14a and the second reinforcing piece 15a are fixed to the first bracket 10 and the third bracket 30 respectively, thereby suspending the first coil 51 in the first mounting hole 15 and the third coil 71 in the second mounting hole 32.

[0249] In order to electrically connect the second coil 61 to the coil carrier plate 10a, an extension can be led out from the third part 13a of the coil carrier plate 10a and connected to the two second coils 61 respectively.

[0250] The second reinforcing sheet 15a can be made of magnetically conductive materials such as cold-rolled carbon steel sheet, ferritic stainless steel sheet, or silicon steel sheet. This design serves three purposes: first, it provides sufficient rigidity to support the coil carrier plate 10a and the third coil 71, ensuring high reliability in the installation of the third coil 71; second, it can be used as a magnetically conductive sheet, such as… Figure 19 As shown, this design prevents leakage of magnetic flux from the third magnet 72 and the third coil 71, creating a converging magnetic field and thus improving their sensitivity during electromagnetic induction. Thirdly, it can also serve as part of the magnetic attraction assembly 100a. (See also...) Figure 19 As shown and combined Figure 15 As shown, when the third magnet 72 and the second reinforcing plate 15a attract each other, they can press the stage 40 down, thereby pressing the stage 40, the fifth ball 85, and the third support 30 together in sequence, thus preventing the stage 40 from moving and ensuring the rotational accuracy of the stage 40 when it is electromagnetically driven.

[0251] Alternatively, the first reinforcing sheet 14a can also be made of magnetically conductive materials such as cold-rolled carbon steel sheet, ferritic stainless steel sheet, or silicon steel sheet.

[0252] Figure 25 This is a schematic diagram of a manufacturing method for the miniature gimbal 100 provided in an embodiment of this application. Wherein, Figure 25 (a) is an exploded view of the stage 40, the third support 30, and the coil carrier plate 10a; Figure 25 (b) is a schematic diagram of the assembled stage 40, third support 30 and coil carrier plate 10a; Figure 25 (c) is an exploded view of the stage 40, the third support 30, the coil carrier plate 10a and the second support 20; Figure 25 (d) is a schematic diagram of the assembly of stage 40, third support 30, coil carrier plate 10a and second support 20. Figure 25 (e) is an exploded view of the stage 40, the third support 30, the coil carrier 10a, the second support 20, and the first support 10. Figure 25 (f) is a schematic diagram of the assembly of the stage 40, the third support 30, the coil carrier 10a, the second support 20, and the first support 10.

[0253] like Figure 25 As shown, the manufacturing method of the miniature gimbal 100 includes the following steps.

[0254] Step 1, as follows Figure 25 As shown in (a)-(b), the coil carrier plate 10a is first assembled to the third bracket 30, and then the stage 40 and the third bracket 30 are assembled into one unit through the fifth rotating shaft 95.

[0255] Step two, as Figure 25 As shown in (c)-(d), the integrated structure consisting of the stage 40 and the third support 30 is placed inside the second support 20, and the third support 30 and the second support 20 are rotatably connected by the fourth rotating shaft 94 and the third rotating shaft 93. Then, the second pressure plate 21 is installed on the second support 20.

[0256] Step 3, as Figure 25 As shown in (e)-(f), the integrated structure consisting of stage 40, third support 30 and second support 20 is placed inside the first support 10. The second support 20 and the first support 10 are rotatably connected by the second rotating shaft 92 and the first rotating shaft 91. Then, the first pressure plate 11 is installed on the first support 10.

[0257] Finally, it should be noted that the above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A miniature gimbal, characterized in that, include: First support (10); The second support (20) is located inside the first support (10) and is rotatably connected to the first support (10) about the first axis (O1); The third support (30) is located inside the second support (20) and is rotatably connected to the second support (20) about the second axis (O2); A platform (40) is located inside the third support (30) and is rotatably connected to the third support (30) about a third axis (O3); the first axis (O1), the second axis (O2) and the third axis (O3) are perpendicular to each other; The first driving member (50) is used to drive the second bracket (20) to rotate relative to the first bracket (10); The second driving member (60) is used to drive the third bracket (30) to rotate relative to the second bracket (20); The third drive member (70) is used to drive the platform (40) to rotate relative to the third support (30).

2. The miniature gimbal according to claim 1, characterized in that, The first bracket (10) and the second bracket (20) are rotatably connected by a first rotating shaft (91) and a second rotating shaft (92), and the first rotating shaft (91) and the second rotating shaft (92) are distributed along the first axis (O1); A first ball bearing (81) and a second ball bearing (82) are circumferentially arranged between the first bracket (10) and the second bracket (20). A plurality of first balls bearings (81) are circumferentially distributed around the first rotating shaft (91), and a plurality of second balls bearings (82) are circumferentially distributed around the second rotating shaft (92).

3. The miniature gimbal according to claim 2, characterized in that, The first bracket (10) has a first hole (12) at the location where the second rotating shaft (92) is set. A first plate (13) is set in the first hole (12). A first sleeve (14) is fixedly inserted through the first plate (13). The first sleeve (14) is fixed to the second rotating shaft (92). The second bracket (20) is provided with a bushing (96) that rotatably engages with the first rotating shaft (91) and the second rotating shaft (92), and the first bracket (10) is also provided with a bushing (96) that is fixed to the first rotating shaft (91); The first bracket (10) is provided with a first pressure plate (11), which covers the opening of the first hole (12) and is fixed to the first sleeve (14) and the first bracket (10) respectively, so that the first plate (13) and the second ball (82) elastically abut against each other, so as to press the second ball (82), the second bracket (20), the first ball (81) and the first bracket (10) sequentially in a direction parallel to the first axis (O1).

4. The miniature gimbal according to claim 3, characterized in that, At the first pivot (91), the first bracket (10) and / or the second bracket (20) are provided with a first limiting groove (811) to accommodate the first ball (81); At the second pivot (92), the second bracket (20) has a second limiting groove (821) for accommodating the second ball (82).

5. The miniature gimbal according to any one of claims 1-4, characterized in that, The second bracket (20) and the third bracket (30) are rotatably connected by a third rotating shaft (93) and a fourth rotating shaft (94), which are distributed along the second axis (O2): A third ball bearing (83) and a fourth ball bearing (84) are circumferentially arranged between the second bracket (20) and the third bracket (30). The third ball bearing (83) is circumferentially distributed around the third rotating shaft (93), and the fourth ball bearing (84) is circumferentially distributed around the fourth rotating shaft (94).

6. The miniature gimbal according to claim 5, characterized in that, The second bracket (20) has a second hole (22) at the location where the fourth rotating shaft (94) is set. A second plate (23) is provided in the second hole (22). A second sleeve (24) is fixedly inserted through the second plate (23). The second sleeve (24) is fixed to the fourth rotating shaft (94). The third bracket (30) is provided with a bushing (96) that rotatably engages with the third rotating shaft (93) and the fourth rotating shaft (94), and the second bracket (20) is also provided with a bushing (96) that is fixed to the third rotating shaft (93); The second bracket (20) is provided with a second pressure plate (21), which covers the opening of the second hole (22) and is fixed to the second sleeve (24) and the second bracket (20) respectively, so that the second plate (23) elastically abuts against the fourth ball (84) to press the fourth ball (84), the third bracket (30), the third ball (83) and the second bracket (20) sequentially in a direction parallel to the second axis (O2).

7. The miniature gimbal according to claim 6, characterized in that, At the third pivot (93), the second bracket (20) and / or the third bracket (30) are provided with a third limiting groove (831) for accommodating the third ball (83); At the fourth pivot (94), the third bracket (30) is provided with a fourth limiting groove (841) to accommodate the fourth ball (84).

8. The miniature gimbal according to any one of claims 1-7, characterized in that, The third support (30) and the platform (40) are rotatably connected via a fifth rotating shaft (95): A fifth ball bearing (85) is rotatably disposed between the third support (30) and the platform (40), and multiple fifth balls bearings (85) are circumferentially distributed around the fifth rotating shaft (95).

9. The miniature gimbal according to claim 8, characterized in that, The platform (40) is provided with a third sleeve (42), and the third sleeve (42) is fixed to the fifth rotating shaft (95); The third bracket (30) is provided with a bushing (96) that rotatably engages with the fifth rotating shaft (95); The third support (30) and the platform (40) are provided with magnetic attraction components (100a), which attract each other to press the platform (40), the fifth ball (85) and the third support (30) in a direction parallel to the third axis (O3).

10. The miniature gimbal according to claim 9, characterized in that, The third driving member (70) includes a third magnet (72) fixed to the stage (40), and the third bracket (30) is fixed with a second reinforcing plate (15a); The third magnet (72) and the second reinforcing piece (15a) constitute the magnetic attraction assembly (100a).

11. The miniature gimbal according to claim 9 or 10, characterized in that, The third bracket (30) and / or the platform (40) are provided with a fifth limiting groove (851) for accommodating the fifth ball (85).

12. The miniature gimbal according to any one of claims 1-11, characterized in that, The first driving member (50) includes a first coil (51) and a first magnet (52). There are two first coils (51) located on both sides of the first shaft (O1), and there are two first magnets (52) arranged in a one-to-one correspondence with the first coils (51).

13. The miniature gimbal according to claim 12, characterized in that, The outer peripheral wall of the second bracket (20) has two first mounting grooves (25), and the two first magnets (52) are respectively fixed in the two first mounting grooves (25). The first bracket (10) has a first mounting hole (15) at the part opposite to the two first mounting grooves (25), and the two first coils (51) are respectively fixed in the two first mounting holes (15).

14. The miniature gimbal according to claim 13, characterized in that, The second driving member (60) includes a second coil (61) and a second magnet (62). There are two second coils (61) located on both sides of the second shaft (O2). There are two second magnets (62) arranged in a one-to-one correspondence with the second coils (61).

15. The miniature gimbal according to claim 14, characterized in that, The second bracket (20) has two second mounting slots (26) on its inner peripheral wall. The two second magnets (62) are respectively fixed in the two second mounting slots (26). The third bracket (30) has a third mounting slot (31) at the part opposite to the two second mounting slots (26). The two second coils (61) are respectively fixed in the two third mounting slots (31).

16. The miniature gimbal according to claim 15, characterized in that, The third driving element (70) includes a third coil (71) and a third magnet (72). There are two third coils (71) located on both sides of the third shaft (O3). There are two third magnets (72) arranged in a one-to-one correspondence with the third coils (71).

17. The miniature gimbal according to claim 16, characterized in that, The bottom wall of the third bracket (30) has two second mounting holes (32), and the two third coils (71) are respectively fixed in the two second mounting holes (32). The platform (40) has a fourth mounting groove (41) at the part opposite to the two second mounting holes (32), and the two third magnets (72) are respectively fixed in the two fourth mounting grooves (41).

18. The miniature gimbal according to claim 17, characterized in that, Also includes: The coil carrier plate (10a) includes a first part (11a), a second part (12a) and a third part (13a). The first part (11a) and the third part (13a) are sheet-shaped and respectively provided with the first coil (51) and the third coil (71). The second part (12a) is strip-shaped and is used to connect the first part (11a), the third part (13a) and the second coil (61). The first part (11a) has a first reinforcing plate (14a) on the side opposite to the first coil (51), and the first reinforcing plate (14a) is fixed to the first bracket (10). The third part (13a) has a second reinforcing plate (15a) on the side opposite to the third coil (71), and the second reinforcing plate (15a) is fixed to the third bracket (30).

19. The miniature gimbal according to claim 4, characterized in that, The first limiting groove (811) is arc-shaped and has a trapezoidal cross-section. The number of the first limiting grooves (811) on the first bracket (10) or the second bracket (20) is multiple and they are symmetrically distributed relative to the first axis (O1).

20. The miniature gimbal according to claim 4, characterized in that, The first limiting groove (811) is annular and has a trapezoidal cross-sectional shape.

21. A camera module, characterized in that, The device includes a housing (200), a lens assembly (300), and a miniature gimbal (100) as described in any one of claims 1-20. The housing (200) is fixed to the bottom wall of the first support (10), the lens assembly (300) is fixed to the platform (40), and a portion of the lens assembly (300) is located inside the housing (200).

22. The camera module according to claim 21, characterized in that, It also includes two data transmission components (400) arranged symmetrically with respect to the first axis (O1). The first end (408) of the data transmission component (400) is connected to the lens assembly (300), and the second end (409) of the data transmission component (400) extends out of the housing (200). From the first end (408) to the second end (409), the data transmission device (400) has a first member (401) that bends and extends in a direction parallel to the third axis (O3), a second member (402) that bends and extends in a direction parallel to the first axis (O1), a third member (403) that bends and extends in a direction parallel to the third axis (O3), a fourth member (404) that extends in a direction parallel to the second axis (O2), a fifth member (405) that bends and extends in a direction parallel to the first axis (O2), a sixth member (406) that bends and extends in a direction parallel to the second axis (O2), and a seventh member (407) that extends in a direction parallel to the third axis (O3).

23. An electronic device, characterized in that, Includes the camera module (1000) as described in claim 21 or 22.

Images