A gimbal assembly and gimbal module

Abstract

The embodiment of the application discloses a gimbal assembly and a gimbal module, comprising: a movable carrier for carrying an imaging assembly, the imaging assembly defining an optical axis, the movable carrier having an arc-shaped contact surface, the arc-shaped opening direction of the contact surface being parallel to the direction of the optical axis; an intermediate frame, the movable carrier being movably arranged on the intermediate frame; a first driving mechanism comprising a first pre-pressing assembly and a first actuating assembly, the first pre-pressing assembly being fixed to the intermediate frame and exerting a pre-pressing force on the first actuating assembly towards the movable carrier, the first actuating assembly being located between the first pre-pressing assembly and the movable carrier and maintaining frictional contact with the movable carrier under the action of the pre-pressing force. The application sets an arc-shaped surface on at least one of the friction head of the first actuating assembly and the contact surface, so as to provide a rotating motion path for the tilt anti-shake of the gimbal assembly, increase the anti-shake angle of the gimbal assembly, and reduce the height of the overall gimbal module.

Description

Technical Field

[0001] This application relates to the field of camera modules, and more particularly to a gimbal assembly and gimbal module. Background Technology

[0002] When users hold mobile phones or other electronic devices to take pictures, the captured images are prone to blurring or ghosting due to hand tremors. A key issue is that it's difficult for users to maintain absolute stability, inevitably resulting in slight shaking. To improve this, camera modules are typically equipped with optical image stabilization (OIS). OIS works by using sensors such as gyroscopes to detect the direction of device shaking and then driving the lens to move in the opposite direction for optical compensation, thereby improving image clarity.

[0003] However, existing OIS technology may not be able to completely eliminate shake when users are moving significantly (such as running or cycling). At the same time, as the demand for image quality increases, the size of image sensors continues to increase, especially after the image sensor's image plane size rose to 1 inch. The size and weight of optical lenses also increase accordingly, making it difficult to adapt to the design requirements of limited internal space in electronic devices.

[0004] Therefore, how to further increase the size of the image sensor and the angle of optical image stabilization without increasing the size of the camera module, in order to meet the shooting needs of users in complex motion scenes, has become an important research direction. Summary of the Invention

[0005] This application provides a gimbal assembly and gimbal module in one or more embodiments to solve or at least partially alleviate the problems of limited image stabilization angle of existing OIS technology and the difficulty in adapting the increased size of the image sensor and optical lens to the limited space inside electronic devices.

[0006] One objective of this invention is to provide a gimbal assembly that not only achieves large-angle image stabilization but also reduces the size of the gimbal assembly, meeting the future trend of miniaturization.

[0007] This application provides a gimbal assembly in one or more embodiments, comprising: a movable carrier for carrying an imaging component, the imaging component defining an optical axis, the movable carrier having an arc-shaped contact surface, the arc-shaped opening direction of the contact surface being parallel to the optical axis direction; a middle frame, the movable carrier being movably disposed on the middle frame; a first driving mechanism including a first pre-pressure component and a first actuation component, the first pre-pressure component being fixed to the middle frame and applying a pre-pressure towards the movable carrier to the first actuation component, the first actuation component being located between the first pre-pressure component and the movable carrier, and maintaining frictional contact with the movable carrier under the action of the pre-pressure; wherein, the first actuation component includes a first friction head, the first friction head rubbing against the contact surface to drive the movable carrier to tilt about a direction perpendicular to the optical axis.

[0008] Preferably, the friction head has an arc-shaped friction surface on the side facing the contact surface, and the radius of curvature of the friction surface is smaller than the radius of curvature of the contact surface.

[0009] As a preferred embodiment, the gimbal assembly further includes a first friction plate disposed on the movable carrier. The first friction plate includes a first arcuate segment with an arcuate contact surface. The friction head has an arcuate friction surface on the side facing the contact surface. The first arcuate segment and the friction surface of the first friction head maintain frictional contact. The radius of curvature of the friction surface is smaller than the radius of curvature of the first arcuate segment.

[0010] Preferably, the center of curvature of the friction surface is aligned with the center of curvature of the contact surface along the optical axis.

[0011] Preferably, when the movable carrier moves at an angle around a first direction, the axis around which the movable carrier moves passes through the center of curvature of the arcuate surface, wherein the first direction is perpendicular to the optical axis.

[0012] Preferably, the arc-shaped opening direction of the friction surface is the same as the arc-shaped opening direction of the contact surface.

[0013] Preferably, the arcuate opening direction of the friction surface is opposite to the arcuate opening direction of the contact surface.

[0014] As a preferred embodiment, the first pre-compression component and the first actuation component are arranged vertically along the optical axis, and the first friction head of the first actuation component makes frictional contact with the movable carrier along the optical axis to drive the movable carrier from the top or bottom.

[0015] As a preferred embodiment, the movable carrier further includes a first carrier extension arm extending from the carrier sidewall of the movable carrier in a direction away from the optical axis. The first carrier extension arm and the first drive mechanism are located on the same side of the movable carrier. The first carrier extension arm has a first carrier top surface and a first carrier bottom surface opposite each other along the optical axis. The first carrier top surface or the first carrier bottom surface has an arc-shaped contact surface. The first friction head maintains frictional contact with the contact surface from the top or bottom.

[0016] As a preferred embodiment, the system further includes a support assembly comprising a first support portion on the same side as the first drive mechanism and a second support portion on the opposite side of the first drive mechanism. The movable carrier further includes a second carrier extension arm. The intermediate frame includes a first frame sidewall, a second frame sidewall, a third frame sidewall, and a fourth frame sidewall disposed along its periphery. The first support portion is disposed between the first carrier extension arm and the first frame sidewall, and the second support portion is disposed between the second carrier extension arm and the third frame sidewall.

[0017] As a preferred embodiment, the first frame sidewall and the third frame sidewall are respectively provided with a first frame arcuate groove and a second frame arcuate groove, the first support portion is disposed between the first carrier extension arm and the first frame arcuate groove, and the second support portion is disposed between the second carrier extension arm and the second frame arcuate groove, wherein the first frame arcuate groove has an arcuate surface.

[0018] As a preferred embodiment, the center of the arc surface where the first frame arc groove is located coincides with the arc center of the contact surface, and the radius of curvature of the arc surface where the first frame arc groove is located is greater than the radius of curvature of the arc of the contact surface.

[0019] As a preferred embodiment, the number of the first frame arc grooves is two, and the projections of the two first frame arc grooves along the optical axis do not overlap with the projection of the contact surface of the movable carrier. The first support portion includes at least two first support members, which are spaced apart within the two first frame arc grooves.

[0020] As a preferred embodiment, the number of the first frame arc grooves is one, and the first support portion includes at least two first support members, which are centrally disposed within one of the first frame arc grooves.

[0021] As a preferred embodiment, the system further includes a first auxiliary support structure, which is disposed on the same side as the second support portion. The first auxiliary support structure includes a first pressure member and a first auxiliary support member, wherein the first auxiliary support member is connected to the second carrier extension arm, the first pressure member is fixed to the side wall of the third frame and maintains frictional contact with the first auxiliary support member, and the first pressure member can generate downward pressure to maintain frictional contact between the second carrier extension arm and the first auxiliary support member and the second support portion, respectively.

[0022] One or more embodiments of this application also provide a gimbal assembly, comprising: a movable member for supporting an imaging component, the imaging component defining an optical axis, the movable member having an arc-shaped contact surface, the arc-shaped opening direction of the contact surface being parallel to the optical axis direction; a fixed member, the movable member being movably disposed on the fixed member; and a piezoelectric drive mechanism including a pre-pressure component, a piezoelectric vibrator, and a friction head, wherein the friction head and the pre-pressure component are respectively located on opposite sides of the piezoelectric vibrator, the pre-pressure component is fixed to the fixed member and applies a pre-pressure towards the movable member to the piezoelectric vibrator and the friction head, under the action of the pre-pressure, the friction head maintaining frictional contact with the contact surface of the movable member to drive the movable member to tilt about a direction perpendicular to the optical axis.

[0023] One or more embodiments of this application also provide a gimbal module, including: a gimbal assembly as described above; wherein the imaging assembly includes a lens assembly and a photosensitive assembly, and the lens assembly is disposed on the photosensitive path of the photosensitive assembly. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings of the embodiments will be briefly introduced below. Obviously, the drawings described below only involve some embodiments of this application and are not intended to limit this application.

[0025] Figure 1 This is a schematic diagram of the structure of a gimbal module according to some embodiments of this application.

[0026] Figure 2 This is a cross-sectional view of a gimbal module according to some embodiments of this application.

[0027] Figure 3 This is an exploded view of a gimbal assembly according to some embodiments of this application.

[0028] Figure 4 This is a schematic diagram of the structure of the preload assembly and the actuation assembly according to some embodiments of this application.

[0029] Figure 5This is a cross-sectional schematic diagram of a first drive mechanism, a movable carrier, and an intermediate frame according to some embodiments of this application.

[0030] Figure 6 This is a cross-sectional schematic diagram of the second drive mechanism, intermediate frame, and base according to some embodiments of this application.

[0031] Figure 7 This is a top view of the active carrier, intermediate frame, and base according to some embodiments of this application.

[0032] Figure 8 This is a bottom view of the active carrier, intermediate frame, and base according to some embodiments of this application.

[0033] Figure 9 This is a cross-sectional schematic diagram of a first auxiliary support structure according to some embodiments of this application.

[0034] Figure 10 This is a cross-sectional schematic diagram of a second auxiliary support structure according to some embodiments of this application.

[0035] Figure 11 This is a schematic diagram of the structure of a conductive component according to some embodiments of this application.

[0036] Figure 12 This is a schematic diagram of the structure of a chip circuit board according to some embodiments of this application.

[0037] Figure 13 This is a schematic diagram of the structure of a chip circuit board according to some other embodiments of this application.

[0038] Figure 14 This is a schematic diagram of the structure of a chip circuit board according to some other embodiments of this application.

[0039] Figure 15 This is a schematic diagram of the preload assembly and actuation assembly according to some other embodiments of this application.

[0040] Figure 16 This is a schematic diagram of the structure of a gimbal assembly according to some other embodiments of this application.

[0041] Figure 17 This is a schematic diagram of the friction head and contact surface of the gimbal assembly according to the first embodiment of this application.

[0042] Figure 18 This is a schematic diagram of the friction head and contact surface of the gimbal assembly according to the second embodiment of this application.

[0043] Figure 19 This is a schematic diagram of the friction head and contact surface of a gimbal assembly according to a third embodiment of this application.

[0044] Figure 20 This is a schematic diagram of the friction head and contact surface of the gimbal assembly according to the fourth embodiment of this application.

[0045] Figure 21 This is a schematic diagram of the friction head and contact surface of the gimbal assembly according to the fifth embodiment of this application.

[0046] Figure 22 This is a schematic diagram of the structure of a friction plate according to some other embodiments of this application.

[0047] Figure 23 This is a schematic diagram of the structure of the intermediate frame according to some other embodiments of this application.

[0048] Figure 24 This is a structural schematic diagram of a gimbal module according to some other embodiments of this application.

[0049] Figure 25 This is a structural schematic diagram of a gimbal module according to some other embodiments of this application.

[0050] Figure 26 This is a schematic diagram of the internal structure of a gimbal assembly according to some other embodiments of this application.

[0051] In the picture: 100. Gimbal module; 101. Top side; 102. Bottom side; 103. First side; 104. Second side; 105. Third side; 106. Fourth side; 10. Imaging assembly; 11. Lens assembly; 12. Photosensitive assembly; 121. Photosensitive chip; 122. Chip circuit board; 1221. First board body; 1222. Second board body; 1223. Flexible board body; 123. Filter element; 124. Filter element bracket; 20. Gimbal assembly; 21. Housing; 22. Base; 221. First base sidewall; 222. Second base sidewall; 2221. First base arc groove; 223. Third base sidewall; 224. Fourth base sidewall; 2241. Second base arc groove; 23. Movable carrier; 231. 2311 First carrier sidewall; 232 Second carrier sidewall; 233 Third carrier sidewall; 234 Fourth carrier sidewall; 235 First carrier extension arm; 2351 First carrier top surface; 2352 First carrier bottom surface; 236 Second carrier extension arm; 2361 Second carrier top surface; 2362 Second carrier bottom surface; 237 First friction plate; 2371 First arc-shaped segment; 2372 First straight segment; 24 Intermediate frame; 241 First frame sidewall; 2411 First frame arc-shaped groove; 242 Second frame sidewall; 2421 Second contact surface; 243 Third frame sidewall; 2431 Second frame arc-shaped groove; 2432 Carrier receiving groove; 244. Fourth frame sidewall; 245, First frame extension arm; 2451, First frame top surface; 2452, First frame bottom surface; 246, Second frame extension arm; 2461, Second frame top surface; 2462, Second frame bottom surface; 247, Second friction plate; 2471, Second arc segment; 2472, Second straight segment; 25, Drive mechanism; 251, First drive mechanism; 2511, First preload assembly; 2512, First actuation assembly; 25121, First piezoelectric vibrator; 25122, First friction head; 251221, First friction surface; 25123, Third friction head; 2513, First piezoelectric element; 2514, First friction drive part; 252, Second drive mechanism; 2521, Second preload Components; 2522, Second actuation component; 25221, Second piezoelectric vibrator; 25222, Second friction head; 252221, Second friction surface; 2523, Second piezoelectric element; 2524, Second friction drive unit; 253, Preload component; 2531, Fixing part; 2532, Elastic part; 2533, Deformable part; 2534, Buffer part; 254, Actuation component; 2541, Piezoelectric vibrator; 2542, Friction head; 25421, Friction surface; 2543, Piezoelectric element; 2544, Friction drive unit; 255, Conductive component; 2551, First substrate; 2552, Second substrate; 2553, Conductive substrate; 26, Support component; 261, First support part; 262, Second support part;263. Third support part; 264. Fourth support part; 265. First auxiliary support structure; 2651. First pressing member; 2652. First auxiliary support member; 2661. Second pressing member; 2662. Second auxiliary support member; 27. Sensing assembly; 271. First sensing element; 272. First sensing magnet; 273. Second sensing element; 274. Second sensing magnet. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings showing multiple embodiments according to this application. It should be understood that the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments described in this application without creative effort will fall within the scope of protection of this application.

[0053] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing specific embodiments only and is not intended to limit this application; the terms "comprising," "including," "having," "containing," etc., in the description, claims, and accompanying drawings of this application are open-ended terms. Therefore, "comprising," "including," or "having" refers to, for example, a method or apparatus having one or more steps or elements, but is not limited to having only these one or more elements. The terms "first," "second," etc., in the description, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or hierarchy. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0054] In the description of this application, it should be understood that the terms "center", "lateral", "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used 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. Therefore, they should not be construed as limitations on this application.

[0055] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" 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 direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication 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.

[0056] In this application, the term "implementation" means that a specific feature, structure, or characteristic described in connection with an implementation can be included in at least one implementation of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same implementation, nor is it a separate or alternative implementation mutually exclusive with other implementations. Those skilled in the art will understand, explicitly and implicitly, that the implementations described in this application can be combined with other implementations.

[0057] As mentioned above, it should be emphasized that when the term "comprising / including" is used in this specification, it is used to explicitly indicate the presence of the stated feature, integer, step, or component, but does not exclude the presence or addition of one or more other features, integers, steps, components, or groups of features, integers, steps, or components. As used in this application, the singular forms "a," "an," and "the" also include the plural forms, unless the context clearly indicates otherwise.

[0058] The terms “a” and “an” used in this specification may mean one, but may also be used interchangeably with “at least one” or “one or more”. The term “about” generally means the mentioned value plus or minus 10%, or more specifically, plus or minus 5%. The term “or” used in the claims means “and / or” unless it is explicitly stated that it refers only to alternatives.

[0059] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0060] This application provides a gimbal module 100. For ease of description, the X-axis, Y-axis, and Z-axis are defined as coordinate axes of a spatial rectangular coordinate system. The Z-axis corresponds to the optical axis of the gimbal module 100, where light rays are incident and emitted along the optical axis. The X-axis corresponds to a first direction of the gimbal module 100, and the Y-axis corresponds to a second direction. The first and second directions are perpendicular to the optical axis and to each other. The above definitions of the optical axis, the first direction, the second direction, and the X-axis, Y-axis, and Z-axis apply to the content described below and are merely for the convenience of describing the positional or connection relationships between the components of the gimbal module 100 of this application, and do not limit this application.

[0061] During image stabilization, the gimbal module 100 primarily employs two compensation methods: translation and tilting. Translation compensation refers to the gimbal module 100 translating within a plane perpendicular to the optical axis to reduce the impact of shaking. Tilting compensation, on the other hand, involves the gimbal module 100 rotating in different directions to adjust the angle and reduce the effects of shaking.

[0062] Given a fixed amplitude of shaking, due to the large distance between the gimbal module 100 and the subject being photographed, the maximum stabilization angle provided by translation compensation is reduced due to its limited travel. Therefore, tilt compensation motion can achieve a larger stabilization angle compared to translation compensation motion. To meet users' stabilization needs in scenarios with large movements, the gimbal module 100 employs tilt compensation motion to achieve stabilization. For example, the tilt direction of the gimbal module 100 is opposite to the direction of device shaking, thereby compensating for the shaking.

[0063] In one example of this application, such as Figure 1 as well as Figure 2As shown, the gimbal module 100 includes an imaging component 10 and a gimbal component 20. The imaging component 10 is drivably disposed on the gimbal component 20, so that the gimbal component 20 can correspondingly adjust the attitude of the imaging component 10, thereby realizing the image stabilization function of the gimbal module 100. The imaging component 10 includes a lens component 11 and a photosensitive component 12, with the lens component 11 disposed on the photosensitive path of the photosensitive component 12. During the image stabilization process of the gimbal module 100, the gimbal component 20 drives the lens component 11 and the photosensitive component 12 to move simultaneously. This avoids changes in the relative position between the lens component 11 and the photosensitive component 12 that could affect the imaging effect. Because the lens component 11 and the photosensitive component 12 move synchronously, even with a large stabilization angle, the image quality and stabilization effect will not decrease at the image edges, nor will the image sharpness be affected, thus facilitating large-angle image stabilization. In one example of this application, the stabilization angle of the gimbal component 20 can be less than or equal to 6°.

[0064] Furthermore, the imaging assembly 10 itself can also have image stabilization functionality. For example, the lens assembly 11 and / or the photosensitive assembly 12 can be driven to move within a small range within the imaging assembly 10 to perform a certain amount of image stabilization compensation movement, thereby achieving the purpose of image stabilization. In one example of this application, the image stabilization angle of the imaging assembly 10 can be less than or equal to 2°.

[0065] In this application, the image stabilization function of the gimbal assembly 20 works in conjunction with the image stabilization function of the imaging assembly 10 itself to enable the gimbal module 100 to achieve a wider angle of optical image stabilization, thereby meeting the needs of dealing with complex scenes or large-scale shaking during video shooting, and improving the stability and clarity of the captured image. In one example of this application, the image stabilization angle of the gimbal module 100 can be less than or equal to 8°. In another example of this application, the image stabilization angle of the gimbal module 100 can also be 6°, achieving large-angle tilt image stabilization of the gimbal module 100.

[0066] In one example of this application, the lens assembly 11 includes an optical lens. The optical lens includes a lens barrel and a plurality of optical lenses mounted within the lens barrel along the optical axis. By designing the structure, shape, and number of the plurality of optical lenses, the optical lens can possess different characteristics such as wide-angle and telephoto. It is understood that the optical lens may also consist only of the plurality of optical lenses without a lens barrel, which would help reduce the size of the imaging assembly 10.

[0067] Furthermore, the lens assembly 11 also includes a lens driving device for driving the optical lens to move relative to the photosensitive assembly 12 to achieve focusing and / or image stabilization.

[0068] In one example of this application, the photosensitive component 12 includes a photosensitive chip 121, a chip circuit board 122, and multiple electronic components. The photosensitive chip 121 is used to receive ambient light collected by the lens assembly 11 for imaging and is electrically connected to a mobile electronic device through the chip circuit board 122. The photosensitive chip 121 includes photosensitive areas and non-photosensitive areas. The photosensitive chip 121 is electrically connected to the chip circuit board 122 through pads located in the non-photosensitive areas. For example, the photosensitive chip 121 is electrically connected to the chip circuit board 122 by wire bonding (gold wire bonding), soldering, FC (flip chip) process, or RDL (redistribution layer) technology. Multiple electronic components are disposed on and electrically connected to the chip circuit board 122.

[0069] Furthermore, the photosensitive assembly 12 also includes a filter element 123 and a filter element support 124. The filter element 123 is supported by the filter element support 124 on the photosensitive path of the photosensitive chip 121 and is used to filter the imaging light entering the photosensitive chip 121.

[0070] Furthermore, the photosensitive assembly 12 also includes a chip driving device for driving the photosensitive chip 121 to move relative to the lens assembly 11 to achieve focusing and / or image stabilization functions.

[0071] It is understandable that since both the gimbal assembly 20 and the imaging assembly 10 are equipped with driving devices to achieve image stabilization, this presents a challenge to reducing the size of the gimbal module 100. Therefore, in this application, in addition to achieving large-angle image stabilization of the gimbal module 100, it is also possible to reduce the size of the gimbal module 100 to meet the future trend of miniaturization.

[0072] For example, in one embodiment of this application, a molding process is used to integrally form the photosensitive chip 121 and the chip circuit board 122 to reduce the size of the imaging component 10, thereby reducing the size of the gimbal module 100. This includes the lateral dimensions of the imaging component 10 and the gimbal module 100 defined by the X and Y axes, and the height dimension defined by the Z axis.

[0073] like Figures 1 to 26As shown, one or more embodiments of this application disclose a gimbal assembly 20, including: a movable carrier 23 for carrying an imaging assembly 10, the imaging assembly 10 defining an optical axis, the movable carrier 23 having an arc-shaped contact surface, the arc-shaped opening direction of the contact surface being parallel to the optical axis direction; a middle frame 24, on which the movable carrier 23 is movably disposed; a first driving mechanism 251, including a first pre-pressure assembly 2511 and a first actuation assembly 2512, the first pre-pressure assembly 2511 being fixed to the middle frame 24 and applying a pre-pressure towards the movable carrier 23 to the first actuation assembly 2512, the first actuation assembly 2512 being located between the first pre-pressure assembly 2511 and the movable carrier 23, and maintaining frictional contact with the movable carrier 23 under the action of the pre-pressure; wherein, the first actuation assembly 2512 includes a first friction head 25122, the first friction head 25122 rubbing against the contact surface to drive the movable carrier 23 to tilt about a direction perpendicular to the optical axis.

[0074] In this application, the friction head 2542 maintains frictional contact with the arc-shaped contact surface, allowing the friction head 2542 to move within the arc-shaped area of ​​the contact surface. On the one hand, this provides an arc-shaped motion path for the movable carrier 23, enabling the movable carrier 23 to rotate along a preset arc-shaped trajectory during tilting motion, thus avoiding the risk of nonlinear deviation. On the other hand, the arc-shaped structure of the contact surface helps to amplify the tilt angle within a limited space, which is not only beneficial for the miniaturization of the gimbal assembly 20 but also for increasing the tilt anti-shake angle of the gimbal assembly 20. Furthermore, the continuous curvature of the contact surface ensures that the friction head 2542 can obtain a consistent coefficient of friction at any position on the arc-shaped contact surface during the tilting motion of the movable carrier 23, reducing the risk of sudden changes in driving force and improving the reliability and stability of the gimbal assembly 20.

[0075] The contact surface can be flexibly set according to different driving objects. It can be the first carrier top surface 2351 or the first carrier bottom surface 2352 of the movable carrier 23, or the first frame top surface 2451 or the first frame bottom surface 2452 of the intermediate frame 24. As long as the surface is directly driven by friction head 2542, it belongs to the contact surface referred to in this application. Correspondingly, the friction surface 25421 of the friction head 2542 that cooperates with the contact surface can be the friction surface of the first friction head 25122 or the friction surface of the second friction head 25222. As long as the surface is directly driven by friction with the contact surface of the movable part (movable carrier 23 or intermediate frame 24), it belongs to the friction surface 25421 referred to in this application.

[0076] In one example of this application, such as Figures 1 to 26As shown, the gimbal assembly 20 includes a housing 21, a base 22, a movable carrier 23, an intermediate frame 24, and a drive mechanism 25. The housing 21 and the base 22 are interlocked to form a receiving cavity, which provides waterproof, dustproof, and anti-detachment protection for the imaging assembly 10, the movable carrier 23, the intermediate frame 24, and the drive mechanism 25 disposed within the receiving cavity. When assembled into an electronic device, the gimbal module 100 is fixed to the electronic device by the housing 21 and / or the base 22.

[0077] Furthermore, the movable carrier 23 has an opening penetrating in the optical axis direction. The imaging component 10 is fixed within the opening of the movable carrier 23. The movable carrier 23 is movably disposed on the intermediate frame 24, which is movably disposed on the base 22. The movable carrier 23 can drive the imaging component 10 to tilt around a first direction, and the intermediate frame 24 can drive the movable carrier 23 and the imaging component 10 to tilt around a second direction. The tilting motion can be understood as rotational motion around the first and second directions.

[0078] In some specific examples, the drive mechanism 25 is designed as a piezoelectric motor. It should be understood that as the size of the image sensor 121 increases, especially when the image plane size of the image sensor 121 rises to 1 inch, the size of the lens assembly 11 will also increase, requiring the drive mechanism 25 to provide greater driving force. With the trend towards miniaturization of the gimbal module 100, small-sized, fast-response, high-driving-force, and high-precision piezoelectric motors are better suited to meet the driving requirements of the gimbal module 100. The piezoelectric motor can be designed as a strip piezoelectric motor, a ring piezoelectric motor, or other types of piezoelectric motors.

[0079] In one example of this application, the gimbal module 100 is tilted around a first direction and around a second direction by driving the imaging component 10 with multiple sets of piezoelectric motors to tilt in different directions. Compared with traditional VCM driving, this not only eliminates the need to consider the arrangement of magnets and magnetic field interference, but also results in a smaller size, allowing for miniaturization and lightweight arrangement, and offers higher precision and reliability. Combined with the imaging module's own image stabilization function, it can achieve optical image stabilization at a larger angle, such as less than or equal to 7°, thereby further improving optical image stabilization performance.

[0080] In traditional VCM-driven gimbal modules, a universal joint structure is set up as an intermediate structural component for motion transmission. The universal joint is usually composed of multiple connecting parts. These connecting parts are connected to the movable frame (e.g., the movable carrier 23 or the intermediate frame 24) and the fixed frame (e.g., the base 22) through structures such as ball bearings and claw springs, so that the movable frame can tilt around different axes, thereby realizing the adjustment of the gimbal assembly 20 in multiple directions.

[0081] In the gimbal module 100 of this application, multiple independent piezoelectric motors directly act on the movable frame to achieve tilting movements in different directions. Since the piezoelectric motors generate deformation of piezoelectric material and act directly on the movable frame through frictional contact, there is no need for motion transmission through the intermediate structure of a universal joint. In other words, in the gimbal module 100 of this application, using piezoelectric motors as drive motors can replace the traditional universal joint, reducing the number of components in the gimbal module 100, simplifying the structure of the gimbal module 100, and thus reducing the size of the gimbal module 100.

[0082] In one example of this application, the number of drive mechanisms 25 is at least two, including a first drive mechanism 251 and a second drive mechanism 252. The first drive mechanism 251 is disposed between the movable carrier 23 and the intermediate frame 24. The first drive mechanism 251 is fixed to the intermediate frame 24 and maintains frictional contact with the movable carrier 23 to drive the movable carrier 23 to tilt relative to the intermediate frame 24 about a first direction. The second drive mechanism 252 is disposed between the intermediate frame 24 and the base 22. The second drive mechanism 252 is fixed to the base 22 and maintains frictional contact with the intermediate frame 24 to drive the intermediate frame 24 to tilt relative to the base 22 about a second direction.

[0083] Among them, such as Figures 1-3 As shown, the first drive mechanism 251 and the second drive mechanism 252 are disposed on adjacent sides of the periphery of the gimbal assembly 20 to achieve tilt stabilization of the gimbal assembly 20 in two directions. It should be understood that the gimbal assembly 20 includes a top side 101 near the subject, a bottom side 102 opposite to the top side 101, and a periphery located between the top side 101 and the bottom side 102. The periphery includes a first side 103, a second side 104, a third side 105, and a fourth side 106 arranged sequentially in a clockwise direction. That is, the first drive mechanism 251 and the second drive mechanism 252 are disposed on adjacent sides of the gimbal assembly 20.

[0084] Furthermore, the positions of at least two drive mechanisms 25 can be adjusted and set according to the number of drive mechanisms 25, as long as the drive function can be achieved. For example, the number of first drive mechanisms 251 can be one or two; the number of second drive mechanisms 252 can be one or two.

[0085] In some embodiments of this application, the drive mechanism 25 is implemented as a piezoelectric drive mechanism, which includes a pre-compression component 253 and an actuation component 254. The pre-compression component 253 is connected to a surface of the actuation component 254, and provides pre-pressure to the actuation component 254. By fixing the pre-compression component 253 to a fixed member, the actuation component 254 is held in contact with the movable member and subjected to frictional contact. The actuation component 254 is located between the pre-compression component 253 and the movable member, and provides a driving force to the movable member through its own deformation to drive the movable member to move. It should be understood that the fixed member is a relatively stationary element during movement, and the movable member is a relatively moving element during movement. For example, when the movable carrier 23 tilts about a first direction, the movable carrier 23 is the movable member, and the intermediate frame 24 is the fixed member; when the intermediate frame 24 tilts about a second direction, the intermediate frame 24 is the movable member, and the base 22 is the fixed member.

[0086] Specifically, such as Figure 4 As shown, the preload assembly 253 includes a fixed part 2531, an elastic part 2532, and a deformable part 2533 connecting the fixed part 2531 and the elastic part 2532. The elastic part 2532 is connected to the actuation assembly 254, the fixed part 2531 is connected to the fixing member, and the deformable part 2533 applies a preload toward the moving member to the actuation assembly 254 through the reaction force of its elastic deformation, thereby maintaining the frictional contact between the actuation assembly 254 and the moving member.

[0087] In some specific examples, the preload assembly 253 is implemented as a planar spring structure, with the fixing part 2531, the elastic part 2532, and the deformable part 2533 located on the same plane. The setting of the deformable part 2533 makes the actual motion state of the actuation assembly 254 closer to the design value, reduces the influence of the external environment on the actuation assembly 254, and also prevents the vibration or piezoelectric actuation of the actuation assembly 254 from being transmitted to the fixing part, causing the fixing part to vibrate or piezoelectrically actuate, thereby affecting the stability of the structure.

[0088] In other specific examples, the preload assembly 253 is implemented as a bent spring structure. In this example, the preload assembly 253 further includes at least one bent portion, and the at least one bent portion, the fixing portion 2531, the elastic portion 2532, and the deformable portion 2533 are located on different planes. For example, the bent portion is located between the fixing portion 2531 and the deformable portion 2533. The plane where the fixing portion 2531 is located is parallel to and at a certain distance from the plane where the deformable portion 2533 is located, and the plane where the fixing portion 2531 is located is parallel to and at a certain distance from the plane where the elastic portion 2532 is located. Compared with a planar spring structure, the presence of the bent portion can also reduce the elastic coefficient of the deformable portion 2533, so that the fluctuation of the preload when the deformable portion 2533 acts on the actuating assembly 254 is smaller, thereby making the friction between the actuating assembly 254 and the moving part more uniform and consistent.

[0089] In other specific examples, the drive mechanism 25 also includes a buffer section 2534, which is disposed between the preload assembly 253 and the actuation assembly 254. The preload provided by the preload assembly 253 is transmitted to the actuation assembly 254 through the buffer section 2534. During this process, the buffer section 2534, with its smaller elastic modulus, can deform and adaptively generate different degrees of shrinkage deformation for different tolerances. This reduces the difference in preload generated by the preload assembly 253 under different tolerances, thereby reducing the preload variation caused by material tolerances and assembly tolerances in the entire drive mechanism 25 system, and improving the consistency of the drive mechanism 25, i.e., the piezoelectric motor. The buffer section 2534 can be implemented as an adhesive material.

[0090] In some specific examples, the actuation component 254 includes a piezoelectric vibrator 2541 and a friction head 2542, wherein the friction head 2542 and the preload component 253 are located on opposite sides of the piezoelectric vibrator 2541. The friction head 2542 abuts against the moving part under the action of the preload component 253. The high-frequency, low-amplitude vibration of the piezoelectric vibrator 2541 causes the friction head 2542 to move, and the friction between the friction head 2542 and the moving part drives the moving part to move. In other words, the driving force can be understood as the frictional force applied by the friction head 2542 to the moving part.

[0091] In some specific examples, the piezoelectric oscillator 2541 is a substrate exhibiting the inverse piezoelectric effect and contracting or expanding according to the polarization direction and the electric field direction. It can be made of piezoelectric ceramic material or piezoelectric single crystal material. The piezoelectric oscillator 2541 can be a single-layer ceramic body or a single-layer single crystal, or it can be a multi-layer ceramic body or a multi-layer single crystal. The piezoelectric oscillator 2541 can be used by polarizing the substrate in the thickness direction of single crystal, polycrystalline ceramic, polymer piezoelectric ceramic, etc. The inverse piezoelectric effect refers to the mechanical deformation that occurs in the dielectric when an electric field is applied in the polarization direction of the dielectric to generate a potential difference. The piezoelectric oscillator 2541 has the function of ultrasonic oscillation, that is, it realizes oscillating reciprocating motion or elliptical motion on a specifically set electrode layer, thereby driving the friction head 2542 to oscillate reciprocating motion or elliptical motion, and then driving the moving part to move through the friction between the friction head 2542 and the moving part.

[0092] In some specific examples, the number of friction heads 2542 may be one, or two or more. The friction head 2542 and the piezoelectric vibrator 2541 may be implemented as an integral structure or as a detachable structure. More specifically, the friction head 2542 may have an arc surface to allow point friction between the friction head 2542 and the moving part; the friction head 2542 may also have a flat surface to allow surface friction between the friction head 2542 and the moving part.

[0093] In some specific examples, the friction head 2542 is made of wear-resistant materials, such as various high-hardness wear-resistant ceramic materials, such as alumina, zirconium oxide, silicon carbide ceramics, or high wear-resistant metal materials, carbon fiber materials, or composite materials of ceramics, metal particles and polymers, etc., in order to improve the wear resistance of the friction head 2542, which is beneficial to improve the friction between the moving parts and the friction head 2542, which is beneficial to improve the driving efficiency, and due to the wear resistance, it is beneficial to extend the service life of the friction head 2542.

[0094] In some embodiments of this application, the movable component is movably mounted on the fixed component. The movable component has a contact surface, and the friction head 2542 of the drive mechanism 25 maintains frictional contact with the contact surface of the movable component under pre-pressure. In one embodiment, the contact surface is arc-shaped, so that the friction head 2542 makes frictional contact with the arc-shaped surface provided by the contact surface, thereby driving the movable component to tilt along the arc-shaped trajectory provided by the contact surface. Further, the friction surface 25421 of the friction head 2542 facing the contact surface is also arc-shaped, so that the friction head 2542 moves on the contact surface to complete the tilting movement of the movable component and achieve anti-shake. For example, when the movable carrier 23 tilts around the first direction, the movable carrier 23 is the movable component, the intermediate frame 24 is the fixed component, and the friction head 2542 of the drive mechanism 25 makes frictional contact with the contact surface of the movable carrier 23; when the intermediate frame 24 tilts around the second direction, the intermediate frame 24 is the movable component, the base 22 is the fixed component, and the friction head 2542 of the drive mechanism 25 makes frictional contact with the contact surface of the intermediate frame 24.

[0095] In one example of this application, the drive mechanism 25 may further include a friction plate, which is disposed between the friction head 2542 and the movable part. The friction plate provides the contact surface, allowing frictional contact to occur between the friction head 2542 and the friction plate, thereby driving the movable part to move. The friction plate may be made of a metal oxide plate such as zirconium oxide or alumina to increase the friction between the friction head 2542 and the friction plate. Alternatively, the friction plate may be integrally formed with the movable part, for example, using an embedded molding process. Of course, the friction plate may also be a separate structure from the movable part, for example, by using an adhesive to fix the friction plate to the movable part.

[0096] The friction plate can have an arc-shaped segment and two straight segments. The arc-shaped segment serves as the contact surface and is located in the middle. The two straight segments connect the two ends of the arc-shaped segment and are symmetrically arranged relative to the arc-shaped segment. In this way, the friction plate can not only provide an arc-shaped contact surface, but also improve assembly accuracy through assembly via the straight segments.

[0097] In one example of this application, the first drive mechanism 251 includes a first preload component 2511 and a first actuation component 2512. The first actuation component 2512 includes a first friction head 25122 and a first piezoelectric vibrator 25121. The second drive mechanism 252 includes a second preload component 2521 and a second actuation component 2522. The second actuation component 2522 includes a second friction head 25222 and a second piezoelectric vibrator 25221. The first preload component 2511 is fixed to the intermediate frame 24. The first preload component 2511 is connected to the first piezoelectric vibrator 25121 to apply a preload towards the movable carrier 23 to the first actuation component 2512. Under the action of the preload, the first friction head 25122 maintains frictional contact with the movable carrier 23, thereby driving the movable carrier 23 to tilt about a first direction. The second pre-pressure component 2521 is fixed to the base 22. The second pre-pressure component 2521 is connected to the second piezoelectric vibrator 25221 to apply a pre-pressure toward the intermediate frame 24 to the second actuation component 2522. The second friction head 25222 maintains frictional contact with the intermediate frame 24, thereby the second actuation component 2522 can drive the intermediate frame 24 to drive the movable carrier 23 to tilt around the second direction.

[0098] The first piezoelectric vibrator 25121 and the second piezoelectric vibrator 25221 are elongated strips with length, width, and thickness. That is, the first actuation component 2512 and the second actuation component 2522 are implemented as linear piezoelectric motors. The extension direction of the length of the piezoelectric vibrator 2541 is perpendicular to the direction of the axis around which the piezoelectric vibrator 2541 tilts, and the extension direction of the width of the piezoelectric vibrator 2541 is parallel to the direction of the axis around which the piezoelectric vibrator 2541 tilts. Specifically, the first piezoelectric vibrator 25121 drives the movable carrier 23 to tilt about a first direction, the extension direction of the length of the first piezoelectric vibrator 25121 is perpendicular to the first direction, and the extension direction of the width of the first piezoelectric vibrator 25121 is parallel to the first direction. The second piezoelectric vibrator 25221 drives the intermediate frame 24 to tilt around the second direction. The extension direction of the length of the second piezoelectric vibrator 25221 is perpendicular to the second direction, and the extension direction of the width of the second piezoelectric vibrator 25221 is parallel to the second direction.

[0099] The active carrier 23 includes a first carrier sidewall 231, a second carrier sidewall 232, a third carrier sidewall 233, and a fourth carrier sidewall 234 arranged along its periphery. The intermediate frame 24 includes a first frame sidewall 241, a second frame sidewall 242, a third frame sidewall 243, and a fourth frame sidewall 244 arranged along its periphery. The base 22 includes a first base sidewall 221, a second base sidewall 222, a third base sidewall 223, and a fourth base sidewall 224 arranged along its periphery. Specifically, the first carrier sidewall 231, the first frame sidewall 241, and the first base sidewall 221 are opposite each other in a first direction; the second carrier sidewall 232, the second frame sidewall 242, and the second base sidewall 222 are opposite each other in a second direction; the third carrier sidewall 233, the third frame sidewall 243, and the third base sidewall 223 are opposite each other in the first direction; and the fourth carrier sidewall 234, the fourth frame sidewall 244, and the fourth base sidewall 224 are opposite each other in the second direction.

[0100] In one example of this application, the first pre-pressure component 2511 and the first actuation component 2512 are arranged vertically along the optical axis, enabling the first drive mechanism 251 to drive the tilting movement of the movable carrier 23 from the top side 101 or the bottom side 102. The second pre-pressure component 2521 and the second actuation component 2522 are arranged vertically along the optical axis, enabling the second drive mechanism 252 to drive the tilting movement of the intermediate frame 24 from the top side 101 or the bottom side 102. The vertical arrangement of the first drive mechanism 251 and the second drive mechanism 252 from the top side 101 or the bottom side 102 can make full use of the height space of the gimbal assembly 20, avoid increasing the lateral dimension of the gimbal assembly 20, and facilitate the miniaturization of the gimbal module 100. Moreover, it is also simpler to install the first pre-pressure component 2511 and the second pre-pressure component 2521 from the top side 101 or the bottom side 102 onto the intermediate frame 24 and the base 22, reducing the assembly difficulty.

[0101] In some specific examples, such as Figures 6 to 11 As shown, the first pre-pressure component 2511 is fixed to the top of the first frame sidewall 241. The first pre-pressure component 2511 is connected to the first piezoelectric vibrator 25121 such that the first friction head 25122 faces the first carrier sidewall 231. The first pre-pressure component 2511 generates a first pre-pressure parallel to the optical axis, so that the first friction head 25122 maintains frictional contact with the top of the first carrier sidewall 231, thereby driving the movable carrier 23 to tilt around the first direction.

[0102] The second preload assembly 2521 is fixed to the top of the second base sidewall 222. The second preload assembly 2521 is connected to the second piezoelectric vibrator 25221 so that the second friction head 25222 faces the second frame sidewall 242. The second preload assembly 2521 generates a second preload parallel to the optical axis, so that the second friction head 25222 maintains frictional contact with the top of the second frame sidewall 242, thereby driving the intermediate frame 24 to tilt around the second direction.

[0103] In other specific examples, the first pre-pressure component 2511 is fixed to the bottom of the first frame sidewall 241, and the first pre-pressure component 2511 is connected to the first piezoelectric vibrator 25121 such that the first friction head 25122 faces the first carrier sidewall 231. The first pre-pressure component 2511 generates a first pre-pressure parallel to the optical axis, so that the first friction head 25122 maintains frictional contact with the bottom of the first carrier sidewall 231, thereby driving the movable carrier 23 to tilt about the first direction.

[0104] The second preload assembly 2521 is fixed to the bottom of the second base sidewall 222. The second preload assembly 2521 is connected to the second piezoelectric vibrator 25221 so that the second friction head 25222 faces the second frame sidewall 242. The second preload assembly 2521 generates a second preload parallel to the optical axis, so that the second friction head 25222 maintains frictional contact with the bottom of the second frame sidewall 242, thereby driving the intermediate frame 24 to tilt around the second direction.

[0105] It should be understood that the first driving mechanism 251 drives from the top side 101 and the second driving mechanism 252 drives from the top side 101, meaning that both the first driving mechanism 251 and the second driving mechanism 252 are top-mounted piezoelectric driving mechanisms; or, the first driving mechanism 251 drives from the bottom side 102 and the second driving mechanism 252 drives from the bottom side 102, meaning that both the first driving mechanism 251 and the second driving mechanism 252 are bottom-mounted piezoelectric driving mechanisms. This not only improves the stability of the gimbal module 100 during the driving process and reduces the risk of the imaging module tipping over during movement, but also simplifies the structure of the gimbal module 100, making full use of the height space of the gimbal assembly 20, reducing the size of the gimbal module 100, and facilitating the miniaturization of the gimbal module 100. Furthermore, it can optimize the assembly process of the gimbal module 100, reduce assembly difficulty, further reduce assembly tolerances, and increase assembly consistency.

[0106] In some specific examples, when the first drive mechanism 251 has a first friction head 25122, the vibration of the first piezoelectric vibrator 25121 is transmitted to the movable carrier 23 through the first friction head 25122. During the vibration cycle of the first piezoelectric vibrator 25121, the first friction head 25122 makes intermittent or continuous frictional contact with the movable carrier 23 to drive the movable carrier 23 to tilt about a first direction.

[0107] In some specific examples, when the second drive mechanism 252 has a second friction head 25222, the vibration of the second piezoelectric vibrator 25221 is transmitted to the intermediate frame 24 through the second friction head 25222. During the vibration cycle of the second piezoelectric vibrator 25221, the second friction head 25222 makes intermittent frictional contact with the intermediate frame 24 to drive the intermediate frame 24 to tilt about a second direction.

[0108] In some specific examples, when the first drive mechanism 251 has two or more first friction heads 25122, the two first friction heads 25122 alternately make frictional contact with the movable carrier 23. For example, when one of the two first friction heads 25122 is in contact with the movable carrier 23, the vibration of the first piezoelectric vibrator 25121 is transmitted to the movable carrier 23 through the first friction head 25122, driving the movable carrier 23 to tilt about a first direction. At this time, the other of the two first friction heads 25122 is in a non-contact state with the movable carrier 23. During the vibration cycle of the first drive mechanism 251, the two first friction heads 25122 alternately make contact with the movable carrier 23, so that after one first friction head 25122 completes the driving action, the other first friction head 25122 continues to complete the driving action, and the two first friction heads 25122 cooperate to drive the movable carrier 23 to tilt about the first direction.

[0109] In some specific examples, when the second drive mechanism 252 has two or more second friction heads 25222, the two second friction heads 25222 alternately make frictional contact with the intermediate frame 24. For example, when one of the two second friction heads 25222 is in contact with the intermediate frame 24, the vibration of the second piezoelectric vibrator 25221 is transmitted to the intermediate frame 24 through that second friction head 25222, driving the intermediate frame 24 to tilt about the second direction. At this time, the other of the two second friction heads 25222 is in a non-contact state with the intermediate frame 24. During the vibration cycle of the second drive mechanism 252, the two second friction heads 25222 alternately make contact with the intermediate frame 24, so that after one second friction head 25222 completes the driving action, the other second friction head 25222 continues to complete the driving action, and the two second friction heads 25222 cooperate to drive the intermediate frame 24 to tilt about the second direction.

[0110] In this application, the friction head 2542 has a friction surface 25421, which faces the contact surface and maintains frictional contact with the contact surface under preload. At least one of the friction surface 25421 and the contact surface is an arc-shaped surface. The axis around which the moving part tilts passes through the center of curvature of the arc-shaped surface. In this way, the arc-shaped surface can provide an arc-shaped path for the moving part to tilt, avoiding the risk of nonlinear deviation of the moving part and improving the accuracy of the tilting motion of the moving part. It can also amplify the small tilt displacement of the friction head 2542 into a larger tilt angle of the moving part, which is not only beneficial to the miniaturization of the gimbal assembly 20, but also beneficial to increasing the tilt anti-shake angle of the gimbal assembly 20. Moreover, the continuous curvature of the arc-shaped surface allows the friction head 2542 to obtain a consistent coefficient of friction at any position on the arc-shaped surface during the tilting motion of the moving part, reducing the risk of sudden changes in driving force and improving the reliability and stability of the gimbal assembly 20.

[0111] Specifically, the first friction head 25122 has a first friction surface 251221, and the first carrier sidewall 231 has a first contact surface 2311. The first friction surface 251221 and the first contact surface 2311 are opposite each other along the optical axis and maintain frictional contact under the action of pre-pressure. The first contact surface 2311 is an arc-shaped surface, and the X-axis, parallel to the first direction, passes through the center of curvature of the first contact surface 2311. Under the action of the first contact surface 2311, the movable carrier 23 can rotate around the X-axis along the arc-shaped surface of the first contact surface 2311 to realize the tilting movement of the movable carrier 23 around the first direction. Furthermore, the first friction surface 251221 is also an arc-shaped surface, forming a "double-arc surface" structure with the first contact surface 2311. The centers of curvature of the first friction surface 251221 and the first contact surface 2311 are aligned along the Z-axis, reducing nonlinear offset between them during movement. Even further, the radius of curvature of the first friction surface 251221 differs from that of the first contact surface 2311; for example, the radius of curvature of the first contact surface 2311 is larger than that of the first friction surface 251221. This amplifies the smaller tilt displacement of the first friction head 25122 into a larger tilt angle for the moving part of the moving carrier 23. This not only suppresses the risk of nonlinear offset in the moving carrier 23 and improves the accuracy of its tilting motion, but also avoids increasing the tilt stabilization angle of the gimbal assembly 20 while increasing its size, thus facilitating miniaturization of the gimbal assembly 20.

[0112] like Figure 6As shown, the second friction head 25222 has a second friction surface 252221, which is located at the end of the second friction head 25222. The second frame sidewall 242 has a second contact surface 2421. The second friction surface 252221 and the second contact surface 2421 are opposite each other along the optical axis and maintain frictional contact under the action of preload. The second contact surface 2421 is an arc-shaped surface, and the Y-axis, parallel to the second direction, passes through the center of curvature of the second contact surface 2421. Under the action of the second contact surface 2421, the intermediate frame 24 can rotate around the Y-axis along the arc-shaped surface of the second contact surface 2421 to achieve tilting movement of the intermediate frame 24 around the second direction. Furthermore, the second friction surface 252221 is also an arc-shaped surface, forming a "double-arc surface" structure with the second contact surface 2421. The centers of curvature of the second friction surface 252221 and the second contact surface 2421 are aligned along the Z-axis, reducing nonlinear offset between them during movement. Even further, the radius of curvature of the second friction surface 252221 differs from that of the second contact surface 2421; for example, the radius of curvature of the second contact surface 2421 is larger than that of the second friction surface 252221. This amplifies the smaller tilt displacement of the second friction head 25222 into a larger tilt angle for the moving part of the intermediate frame 24. This not only suppresses the risk of nonlinear offset in the intermediate frame 24 and improves the accuracy of its tilting movement, but also avoids increasing the tilt stabilization angle of the gimbal assembly 20 while increasing its size, thus facilitating miniaturization of the gimbal assembly 20.

[0113] When at least one of the two surfaces of the friction surface 25421 of the friction head 2542 and the contact surface of the moving part is an arc-shaped surface, the solution of this application is selected from one of the following combinations: like Figure 17 As shown, the contact surface is a plane, and the friction surface 25421 of the friction head 2542 is an arc-shaped surface, that is, the friction surface 25421 of the friction head 2542 protrudes toward the contact surface, and the arc-shaped friction surface 25421 of the friction head 2542 rubs against the contact surface to drive the moving part to tilt.

[0114] like Figure 18 As shown, the contact surface is a plane, and the friction surface 24521 of the friction head 2542 has a pair of arcuate segments connected by a plane segment. When there is no tilt angle, the friction head 2542 makes frictional contact with the contact surface through this plane segment; when a tilt angle occurs, one of the arcuate segments forms a point contact with the contact surface, allowing for sliding offset and preventing slippage.

[0115] like Figure 19 As shown, the friction surface 25421 of the friction head 2542 is a plane, and the contact surface is an arc-shaped surface. This arc-shaped contact surface corresponds to the friction head 2542 to provide an arc-shaped motion path for the moving part.

[0116] like Figure 20 As shown, the friction surface 25421 of the friction head 2542 is an arc-shaped surface, and the contact surface is also an arc-shaped surface. The friction head 2542 drives the moving part to tilt during frictional contact with the contact surface. During this process, due to the oscillating reciprocating motion or elliptical motion of the friction head 2542, the arc-shaped friction surface 25421 of the friction head 2542 can adaptively adjust the contact point position on the arc-shaped contact surface to avoid disengaging from the contact surface during tilting motion, ensuring the continuity of transmission, and providing an arc-shaped path for the rotational motion of the moving part, thereby reducing sliding friction.

[0117] It should be understood that when the friction surface 25421 of the friction head 2542 and / or the contact surface of the moving part are arc-shaped surfaces, the arc-shaped opening of the friction surface 25421 can face the top side 101, i.e., the friction surface 25421 is concave; or, the arc-shaped opening of the friction surface 25421 can face the bottom side 102, i.e., the friction surface 25421 is convex. The arc-shaped opening of the contact surface can face the top side 101, i.e., the contact surface is concave; or, the arc-shaped opening of the contact surface can face the bottom side 102, i.e., the contact surface is convex. In some embodiments of this application, when the arc-shaped opening of the friction surface 25421 is in the same direction as the arc-shaped opening of the contact surface, that is, a double concave surface or a double convex surface, a double arc-shaped embedded structure is formed. The contact surface provides an arc-shaped guide path for the friction head 2542, guiding it to move along a predetermined arc trajectory, reducing the risk of slippage between the two along the optical axis, and reducing the height of the position where the two make frictional contact, thereby reducing the height of the gimbal module 100.

[0118] In some embodiments of this application, when the arcuate opening of the friction surface 25421 is opposite in direction to the arcuate opening of the contact surface, i.e., one is a concave surface and the other is a convex surface, the contact surface provides an arcuate guide path for the friction head 2542, guiding it to move along a predetermined arcuate trajectory.

[0119] Specifically, such as Figure 20As shown, the friction head 2542 and the contact surface adopt a double-arc surface embedded structure design: the friction surface 25421 of the friction head 2542 facing the contact surface is an arc shape that bulges towards the contact surface, and the contact surface has an arc segment that bulges away from the friction head 2542. The arc opening directions of the two are consistent, and the radius of curvature of the friction surface 25421 is smaller than the radius of curvature of the contact surface. Driven by the vibration of the piezoelectric vibrator 2541, the friction head 2542 can move along the arc trajectory of the contact surface. This double arc structure not only limits the movement path of the friction head 2542 and significantly compresses the thickness of the active space of the gimbal assembly 20 by constraining the displacement height, but also ensures that the friction head 2542 always maintains close contact with the contact surface, effectively preventing slippage. Furthermore, the radius of curvature of the friction surface 25421 is smaller, which makes the friction head 2542 and the contact surface form point friction contact. The smaller contact area can increase the pressure at the contact point, causing the contact point to dynamically shift with the tilting movement of the moving part, forming a rolling motion to reduce the proportion of sliding friction, thereby reducing the coefficient of friction and friction loss, avoiding jump-like detachment during tilting, and ensuring the stability and accuracy of the tilting movement of the moving part.

[0120] This application also provides another implementation method, such as Figure 21 As shown, similarly, the friction surface 25421 of the friction head 2542 facing the contact surface is an arc shape that bulges towards the contact surface, but the contact surface is an arc shape that bulges towards the friction head 2542. The arc opening directions of the two are opposite. On the one hand, the convex arc surface of the friction surface 25421 can adaptively adjust the contact point position along the convex arc surface of the contact surface. Even if there is a slight deviation in the tilt angle of the moving part, the two can still maintain at least one effective contact point. On the other hand, it makes point contact between the friction head 2542 and the contact surface, reducing the coefficient of friction.

[0121] It is understandable that: Figures 17-20 The specific implementation of the friction head 2542 and the friction plate is shown. The following detailed description only takes the second friction plate 247 on the middle frame 24 as an example. The first friction plate 237 on the movable carrier 23 can adopt the same structural design as the second friction plate 247 to achieve the same friction driving effect.

[0122] Furthermore, such as Figure 25As shown, to enhance drive stability and load capacity, a dual-friction-head drive structure can also be adopted. For the tilting motion of the moving carrier 23 around the first direction, a third friction head 25123 can be added next to the first friction head 25122. The third friction head 25123 is symmetrically distributed with the first friction head 25122, and the third friction surface of the third friction head 25123 is also designed as an arc-shaped surface with the same radius of curvature as the first friction surface 251221. During operation, the first friction head 25122 and the third friction head 25123 rub against the first contact surface 2311 under pre-pressure, driving the moving carrier 23 to tilt around the X-axis through symmetrical driving force. The dual-friction-head structure avoids unilateral force imbalance during single-friction-head drive, reducing the swaying of the moving carrier 23 when tilted. Simultaneously, the coordinated drive of the dual friction heads can disperse the load pressure of a single friction head, reducing the wear rate of the friction head surface and meeting the requirements of long-term high-frequency drive of the piezoelectric motor. Similarly, for the tilting motion of the intermediate frame 24 around the second direction, a fourth friction head can be added on the symmetrical side of the second friction head 25222 to form a symmetrical drive with the second friction head 25222, ensuring the tilting accuracy and stability of the intermediate frame 24.

[0123] like Figures 7 to 10 As shown, in one example of this application, the movable carrier 23 further includes at least one carrier extension arm extending from the carrier sidewall in a direction away from the optical axis. The first drive mechanism 251 and one of the carrier extension arms are located on the same side of the movable carrier 23, and the first drive mechanism 251 acts on the carrier extension arm to drive the movable carrier 23 to move. For example, when the number of at least one carrier extension arm is two, it includes a first carrier extension arm 235 and a second carrier extension arm 236. The first carrier extension arm 235 extends from the first carrier sidewall 231 in a direction away from the optical axis, and the first carrier extension arm 235 and the first drive mechanism 251 are located on the same side of the movable carrier 23, for example, the first side 103. The second carrier extension arm 236 extends from the third carrier sidewall 233 in a direction away from the optical axis, and the second carrier extension arm 236 and the first drive mechanism 251 are located on opposite sides of the movable carrier 23, for example, the third side 105.

[0124] At least one carrier extension arm is located near the bottom of the carrier sidewall, wherein the lowest point of the bottom surface of at least one carrier extension arm is not lower than the lowest point of the bottom surface of the carrier sidewall. Thus, as the height of at least one carrier extension arm is reduced, the height of the first drive mechanism 251 located at the top of the carrier extension arm is also reduced, thereby lowering the height of the gimbal module 100. Furthermore, a support component 26 needs to be provided at the bottom of the carrier extension arm to reduce the frictional force of the tilting movement of the movable carrier 23. The design of at least one carrier extension arm being located near the bottom of the carrier sidewall allows it to support the carrier extension arm without raising the position of the support component 26, further contributing to a reduction in the height of the gimbal module 100.

[0125] In one example of this application, the first frame sidewall 241 and the third frame sidewall 243 may also be provided with grooves so that the first carrier extension arm 235 and the second carrier extension arm 236 can be accommodated in the grooves, thereby helping to reduce the lateral dimension of the gimbal module 100.

[0126] In one example of this application, the first carrier extension arm 235 includes a first carrier top surface 2351 and a first carrier bottom surface 2352 opposite to each other along the optical axis, both of which are arc-shaped. For example, the arc-shaped opening direction of the first carrier top surface 2351 is opposite to that of the arc-shaped opening direction of the first carrier bottom surface 2352. Specifically, the arc-shaped opening of the first carrier top surface 2351 faces the bottom side 102, i.e., it is a convex surface; the arc-shaped opening of the first carrier bottom surface 2352 faces the top side 101, i.e., it is a concave surface. Alternatively, the arc-shaped opening of the first carrier top surface 2351 faces the top side 101, i.e., it is a concave surface; and the arc-shaped opening of the first carrier bottom surface 2352 faces the bottom side 102, i.e., it is a convex surface. This provides an arc-shaped movement path for the movable carrier 23 to tilt around the first direction, thereby achieving tilt anti-shake function of the movable carrier 23 in the first direction.

[0127] The arc-shaped opening direction of the top surface 2351 of the first carrier is the same as the arc-shaped opening direction of the bottom surface 2352 of the first carrier. Specifically, the arc-shaped opening of the top surface 2351 faces the top side 101, i.e., it is concave; the arc-shaped opening of the bottom surface 2352 faces the top side 101, i.e., it is concave. Alternatively, the arc-shaped opening of the top surface 2351 faces the bottom side 102, i.e., it is convex; the arc-shaped opening of the bottom surface 2352 faces the bottom side 102, i.e., it is convex. This not only provides an arc-shaped movement path for the movable carrier 23 to tilt around the first direction, but also reduces the frictional contact point between the first carrier extension arm 235 and the first drive mechanism 251, thereby reducing the height of the first drive mechanism 251 and ultimately lowering the height of the gimbal module 100.

[0128] The arc center of the top surface 2351 of the first carrier and the arc center of the bottom surface 2352 of the first carrier are aligned along the Z-axis. The arc radius of curvature of the top surface 2351 and the arc radius of curvature of the bottom surface 2352 are different. For example, the arc radius of curvature of the top surface 2351 is smaller than that of the bottom surface 2352, or the arc radius of curvature of the top surface 2351 is larger than that of the bottom surface 2352. This not only reduces deviations during movement and improves the movement accuracy and reliability of the movable carrier 23, but also allows for greater angular movement of the movable carrier 23 within a limited space.

[0129] In one example of this application, the second carrier extension arm 236 includes a second carrier top surface 2361 and a second carrier bottom surface 2362 opposite to each other along the optical axis, wherein the second carrier top surface 2361 and the second carrier bottom surface 2362 are arc-shaped. The shapes of the second carrier top surface 2361 and the second carrier bottom surface 2362 may be the same as or slightly different from the shapes of the first carrier top surface 2351 and the first carrier bottom surface 2352, but they can achieve the same function.

[0130] In this application, the movable carrier 23 has a contact surface, and the first driving mechanism 251 is located on the same side of the movable carrier 23 as the contact surface. The first driving mechanism 251 acts on the contact surface to drive the movable carrier 23 to move. Specifically, the first friction head 25122 of the first actuation component 2512 acts on the contact surface of the movable carrier 23 to drive the movable carrier 23 to tilt about a first direction.

[0131] In some specific examples, the first friction head 25122 of the first drive mechanism 251 makes frictional contact with the first carrier top surface 2351 of the first carrier extension arm 235. That is, the first carrier top surface 2351 is the contact surface of the first friction head 25122, and the first drive mechanism 251 is disposed on top of the first carrier top surface 2351. Through the arc-shaped movement path provided by the first carrier top surface 2351, the first carrier extension arm 235 is driven to rotate the movable carrier 23 around the first direction. The first friction head 25122 and the first carrier top surface 2351 have point frictional contact. During the movement, there is at least one frictional contact point between the first friction head 25122 and the first carrier top surface 2351. At least one frictional point provides a fulcrum for the movable carrier 23 to tilt, thereby driving the movable carrier 23 to tilt around the first direction.

[0132] The first friction head 25122 and the top surface 2351 of the first carrier have point friction contact rather than surface friction contact. This design ensures that during the tilting motion of the movable carrier 23 around the first direction, the first friction head 25122 is in close contact with the arc-shaped top surface 2351 of the first carrier, thereby ensuring the stability of the friction contact point and improving the smoothness and accuracy of the tilting motion of the movable carrier 23 around the first direction. It should be understood that in actual use, the point friction contact can have a certain contact area, which is very small relative to the entire top surface 2351 of the first carrier.

[0133] Furthermore, the point friction contact design between the first friction head 25122 and the arc-shaped top surface 2351 of the first carrier can reduce the assembly precision requirements of the gimbal module 100, making the assembly process of the gimbal module 100 simpler. It should be understood that if a surface friction contact design were used between the first friction head 25122 and the arc-shaped top surface 2351 of the first carrier, during assembly, if there are assembly tolerances between the first friction head 25122 and the arc-shaped top surface 2351 of the first carrier, such as if the first friction head 25122 is misaligned, it would increase the risk of poor contact between the first friction head 25122 and the arc-shaped top surface 2351 of the first carrier, thereby affecting the driving performance of the first drive mechanism 251 and reducing the anti-shake effect of the gimbal module 100.

[0134] In some embodiments, the first friction head 25122 of the first drive mechanism 251 makes frictional contact with the first carrier bottom surface 2352 of the first carrier extension arm 235, that is, the first carrier bottom surface 2352 is the contact surface of the first friction head 25122, and the first drive mechanism 251 is disposed at the bottom of the first carrier bottom surface 2352.

[0135] In one example of this application, the intermediate frame 24 further includes at least one frame extension arm extending from the frame sidewall in a direction away from the optical axis. The second drive mechanism 252 is located on the same side of the intermediate frame 24 as one of the frame extension arms, and the second drive mechanism 252 acts on the frame extension arm to drive the intermediate frame 24 to move. For example, when there are two frame extension arms, including a first frame extension arm 245 and a second frame extension arm 246, wherein the first frame extension arm 245 extends from the second frame sidewall 242 in a direction away from the optical axis, and the first frame extension arm 245 and the second drive mechanism 252 are located on the same side of the intermediate frame 24, for example, the second side 104; the second frame extension arm 246 extends from the fourth frame sidewall 244 in a direction away from the optical axis, and the second frame extension arm 246 and the second drive mechanism 252 are located on opposite sides of the intermediate frame 24, for example, the fourth side 106.

[0136] In this design, at least one frame extension arm is located near the bottom of the frame sidewall, meaning the lowest point of the bottom surface of at least one frame extension arm is not lower than the lowest point of the bottom surface of the frame sidewall. This reduction in the height of the at least one frame extension arm also lowers the height of the second drive mechanism 252 located at the top of the frame extension arm, thereby reducing the overall height of the gimbal module 100. Furthermore, a support component 26 is required at the bottom of the frame extension arm to reduce friction during the tilting movement of the intermediate frame 24. The design of at least one frame extension arm being located near the bottom of the frame sidewall allows it to support the frame extension arm without raising the position of the support component 26, further contributing to a reduction in the height of the gimbal module 100.

[0137] In one example of this application, the second base sidewall 222 and the fourth base sidewall 224 may also be provided with grooves so that the first frame extension arm 245 and the second frame extension arm 246 can be accommodated in the grooves, thereby helping to reduce the lateral dimension of the gimbal module 100.

[0138] In one example of this application, the first frame extension arm 245 includes a first frame top surface 2451 and a first frame bottom surface 2452 opposite to each other along the optical axis, both of which are arc-shaped. For example, the arc-shaped opening direction of the first frame top surface 2451 is opposite to that of the arc-shaped opening direction of the first frame bottom surface 2452, wherein the arc-shaped opening of the first frame top surface 2451 faces the bottom side 102, i.e., it is a convex surface; and the arc-shaped opening of the first frame bottom surface 2452 faces the top side 101, i.e., it is a concave surface; or, the arc-shaped opening of the first frame top surface 2451 faces the top side 101, i.e., it is a concave surface; and the arc-shaped opening of the first frame bottom surface 2452 faces the bottom side 102, i.e., it is a convex surface. In this way, an arc-shaped movement path can be provided for the intermediate frame 24 to tilt around the second direction, thereby realizing the tilt anti-shake function of the intermediate frame 24 in the second direction.

[0139] For example, the arc-shaped opening direction of the top surface 2451 of the first frame is the same as the arc-shaped opening direction of the bottom surface 2452 of the first frame. Specifically, the arc-shaped opening of the top surface 2451 faces the top side 101, which is a concave surface; the arc-shaped opening of the bottom surface 2452 faces the top side 101, which is a concave surface. Alternatively, the arc-shaped opening of the top surface 2451 faces the bottom side 102, which is a convex surface; the arc-shaped opening of the bottom surface 2452 faces the bottom side 102, which is a convex surface. This not only provides an arc-shaped movement path for the intermediate frame 24 to tilt around the second direction, but also reduces the frictional contact point between the first frame extension arm 245 and the second drive mechanism 252, thereby reducing the height of the second drive mechanism 252 and ultimately lowering the height of the gimbal module 100.

[0140] The arc center of the top surface 2451 of the first frame and the arc center of the bottom surface 2452 of the first frame are aligned along the Z-axis. The arc radius of curvature of the top surface 2451 and the arc radius of curvature of the bottom surface 2452 are different in size. For example, the arc radius of curvature of the top surface 2451 is smaller than that of the bottom surface 2452, or vice versa. This not only reduces deviations during movement and improves the movement accuracy and reliability of the intermediate frame 24, but also allows for greater angular movement of the intermediate frame 24 within a limited space.

[0141] In one example of this application, the second frame extension arm 246 includes a second frame top surface 2461 and a second frame bottom surface 2462 opposite to each other along the optical axis, wherein the second frame top surface 2461 and the second frame bottom surface 2462 are arc-shaped. The shapes of the second frame top surface 2461 and the second frame bottom surface 2462 may be the same as or slightly different from the shapes of the first frame top surface 2451 and the first frame bottom surface 2452, but they can achieve the same function.

[0142] In this application, the intermediate frame 24 has a contact surface, and the second drive mechanism 252 is located on the same side of the intermediate frame 24 as the contact surface. The second drive mechanism 252 acts on the contact surface to drive the intermediate frame 24 to move. Specifically, the second friction head 25222 of the second actuation assembly 2522 acts on the contact surface of the intermediate frame 24 to drive the intermediate frame 24 to tilt about a second direction.

[0143] In some specific examples, the second friction head 25222 of the second drive mechanism 252 makes frictional contact with the top surface 2451 of the first frame of the first frame extension arm 245. That is, the top surface 2451 of the first frame is the contact surface of the second friction head 25222, and the second drive mechanism 252 is located on top of the top surface 2451 of the first frame. Through the arc-shaped movement path provided by the top surface 2451 of the first frame, the first frame extension arm 245 is driven to rotate the intermediate frame 24 around the second direction. The second friction head 25222 and the top surface 2451 of the first frame have point frictional contact. During the movement, there is at least one frictional contact point between the second friction head 25222 and the top surface 2451 of the first frame. At least one frictional point provides a fulcrum for the tilting movement of the intermediate frame 24, so as to drive the intermediate frame 24 to tilt around the second direction.

[0144] The second friction head 25222 and the top surface 2451 of the first frame are in point friction contact rather than surface friction contact. This design ensures that the second friction head 25222 is in close contact with the arc-shaped top surface 2451 of the first frame during the tilting motion of the middle frame 24 around the second direction, thereby ensuring the stability of the friction contact point and improving the smoothness and accuracy of the tilting motion of the middle frame 24 around the second direction.

[0145] Furthermore, the point friction contact design between the second friction head 25222 and the arc-shaped top surface 2451 of the first frame can reduce the assembly accuracy requirements of the gimbal module 100, making the assembly process of the gimbal module 100 simpler. Its principle is the same as that of the point friction contact between the first friction head 25122 and the arc-shaped top surface 2351 of the first carrier, and will not be repeated here.

[0146] In some embodiments, the second friction head 25222 of the second drive mechanism 252 makes frictional contact with the first frame bottom surface 2452 of the first frame extension arm 245, that is, the first frame bottom surface 2452 is the contact surface of the second friction head 25222, and the second drive mechanism 252 is located at the bottom of the first frame bottom surface 2452.

[0147] In some embodiments of this application, the friction plate can also be part of a moving component. For example, the friction plate is disposed on the moving carrier 23 and the intermediate frame 24, and the friction head 2542 makes frictional contact with the friction plate. The contact surface is located on the side of the friction plate facing the friction head 2542, so as to increase the friction between the friction head and the moving component and improve the anti-shake driving effect.

[0148] More specifically, the friction plate includes a first friction plate 237 disposed on the movable carrier 23 and a second friction plate 247 disposed on the intermediate frame 24. The first friction plate 237 is disposed between the first friction head 25122 and the top surface 2351 of the first carrier, or between the first friction head 25122 and the bottom surface 2352 of the first carrier, that is, the first friction head 25122 and the first friction plate 237 make frictional contact to increase the frictional force between the first friction head 25122 and the movable carrier 23. The second friction plate 247 is disposed between the second friction head 25222 and the top surface 2451 of the first frame, or between the second friction head 25222 and the bottom surface 2452 of the first frame, that is, the second friction head 25222 and the second friction plate 247 make frictional contact to increase the frictional force between the second friction head 25222 and the intermediate frame 24.

[0149] In a specific example of this application, the contact surface of the friction plate has an arc segment and a straight segment. The arc segment maintains frictional contact with the friction head 2542 to provide a motion trajectory and limit the axial space occupied by the arc segment. The straight segment is located on both sides of the arc segment along the length direction of the arc segment, providing a motion trajectory boundary for the friction contact surface and providing a flat surface for the assembly and handling of the friction plate.

[0150] Specifically, the first friction plate 237 includes a first arcuate segment 2371 and a first straight segment 2372. The first straight segment 2372 is located on both sides of the first arcuate segment 2371 along its length. The first arcuate segment 2371 maintains frictional contact with the first friction head 25122 to increase the friction between the first friction head 25122 and the movable carrier 23, thereby enabling the movable carrier 23 to tilt around a first direction. The contact surface of the second friction plate 247 facing the second friction head 25222 includes a second arcuate segment 2471 and a second straight segment 2472. The second straight segment 2472 is located on both sides of the second arcuate segment 2471 along its length. The second arcuate segment 2471 maintains frictional contact with the second friction head 25222 to increase the friction between the second friction head 25222 and the intermediate frame 24, thereby enabling the intermediate frame 24 to tilt around a second direction.

[0151] As mentioned above, the moving part and the friction plate have the same shape of contact surface, that is, the contact surface of the moving part facing the friction head 2542 has the same shape as the contact surface of the friction plate. Through the geometric nesting of the contact surfaces with the same contour, the axial space is further compressed.

[0152] Specifically, the surface of the moving part facing the friction head 2542 has the same arcuate and straight sections as the contact surface of the friction plate, in order to accommodate the assembly of the friction plate on the integral thickness of the moving part that facilitates the compression of the gimbal module 100.

[0153] More specifically, the contact surface of the first friction plate 237 has the same shape as the top surface 2351 or the bottom surface 2352 of the first carrier, that is, it has the same arc-shaped segment and straight segment as the first arc-shaped segment 2371 and the first straight segment 2372, so as to facilitate the assembly of the first friction plate 237 with the movable carrier 23; the contact surface of the second friction plate 247 has the same shape as the top surface 2451 or the bottom surface 2452 of the first frame, that is, it has the same arc-shaped segment and straight segment as the second arc-shaped segment 2471 and the second straight segment 2472, so as to facilitate the assembly of the second friction plate 247 with the intermediate frame 24.

[0154] refer to Figure 5 , Figure 6 , Figure 9 and Figure 10In one example of this application, the gimbal assembly 20 further includes a support assembly 26, wherein the support assembly 26 includes a first support portion 261 on the same side as the first drive mechanism 251, and a second support portion 262 located on the opposite side of the first drive mechanism 251. The first support portion 261 and the second support portion 262 are disposed between the movable carrier 23 and the intermediate frame 24 along the optical axis. The support assembly 26 also includes a third support portion 263 on the same side as the second drive mechanism 252, and a fourth support portion 264 located on the opposite side of the second drive mechanism 252. The third support portion 263 and the fourth support portion 264 are disposed between the intermediate frame 24 and the base 22 along the optical axis.

[0155] The first support portion 261 is disposed between the first carrier extension arm 235 and the first frame sidewall 241. The top and bottom of the first carrier extension arm 235 maintain frictional contact with the first friction head 25122 and the first support portion 261, respectively. The direction of the first pre-pressure force generated by the first pre-pressure assembly 2511 is parallel to and opposite to the direction of the supporting force generated by the first support portion 261. The second support portion 262 is disposed between the second carrier extension arm 236 and the third frame sidewall 243. The first support portion 261 and the second support portion 262 provide support on the opposite first side 103 and third side 105 of the movable carrier 23 to provide symmetrical supporting forces.

[0156] It is understandable that if only the first preload is applied to the top or bottom of the first carrier extension arm 235, the risk of the movable carrier 23 overturning would increase. This is because, in order to maintain the balance of the movable carrier 23, the first support portion 261 and the second support portion 262 provide a supporting force to the movable carrier 23 in the opposite direction to the first preload, thus balancing the first preload and reducing the risk of the movable carrier 23 overturning.

[0157] Furthermore, since the first drive mechanism 251 is provided at the top or bottom of the movable carrier 23, the first support part 261 and the second support part 262 can be provided only at the bottom or top of the movable carrier 23 for support. That is, the first support part 261 and the second support part 262 and the first drive mechanism 251 are respectively provided on opposite sides of the movable carrier 23, without the need to provide additional support components 26 at the sides or other positions of the movable carrier 23, thus reducing the number of support components 26 and enhancing the assembly consistency and assembly accuracy of the gimbal module 100. Moreover, during the assembly process of the gimbal module 100, a stacking assembly method from the top side 101 to the bottom side 102 can be adopted, further simplifying the assembly process and reducing assembly tolerances.

[0158] The third support portion 263 is disposed between the first frame extension arm 245 and the second base sidewall 222. The top and bottom of the first frame extension arm 245 maintain frictional contact with the second friction head 25222 and the third support portion 263, respectively. The direction of the second pre-pressure force generated by the second pre-pressure assembly 2521 is parallel to and opposite to the direction of the supporting force generated by the third support portion 263. The fourth support portion 264 is disposed between the second frame extension arm 246 and the fourth base sidewall 224. The third support portion 263 and the fourth support portion 264 provide support on the opposite second side 104 and fourth side 106 of the intermediate frame 24 to provide symmetrical supporting forces.

[0159] It should be understood that the third support 263 and the fourth support 264 can also reduce the risk of the intermediate frame 24 overturning. The principle is the same as that of the first support 261 and the second support 262 in reducing the risk of the moving carrier 23 overturning, and will not be repeated here.

[0160] In some specific examples, the first support 261, the second support 262, the third support 263, and the fourth support 264 can be implemented as balls, rollers, bosses, or guide shafts, as long as they can achieve tilt prevention of the movable carrier 23 and the intermediate frame 24. That is, the first support 261, the second support 262, the third support 263, and the fourth support 264 can rotate on their own or rotate together with the movable carrier 23 and the intermediate frame 24 when the movable carrier 23 and the intermediate frame 24 tilt.

[0161] In some specific examples, the first support portion 261 includes at least two first support members, and the second support portion 262 includes at least one second support member. The at least two first support members and the at least one second support member together form a stable support plane. The projection of the first friction head 25122 along the optical axis is located between the projections of the at least two first support members along the optical axis, so that it can always be supported by the at least two first support members during the tilting movement of the movable carrier 23, thereby enhancing the stability and reliability of the gimbal module 100 during tilting movements.

[0162] Furthermore, the third support portion 263 includes at least two third support members, and the fourth support portion 264 includes at least one fourth support member. The at least two third support members and the at least one fourth support member together form a stable support plane. The projection of the second friction head 25222 along the optical axis is located between the projections of the at least two third support members along the optical axis, ensuring that it is always supported by the at least two third support members during the tilting movement of the intermediate frame 24, thereby enhancing the stability and reliability of the gimbal module 100 during tilting movements.

[0163] In some specific examples, the first support 261 is designed to be tightly clamped between the movable carrier 23 and the intermediate frame 24, while the second support 262 is loosely clamped between the movable carrier 23 and the intermediate frame 24. When the movable carrier 23 is driven by the first drive mechanism 251, the first support 261 always provides stable support to the movable carrier 23 to ensure the parallelism of the movable carrier 23 during movement. When the movable carrier 23 tilts, the second support 262 provides a certain amount of leeway for position adjustment of the movable carrier 23. Furthermore, this arrangement facilitates assembly; the tight fit is beneficial for the installation and positioning of the movable carrier 23, while the loose fit facilitates adjustment of the movable carrier 23, further reducing assembly tolerances and improving the assembly accuracy of the gimbal module 100.

[0164] In some specific examples, the first support 261 and the second support 262 can also be tightly fitted and disposed between the movable carrier 23 and the intermediate frame 24, so that the first support 261 and the second support 262 can always provide stable support for the movable carrier 23, so as to ensure the smoothness of the movable carrier 23 when it moves and reduce the risk of the movable carrier 23 tilting.

[0165] In some specific examples, the third support 263 and the fourth support 264 may also have a tight fit and a loose fit structure similar to the first support 261 and the second support 262, to ensure the stability of the intermediate frame 24 when it moves and reduce the risk of the intermediate frame 24 tilting. This application will not elaborate further here.

[0166] like Figure 9 and Figure 10As shown, in some specific examples, the support assembly 26 further includes a first auxiliary support structure 265 and a second auxiliary support structure 266, wherein the first auxiliary support structure 265 is disposed on the same side as the second support portion 262, and the second auxiliary support structure 266 is disposed on the same side as the fourth support portion 264. Further, the first auxiliary support structure 265 and the second support portion 262 are respectively located at the top and bottom of the second carrier extension arm 236 along the optical axis, and the second auxiliary support structure and the fourth support portion 264 are respectively located at the top and bottom of the second frame extension arm 246 along the optical axis. It should be understood that the pre-pressure generated by the first pre-pressure assembly 2511 at the top or bottom of the first carrier extension arm 235 can maintain frictional contact between the first carrier extension arm 235 and the first support portion 261, and the two will not separate during the tilting movement of the movable carrier 23. The first auxiliary support structure 265 can generate downward pressure at the top of the second carrier extension arm 236, so that the second carrier extension arm 236 and the second support portion 262 are in frictional contact, and the two will not separate during the tilting movement of the movable carrier 23. Similarly, the preload generated by the second preload assembly 2521 at the top of the first frame extension arm 245 maintains frictional contact between the bottom of the first frame extension arm 245 and the third support portion 263, preventing them from separating during the tilting movement of the intermediate frame 24. The second auxiliary support structure 266 generates downward pressure at the top of the second frame extension arm 246, ensuring frictional contact between the second frame extension arm 246 and the fourth support portion 264, also preventing them from separating during the tilting movement of the intermediate frame 24. This improves the structural stability and reliability of the gimbal module 100.

[0167] The first auxiliary support structure 265 includes a first pressing member 2651 and a first auxiliary support member 2652, and the second auxiliary support structure 266 includes a second pressing member 2661 and a second auxiliary support member 2662. The top of the second carrier extension arm 236 has a groove to accommodate the first auxiliary support member 2652. The first pressing member 2651 is fixed to the side wall 243 of the third frame, and the first auxiliary support member 2652 maintains frictional contact with the first pressing member 2651. The first pressing member 2651 can generate downward pressure to maintain frictional contact between the top and bottom of the second carrier extension arm 236 and the first auxiliary support member 2652 and the second support portion 262, respectively. It should be understood that the first pressing member 2651 can prevent the first auxiliary support member 2652, the second support portion 262, and the second carrier extension arm 236 from separating, and the first auxiliary support member 2652 can make the movement of the second carrier extension arm 236 smoother and reduce friction.

[0168] Furthermore, the top of the second frame extension arm 246 has a groove to accommodate the second auxiliary support member 2662. The second pressure member 2661 is fixed to the fourth base sidewall 224, and the second auxiliary support member 2662 and the second pressure member 2661 maintain frictional contact. The second pressure member 2661 can generate downward pressure to keep the top and bottom of the second frame extension arm 246 in frictional contact with the second auxiliary support member 2662 and the fourth support portion 264, respectively. It should be understood that the second pressure member 2661 can prevent the second auxiliary support member 2662, the fourth support portion 264 and the second frame extension arm 246 from separating, and the second auxiliary support member 2662 can make the movement of the second frame extension arm 246 smoother and reduce friction.

[0169] Furthermore, the first auxiliary support 2652 allows the first pressing member 2651 to undergo bending deformation with its opening facing the bottom side 102, thereby generating downward pressure towards the bottom side 102. The second auxiliary support 2662 allows the second pressing member 2661 to undergo bending deformation with its opening facing the bottom side 102, thereby generating downward pressure towards the bottom side 102. The friction contact point between the first auxiliary support 2652 and the first pressing member 2651 coincides with or is close to the virtual axis of the first direction, improving the accuracy of the tilting movement of the movable carrier 23 around the first direction; the friction contact point between the second auxiliary support 2662 and the second pressing member 2661 coincides with or is close to the virtual axis of the second direction, improving the accuracy of the tilting movement of the intermediate frame 24 around the second direction.

[0170] In some specific examples, the first pressure member 2651 and the second pressure member 2661 can be designed as springs; the first auxiliary support member 2652 and the second auxiliary support member 2662 can be designed as balls.

[0171] In some specific examples, the first auxiliary support structure 265 may consist only of the first pressure member 2651, and the second auxiliary support structure 266 may consist only of the second pressure member 2661. That is, the first pressure member 2651 frictionally contacts the second carrier top surface 2361 of the second carrier extension arm 236 to generate downward pressure, maintaining the top and bottom of the second carrier extension arm 236 in frictional contact with the first pressure member 2651 and the second support portion 262, respectively. The second pressure member 2661 frictionally contacts the second frame top surface 2461 of the second frame extension arm 246 to generate downward pressure, maintaining the top and bottom of the second frame extension arm 246 in frictional contact with the second pressure member 2661 and the fourth support portion 264, respectively.

[0172] Furthermore, the top surface 2361 of the second carrier has a protrusion toward the first pressing member 2651, so that the first pressing member 2651 can undergo bending deformation with its opening toward the bottom side 102, thereby generating downward pressure toward the bottom side 102. The top surface 2461 of the second frame has a protrusion toward the second pressing member 2661, so that the second pressing member 2661 can undergo bending deformation with its opening toward the bottom side 102, thereby generating downward pressure toward the bottom side 102.

[0173] Furthermore, the protrusions on the top surface 2361 of the second carrier and the top surface 2461 of the second frame can also make the friction contact point between the top surface 2361 of the second carrier and the first pressing member 2651 coincide with or approach the virtual axis of the first direction, thereby improving the accuracy of the tilting movement of the movable carrier 23 around the first direction; it can also make the friction contact point between the top surface 2461 of the second frame and the second pressing member 2661 coincide with or approach the virtual axis of the second direction, thereby improving the accuracy of the tilting movement of the intermediate frame 24 around the second direction.

[0174] In this application, a first arc-shaped groove and a second arc-shaped groove are respectively provided on two opposite sidewalls of the movable component to accommodate the support portion. Specifically, a first frame arc-shaped groove 2411 and a second frame arc-shaped groove 2431 are respectively provided on two opposite sidewalls of the intermediate frame 24. Figure 5 As shown, the first frame arc-shaped groove 2411 is located on the same side of the contact surface of the movable carrier 23 corresponding to the friction head of the first drive mechanism 251, and is used to accommodate the first support part 261, as shown. Figure 7 As shown, the second frame arc groove 2431 is located on the opposite side of the first drive mechanism 251 and is used to accommodate the second support part 262. It disperses the tilting force of the movable carrier 23 through symmetrical support and avoids unilateral deviation. The two opposite side walls of the base 22 are respectively provided with the first base arc groove 2221 and the second base arc groove 2241: The first base arc groove 2221 is located on the same side of the contact surface of the intermediate frame 24 corresponding to the friction head of the second drive mechanism 252 and is used to accommodate the third support part 263. It cooperates with the contact surface to ensure the driving stability of the intermediate frame 24. The second base arc groove 2241 is located on the opposite side of the second drive mechanism 252 and is used to accommodate the fourth support part 264. It balances the tilting torque of the intermediate frame 24 through symmetrical layout and prevents the arc groove from being worn due to unilateral force concentration.

[0175] Along the optical axis, the projections of the two first arc-shaped grooves do not overlap with the projections of their corresponding contact surfaces, thus spatially separating the stress points of the contact surfaces from the constraint points of the arc-shaped groove walls. This isolates the stress path, prevents the support from detaching from the groove or getting stuck due to torque imbalance, and also prevents deformation caused by local stress concentration.

[0176] Specifically, along the optical axis, the projections of the two first frame arc grooves 2411 do not overlap with the projections of the contact surfaces of their corresponding movable carriers 23; along the optical axis, the projections of the two first base arc grooves 2221 do not overlap with the projections of the contact surfaces of their corresponding intermediate frames 24.

[0177] In some embodiments of this application, the first arc-shaped groove and the second arc-shaped groove can be through grooves or two spaced-apart recesses to provide sufficient rolling path for the support assembly 26. Specifically, the first frame arc-shaped groove 2411 and the second frame arc-shaped groove 2431 can be through grooves, two spaced-apart recesses, or four spaced-apart recesses to provide sufficient rolling path for the first support portion 261 and the second support portion 262, respectively; the first base arc-shaped groove 2221 and the second base arc-shaped groove 2241 can be through grooves, two spaced-apart recesses, or four spaced-apart recesses to provide sufficient rolling path for the third support portion 263 and the fourth support portion 264, respectively.

[0178] Specifically, the two first arc-shaped grooves have the same length, and the two second arc-shaped grooves have the same length, so that the balls roll and rub within the arc-shaped grooves, and cooperate with the moving parts to perform symmetrical tilting movements around the axis.

[0179] In one example of this application, the support component 26 is implemented as two balls or two protrusions. Specifically, the first support portion 261, the second support portion 262, the third support portion 263, and the fourth support portion 264 are all implemented as two balls or two protrusions. The two balls or two protrusions are located on both sides of their corresponding friction head 2542, and along the optical axis, the projection of the friction head 2542 lies between the projections of the two balls or two protrusions to ensure sufficient support during the tilting movement of the moving part. In this embodiment, there are two of each of the first frame arc groove 2411, the second frame arc groove 2431, the first base arc groove 2221, and the second base arc groove 2241. The two balls or two protrusions of the first support portion 261, the second support portion 262, the third support portion 263, and the fourth support portion 264 are respectively disposed within each of the first frame arc groove 2411, the second frame arc groove 2431, the first base arc groove 2221, and the second base arc groove 2241.

[0180] In one example of this application, the support component 26 is implemented as a plurality of balls or a plurality of protrusions, that is, the first support portion 261, the second support portion 262, the third support portion 263, and the fourth support portion 264 are all implemented as a plurality of balls or a plurality of protrusions. In this embodiment, the number of the first frame arc groove 2411, the second frame arc groove 2431, the first base arc groove 2221, and the second base arc groove 2241 is one, and the plurality of balls or protrusions of the first support portion 261, the second support portion 262, the third support portion 263, and the fourth support portion 264 are respectively disposed in the first frame arc groove 2411, the second frame arc groove 2431, the first base arc groove 2221, and the second base arc groove 2241.

[0181] Of course, the number of balls or protrusions in the first support part 261, the second support part 262, the third support part 263 and the fourth support part 264 can be the same or different. The number of the corresponding first frame arc groove 2411, second frame arc groove 2431, first base arc groove 2221 and second base arc groove 2241 can be the same or different. This application does not limit this.

[0182] Furthermore, along the optical axis, the projection of the friction head 2542 is located on the line connecting the projections of the two balls on both sides, so as to ensure that the moving parts are adequately supported during tilting motion and achieve a smooth anti-shaking process.

[0183] like Figure 7As shown in one example of this application, the first frame sidewall 241 and the third frame sidewall 243 of the intermediate frame 24 each have at least one first frame arcuate groove 2411 and at least one second frame arcuate groove 2431. The bottom surface 2352 of the first carrier is disposed opposite to the first frame arcuate groove 2411 along the optical axis, and the bottom surface 2362 of the second carrier is disposed opposite to the second frame arcuate groove 2431 along the optical axis. Both the first support portion 261 and the second support portion 262 are ball bearing structures. The first support portion 261 is clamped between the first frame arcuate groove 2411 and the first carrier bottom surface 2352, and the second support portion 262 is clamped between the second frame arcuate groove 2431 and the second carrier bottom surface 2362. The rolling friction of the ball bearings replaces the surface friction of traditional plastic parts, reducing the resistance when the movable carrier 23 tilts, while avoiding the impact of debris generated by surface friction on structural reliability. It should be understood that the bottom surface 2352 of the first carrier and / or the bottom surface 2362 of the second carrier can be an arc-shaped plane, so that the first support portion 261 and the second support portion 262 are clamped between the plane and the groove. Of course, the bottom surface 2352 of the first carrier and / or the bottom surface 2362 of the second carrier can also further have an arc-shaped groove, so that the first support portion 261 and the second support portion 262 are clamped between the grooves. Of course, the bottom surface 2352 of the first carrier and the bottom surface 2362 of the second carrier can both be planes, both have grooves, or one can be a plane and the other has a groove.

[0184] Furthermore, the first support portion 261 is a large ball bearing, and the large ball bearing is tightly fitted into the arc-shaped groove 2411 of the first frame. Between the first carrier bottom surface 2352 and the first carrier bottom surface 2352, the core load of the movable carrier 23 when tilted is borne, and it rolls along the arc-shaped trajectory of the first frame arc groove 2411 to ensure synchronization with the friction drive action of the first drive mechanism 251. At least one small ball is set between the two first support parts 261. It can be understood that the diameter of the small ball is smaller than that of the large ball. The small ball is loosely fitted between the second frame arc groove 2431 and the second carrier bottom surface 2362, allowing for slight displacement during impact. When the gimbal assembly 20 is working smoothly, the large ball mainly supports and guides the tilt, while the small ball helps to disperse the contact pressure of the movable carrier 23 and reduce the local wear of the large ball and the arc groove. When subjected to external impact, the small ball first buffers the impact load through slight displacement, and then transfers the remaining load to the large ball, avoiding direct impact between the large ball and the arc groove. At the same time, the presence of the small ball can prevent unilateral deviation when the movable carrier 23 tilts, ensuring the accuracy of the tilt trajectory.

[0185] In some specific examples, the first frame arcuate groove 2411 and the second frame arcuate groove 2431 have the same curvature direction as the first carrier bottom surface 2352 and the second carrier bottom surface 2362, and the curved openings face the top side 101, that is, the first frame arcuate groove 2411, the second frame arcuate groove 2431, the first carrier bottom surface 2352 and the second carrier bottom surface 2362 are concave surfaces. Thus, when the movable carrier 23 is driven by the first drive mechanism 251, the first frame arcuate groove 2411, the second frame arcuate groove 2431, the first carrier bottom surface 2352 and the second carrier bottom surface 2362 can guide the movement direction of the first support portion 261 and the second support portion 262. It should be understood that a receiving space for the first support portion 261 and / or the second support portion 262 with a curved opening facing the top side 101 can be formed between the first frame arcuate groove 2411 and the first carrier bottom surface 2352, and between the second frame arcuate groove 2431 and the second carrier bottom surface 2362. Viewed along a cross section perpendicular to the length of the arc groove, the first frame arc groove 2411 and the second frame arc groove 2431 can be designed as a planar groove, a U-shaped groove, and a V-shaped groove. The first support portion 261 and the second support portion 262 maintain at least one point of contact with the first frame arc groove 2411 and the second frame arc groove 2431, respectively.

[0186] In some specific examples, the center of the arc surface of the first frame arc groove 2411 is aligned with the center of the arc surface of the first carrier bottom surface 2352, and the radius of the arc surface of the first frame arc groove 2411 is larger than the radius of the arc surface of the first carrier bottom surface 2352. The center of the arc surface of the second frame arc groove 2431 is aligned with the center of the arc surface of the second carrier bottom surface 2362, and the radius of the arc surface of the second base arc groove 2241 is smaller than the radius of the arc surface of the second carrier bottom surface 2362. In this way, the first support part 261 and the second support part 262 can rotate around the same axis, improving the rotation accuracy.

[0187] In some specific examples, the center of the arc surface where the first frame arc groove 2411 is located is aligned with the center of the arc surface where the top surface 2351 of the first carrier is located, avoiding offset or shaking caused by different centers, thereby improving the accuracy and stability of the movement of the gimbal module 100.

[0188] In some embodiments of this application, the radius of curvature of the arc surface of the contact surface of the movable carrier 23 is smaller than the radius of curvature of the arc groove. The friction head 2542 moves rubbing on the contact surface with a smaller radius of curvature, so that the movable carrier 23 tilts along a smaller path. The first support 261 and the second support 262 are arranged in the path of the arc groove with a larger radius of curvature to achieve a smoother tilting motion and reduce the shaking of the movable carrier 23.

[0189] Specifically, the radius of the arc surface where the top surface 2351 of the first carrier is located is smaller than the radius of the arc surface where the arc groove 2411 of the first frame is located. The first friction head 25122 makes frictional contact with the arc segment of the top surface 2351 of the first carrier, or the first friction head 25122 makes frictional contact with the first arc segment 2371 of the first friction plate 237. That is, the first friction head 25122 moves on a contact surface with a smaller radius of curvature, so that the movable carrier 23 tilts along a path with a smaller radius, and the first support part 261 and the second support part 262 tilt along a path with a larger radius, namely the first frame arc groove 2411 and the second frame arc groove 2431. On the one hand, the movement of the first support part 261 and the second support part 262 along a path with a larger radius makes it easier for the first support part 261 and the second support part 262 to maintain stability during movement and reduce shaking, thereby making the movement of the gimbal module 100 more stable, which is very important for shooting stable video. On the other hand, the first support part 261 and the second support part 262 can provide a larger support area to ensure that the first support part 261 and the second support part 262 can always provide effective support during the tilting movement of the mobile carrier 23, thereby enhancing the stability and reliability of the gimbal module 100 during tilting movement.

[0190] More specifically, as can be seen from the foregoing, the first arc segment 2371 of the first friction plate 237, the arc segment of the top surface 2351 of the first carrier, and the arc segment of the top surface 2361 of the second carrier are all symmetrical arc segments. The two first frame arc grooves 2411 and the two second frame arc grooves 2431 are symmetrically arranged along the symmetry axis of their corresponding arc segments to cooperate with the symmetrical tilting movement of the movable carrier 23 around the first direction.

[0191] like Figure 23 as well as Figure 24 As shown, a carrier receiving groove 2432 is provided on the side wall 243 of the third frame. The carrier receiving groove 2432 extends through the side wall 243 of the third frame in a direction perpendicular to the optical axis. The opening of the carrier receiving groove 2432 is arranged opposite to the second carrier extension arm 236 in the direction of the optical axis. The second carrier extension arm 236 is movably embedded in the carrier receiving groove 2432. Under the constraint of the carrier receiving groove 2432, the second carrier extension arm 236 moves in a direction perpendicular to the optical axis to avoid displacement.

[0192] In some specific examples, such as Figure 26As shown, the first support 261 is clamped between the first frame arc groove 2411 and the top surface 2351 of the first carrier, and the second support 262 is clamped between the second frame arc groove 2431 and the top surface 2361 of the second carrier. The first support 261 is a ball bearing structure, including large balls on the left and right sides and small balls between the two large balls. The two large balls are tightly fitted, and the small balls are loosely fitted between the two large balls. When the equipment is subjected to external pressure or drop impact, the small balls can buffer the impact load through slight displacement, preventing the large balls from deforming the first frame arc groove 2411 or being worn due to rigid force concentration. At the same time, rolling friction replaces the traditional plastic part surface friction, reducing driving resistance and plastic debris generation, and improving the long-term reliability of the structure.

[0193] It should be understood that the top surface 2351 of the first carrier and / or the top surface 2361 of the second carrier can be an arc-shaped plane, so that the first support portion 261 and the second support portion 262 are clamped between the plane and the groove. Both the first support portion 261 and the second support portion 262 can be ball bearing structures, including large balls on the left and right sides and small balls disposed between the two large balls. Of course, the top surface 2351 of the first carrier and / or the top surface 2361 of the second carrier can also further have arc-shaped guide grooves, so that each ball is clamped between the grooves, forming stronger lateral restraint and preventing radial displacement of the balls during high-frequency driving. Furthermore, the balls of the first support portion 261 can also be replaced with a boss structure, which can also achieve the rolling friction reduction effect and completely avoid the risk of ball fallout. Of course, the top surface 2351 of the first carrier and the top surface 2361 of the second carrier can both be planes, both have grooves, or one can be a plane and the other has a groove.

[0194] In some specific examples, the first frame arcuate groove 2411 and the second frame arcuate groove 2431 have the same curvature direction as the first carrier top surface 2351 and the second carrier top surface 2361, and the curved openings face the bottom side 102, that is, the first frame arcuate groove 2411, the second frame arcuate groove 2431, the first carrier top surface 2351 and the second carrier top surface 2361 are convex surfaces. Thus, when the movable carrier 23 is driven by the first drive mechanism 251, the first frame arcuate groove 2411, the second frame arcuate groove 2431, the first carrier top surface 2351 and the second carrier top surface 2361 can guide the movement direction of the first support portion 261 and the second support portion 262. It should be understood that a receiving space for the first support portion 261 and / or the second support portion 262 with a curved opening facing the bottom side 102 can be formed between the first frame arcuate groove 2411 and the first carrier top surface 2351, and between the second frame arcuate groove 2431 and the second carrier top surface 2361.

[0195] In some specific examples, the center of the arc surface where the first frame arc groove 2411 is located is aligned with the center of the arc surface where the top surface 2351 of the first carrier is located, and the radius of the arc surface where the first frame arc groove 2411 is located is larger than the radius of the arc surface where the top surface 2351 of the first carrier is located. The center of the arc surface where the second frame arc groove 2431 is located is aligned with the center of the arc surface where the top surface 2361 of the second carrier is located, and the radius of the arc surface where the second frame arc groove 2431 is located is smaller than the radius of the arc surface where the top surface 2361 of the second carrier is located. In this way, so that the movable carrier 23 tilts along a smaller path, the first support 261 and the second support 262 are positioned along the path of the arc groove with a larger radius of curvature to achieve a smoother tilting motion, reduce the swaying of the movable carrier 23, and enhance the stability and reliability of the gimbal module 100 during tilting motion.

[0196] In one example of this application, the second base sidewall 222 and the fourth base sidewall 224 of the base 22 each have at least one first base arcuate groove 2221 and at least one second base arcuate groove 2241. The bottom surface 2452 of the first frame is positioned opposite to the first base arcuate groove 2221 along the optical axis, and the bottom surface 2462 of the second frame is positioned opposite to the second base arcuate groove 2241 along the optical axis. The third support portion 263 and the fourth support portion 264 are ball bearing structures, with the same composition as the first support portion 261. The large ball bearing of the third support portion 263 is held between the first base arcuate groove 2221 and the bottom surface 2452 of the first frame, while the small ball bearing is positioned between the two large ball bearings. Similarly, the fourth support portion 264 is held between the second base arcuate groove 2241 and the bottom surface 2462 of the second frame, forming symmetrical support with the third support portion 263. Rolling friction replaces traditional plastic part surface friction, reducing driving resistance and the generation of plastic debris. It should be understood that the bottom surface 2452 of the first frame and / or the bottom surface 2462 of the second frame can be an arc-shaped plane, so that the third support portion 263 and the fourth support portion 264 are clamped between the plane and the groove. Furthermore, the balls of the third support portion 263 and the fourth support portion 264 can be replaced with bosses, which retains the advantages of rolling friction reduction while completely avoiding the risk of ball slippage. Of course, the bottom surface 2452 of the first frame and / or the bottom surface 2462 of the second frame can also have arc-shaped guide grooves, so that the third support portion 263 and the fourth support portion 264 are clamped between the grooves. Of course, the bottom surface 2452 of the first frame and the bottom surface 2462 of the second frame can both be planes, both can have grooves, or one can be a plane and the other has a groove.

[0197] In some specific examples, the first base arcuate groove 2221 and the second base arcuate groove 2241 have the same curvature direction as the first frame bottom surface 2452 and the second frame bottom surface 2462, and the curved openings face the top side 101, that is, the first base arcuate groove 2221, the second base arcuate groove 2241, the first frame bottom surface 2452 and the second frame bottom surface 2462 are concave surfaces. Thus, when the intermediate frame 24 is driven by the second drive mechanism 252, the first base arcuate groove 2221, the second base arcuate groove 2241, the first frame bottom surface 2452 and the second frame bottom surface 2462 can guide the movement direction of the third support 263 and the fourth support 264. It should be understood that a receiving space for the third support 263 and / or the fourth support 264 with a curved opening facing the top side 101 can be formed between the first base arcuate groove 2221 and the first frame bottom surface 2452, and between the second base arcuate groove 2241 and the second frame bottom surface 2462.

[0198] In the cross section perpendicular to the length of the arc groove, the first base arc groove 2221 and the second base arc groove 2241 can be designed as a planar groove, a U-shaped groove and a V-shaped groove, respectively. The third support part 263 and the fourth support part 264 maintain at least one point of contact with the first base arc groove 2221 and the second base arc groove 2241.

[0199] In some specific examples, the center of the arc surface of the first base arc groove 2221 is aligned with the center of the arc surface of the first frame bottom surface 2452, and the radius of the arc surface of the first base arc groove 2221 is smaller than the radius of the arc surface of the first frame bottom surface 2452. Similarly, the center of the arc surface of the second base arc groove 2241 is aligned with the center of the arc surface of the second frame bottom surface 2462, and the radius of the arc surface of the second base arc groove 2241 is smaller than the radius of the arc surface of the second frame bottom surface 2462. This allows the third support 263 and the fourth support 264 to rotate around the same axis, improving rotational accuracy.

[0200] In some specific examples, the center of the arc surface of the first base arc groove 2221 is aligned with the center of the arc surface of the first frame top surface 2451, avoiding offset or shaking caused by different centers, thereby improving the accuracy and stability of the movement of the gimbal module 100.

[0201] In some embodiments of this application, the radius of curvature of the arc surface of the contact surface of the intermediate frame 24 is smaller than the radius of curvature of the arc groove. The friction head 2542 moves by friction on the contact surface with a smaller radius of curvature, so that the intermediate frame 24 tilts along a smaller path. The third support 263 and the fourth support 264 are arranged in the path of the arc groove with a larger radius of curvature. The large curvature path can reduce the centrifugal force when the ball rolls, making it easier for the support to remain stable during the movement, so as to achieve a smoother tilting movement process and reduce the shaking of the intermediate frame 24.

[0202] Specifically, the radius of the arc surface where the top surface 2451 of the first frame is located is smaller than the radius of the arc surface where the arc groove 2221 of the first base is located. The second friction head 25222 makes frictional contact with the arc surface segment of the top surface 2451 of the first frame, or the second friction head 25222 makes frictional contact with the second arc surface segment 2471 of the second friction plate 247. That is, the second friction head 25222 moves on a contact surface with a smaller radius of curvature, so that the middle frame 24 tilts on a path with a smaller radius, and the third support 263 and the fourth support 264 tilt on a path with a larger radius. On the one hand, the movement of the third support 263 and the fourth support 264 on a path with a larger radius makes it easier for the third support 263 and the fourth support 264 to maintain stability during movement, reducing the impact of rolling centrifugal force on stability and reducing the swaying of the middle frame 24, thereby making the movement of the gimbal module 100 more stable, which is very important for shooting stable video. On the other hand, the ball bearing design allows the third support 263 and the fourth support 264 to provide a larger support area, ensuring that the third support 263 and the fourth support 264 can always provide effective support during the tilting movement of the middle frame 24, thereby enhancing the stability and reliability of the gimbal module 100 during tilting movement.

[0203] More specifically, as described above, the second arc segment 2471 of the second friction plate 247, the arc segment of the top surface 2451 of the first frame, and the arc segment of the top surface 2461 of the second frame are all symmetrical arc segments. The two first base arc grooves 2221 and the two second base arc grooves 2241 are symmetrically arranged along the symmetry axis of their corresponding arc segments to cooperate with the symmetrical tilting movement of the middle frame 24 around the second direction.

[0204] like Figure 1 and Figure 11As shown in one example of this application, the driving mechanism 25 further includes a conductive component 255, wherein the conductive component 255 is disposed between the piezoelectric vibrator 2541 and the preload component 253 to realize the conduction of the driving mechanism 25. Specifically, the conductive component 255 includes a first substrate 2551 and a second substrate 2552, the first substrate 2551 is used to realize the conduction of the first driving mechanism 251, and the second substrate 2552 is used to realize the conduction of the second driving mechanism 252.

[0205] In some specific examples, at least a portion of the first substrate 2551 is disposed between the first piezoelectric vibrator 25121 and the first pre-pressure component 2511 to enable the first piezoelectric vibrator 25121 to conduct electricity; at least a portion of the second substrate 2552 is disposed between the second piezoelectric vibrator 25221 and the second pre-pressure component 2521 to enable the second piezoelectric vibrator 25221 to conduct electricity.

[0206] In some specific examples, the first substrate 2551 is fixed to the top of the intermediate frame 24 by the first pre-pressing component 2511, and at least a portion of the first substrate 2551 extends in a plane perpendicular to the optical axis; the second substrate 2552 is fixed to the top of the base 22 by the second pre-pressing component 2521, and at least a portion of the second substrate 2552 extends in a plane perpendicular to the optical axis. When the movable carrier 23 tilts about a first direction, the first substrate 2551 and the intermediate frame 24 remain relatively stationary during this movement; when the intermediate frame 24 tilts about a second direction, the first substrate 2551 deforms with the tilting movement of the intermediate frame 24. This deformation causes the first substrate 2551 to generate a counterforce, thereby affecting the tilting effect of the intermediate frame 24. To solve the above problem, the first substrate 2551 bends and extends towards the intermediate frame 24 in a plane perpendicular to the optical axis to increase the extension length of the first substrate 2551, thereby reducing the counterforce of the first substrate 2551.

[0207] In some specific examples, the conductive component 255 further includes a conductive substrate 2553, which is located on the opposite side of the first substrate 2551 and the second substrate 2552 to make reasonable use of the space of the gimbal assembly 20 and avoid interference between the conductive substrate 2553, the first substrate 2551, and the second substrate 2552. For example, the first substrate 2551 and the first driving mechanism 251 are located on the first side 103, the second substrate 2552 and the second driving mechanism 252 are located on the second side 104, and the conductive substrate 2553 is located on the third side 105 or the fourth side 106. The first substrate 2551 and the second substrate 2552 bend and extend from a plane perpendicular to the optical axis toward the conductive substrate 2553 to be electrically connected to the conductive substrate 2553 and electrically connected to external circuitry through the conductive substrate 2553.

[0208] Specifically, the first substrate 2551 is bent from the top of the first frame sidewall 241 toward the top of the fourth base sidewall 224 and extends to the top of the fourth base sidewall 224. Then, it is bent from the top of the fourth base sidewall 224 toward the third base sidewall 223 and electrically connected to the conductive substrate 2553 disposed on the third base sidewall 223. In this way, the length of the first substrate 2551 can be increased, and the reaction force of the first substrate 2551 when the intermediate frame 24 moves around the second direction can be reduced.

[0209] The second substrate 2552 is bent from the top of the second base sidewall 222 toward the third base sidewall 223 and electrically connected to the conductive substrate 2553 disposed on the third base sidewall 223. In this way, the first substrate 2551 and the second substrate 2552 are connected to the conductive substrate 2553 and electrically connected to the external circuit through the conductive substrate 2553.

[0210] In some specific examples, the intermediate frame 24 is provided with a conductive structure, wherein the conductive structure can be embedded in the intermediate frame 24; or, the conductive structure can be provided on the surface of the intermediate frame 24. The first substrate 2551 is electrically connected to the conductive structure of the intermediate frame 24 at the top of the first frame sidewall 241. The base 22 is provided with a conductive structure, wherein the conductive structure can be embedded within the base 22; or, the conductive structure can be provided on the surface of the base 22. The second substrate 2552 is electrically connected to the conductive structure of the base 22 at the top of the second base sidewall 222. The conductive assembly 255 further includes an elastic structure extending between the intermediate frame 24 and the base 22. The elastic structure can be electrically connected through the conductive structure of the base 22 and the conductive structure of the intermediate frame 24 to electrically conduct the first substrate 2551 and the second substrate 2552. The conductive substrate 2553 is electrically connected to the conductive structure within the base 22 to electrically conduct to external circuitry.

[0211] like Figures 12 to 14 As shown in one example of this application, as previously described, the gimbal assembly 20 can drive the imaging assembly 10 to move in order to achieve the tilt stabilization function of the gimbal module 100. However, during the movement of the imaging assembly 10, the chip circuit board 122 will be stretched, which will affect the driving effect of the gimbal assembly 20.

[0212] To address the aforementioned issues, in a specific example, the chip circuit board 122 includes a first board body 1221 and a second board body 1222. The photosensitive chip 121 is disposed on the first board body 1221, and the second board body 1222 extends from the first board body 1221 in a direction away from the optical axis. The second board body 1222 undergoes multiple bends in a direction perpendicular to its extension plane; for example, the second board body 1222 is folded in an S-shape. Thus, when the imaging assembly 10 is driven to tilt around a first direction and around a second direction, the second board body 1222 can extend and retract synchronously. This expands the range of motion of the imaging assembly 10 and reduces the counterforce on the chip circuit board 122, ensuring precise image stabilization of the imaging module. Furthermore, it reduces the impact of the imaging module's movement on the chip circuit board 122, preventing damage to the chip circuit board 122.

[0213] In some specific examples, the first board 1221 is a rigid circuit board, and the second board 1222 is a flexible circuit board.

[0214] In some specific examples, the chip circuit board 122 includes a first board body 1221, a second board body 1222, and a flexible board body 1223 connecting the first board body 1221 and the second board body 1222. The second board body 1222 is located on the outer periphery of the first board body 1221. The photosensitive chip 121 is disposed on the first board body 1221, and the base 22 is disposed on the second board body 1222. When the imaging assembly 10 is driven to tilt about a first direction and about a second direction, the flexible board body 1223 moves together with the photosensitive chip 121 and the first board body 1221, reducing the counterforce of the chip circuit board 122 and ensuring that the imaging module can perform precise image stabilization.

[0215] Furthermore, the conductive substrate 2553 can be electrically connected to the second plate 1222 to conduct electricity with external circuitry through the second plate 1222.

[0216] In one example of this application, the gimbal assembly 20 further includes a magnetic suction assembly, which includes a first magnetic suction part and a second magnetic suction part. The first magnetic suction part and the first drive mechanism 251 are located on opposite sides of the gimbal module 100's periphery. For example, the first drive mechanism 251 is located on a first side 103, and the first magnetic suction part is located on a third side 105 opposite to the first side 103. This allows the movable carrier 23 to be subjected to symmetrical magnetic attraction and pre-pressure, reducing the risk of the movable carrier 23 tipping over. The second magnetic suction part and the second drive mechanism 252 are located on opposite sides of the gimbal module 100's periphery. For example, the second drive mechanism 252 is located on a second side 104, and the second magnetic suction part is located on a fourth side 106 opposite to the second side 104. This allows the intermediate frame 24 to be subjected to symmetrical magnetic attraction and pre-pressure, reducing the risk of the intermediate frame 24 tipping over.

[0217] There is a certain height difference between the first drive mechanism 251 and the first magnetic suction part. For example, the first drive mechanism 251 is disposed at the top of the movable carrier 23, and the first magnetic suction part is disposed at the bottom of the movable carrier 23. The magnetic attraction force generated by the first magnetic suction part and the pre-pressure generated by the first drive mechanism 251 can stably clamp the first support part 261 and the second support part 262 between the movable carrier 23 and the intermediate frame 24, so that the movable carrier 23 can be stably supported by the first support part 261 and the second support part 262.

[0218] There is a certain height difference between the second drive mechanism 252 and the second magnetic attraction part. For example, the second drive mechanism 252 is disposed at the top of the intermediate frame 24, and the second magnetic attraction part is disposed at the bottom of the intermediate frame 24. The magnetic attraction force generated by the second magnetic attraction part and the preload generated by the second drive mechanism 252 can stably clamp the third support part 263 and the fourth support part 264 between the intermediate frame 24 and the base 22, so that the intermediate frame 24 can be stably supported by the third support part 263 and the fourth support part 264.

[0219] In some specific examples, the first magnetic attraction part includes two magnetic components that can generate a magnetic attraction force between them.

[0220] like Figure 5 and Figure 6As shown in one example of this application, the gimbal assembly 20 further includes a sensing assembly 27, which includes a first sensing element 271 and a first sensing magnet 272, which are arranged opposite to each other along a direction perpendicular to the optical axis. The first sensing element 271 can be disposed in one of the movable carrier 23 and the intermediate frame 24, and the first sensing magnet 272 can be disposed in the other of the movable carrier 23 and the intermediate frame 24. When the movable carrier 23 tilts and moves about a first direction, the relative position between the first sensing element 271 and the first sensing magnet 272 changes. Based on the strength of the magnetic field of the first sensing magnet 272 sensed by the first sensing element 271, the position of the movable carrier 23 can be determined, thereby controlling the first drive mechanism 251 to drive the movable carrier 23 to the desired position.

[0221] Of course, in some specific examples, the first sensing element 271 can be set in one of the movable carrier 23 and the base 22, and the first sensing magnet 272 can be set in the other of the movable carrier 23 and the base 22, so that the first sensing element 271 and the first sensing magnet 272 are arranged opposite each other in a direction perpendicular to the optical axis.

[0222] Furthermore, the sensing assembly 27 also includes a second sensing element 273 and a second sensing magnet 274, which are arranged opposite to each other along a direction perpendicular to the optical axis. The second sensing element 273 can be disposed in one of the intermediate frame 24 and the base 22, and the second sensing magnet 274 can be disposed in the other. When the intermediate frame 24 tilts about the second direction, the relative position between the second sensing element 273 and the second sensing magnet 274 changes. Based on the strength of the magnetic field of the second sensing magnet 274 sensed by the second sensing element 273, the position of the intermediate frame 24 can be determined, thereby controlling the second drive mechanism 252 to drive the intermediate frame 24 to the desired position.

[0223] In this configuration, the first sensing element 271 and the first sensing magnet 272 are disposed on the same side as the first driving mechanism 251. The first sensing element 271 is disposed on the first substrate 2551 and connected to the first substrate 2551. The second sensing element 273 and the second sensing magnet 274 are disposed on the same side as the second driving mechanism 252. The second sensing element 273 is disposed on the second substrate 2552 and connected to the second substrate 2552.

[0224] In one example of this application, the gimbal assembly 20 further includes a buffer component to buffer the tilting movement of the movable carrier 23 and the intermediate frame 24 during the operation of the gimbal assembly 20, so as to reduce impact and noise.

[0225] It should be understood that in other examples of this application, the technical features described above can be combined to achieve the corresponding functions.

[0226] like Figure 15 and Figure 16 As shown, in other examples of this application, the actuation component 254 is designed in a ring shape, that is, the actuation component 254 is implemented as a ring piezoelectric motor. Specifically, the actuation component 254 includes a piezoelectric element 2543 and a friction drive portion 2544 fixed to the piezoelectric element 2543, and the actuation is achieved by frictional contact between the friction drive portion 2544 and the moving part.

[0227] The piezoelectric element 2543 has a ring-shaped, arc-shaped, or semi-ring-shaped structure, and a through hole at its center, meaning the piezoelectric element 2543 is a ring-shaped piezoelectric element. The friction drive unit 2544 further includes a plurality of ring-shaped friction heads 2542 evenly spaced, each friction head 2542 being elastic. One end of each friction head 2542 is tractably fixed to the piezoelectric element 2543, and the other end of each friction head 2542 has a higher coefficient of friction, providing greater frictional force.

[0228] It is worth mentioning that the piezoelectric element 2543 is made of piezoelectric material. Through the inverse piezoelectric effect, the actuation component 254 generates traveling wave motion, driving the movable part to tilt. Specifically, the piezoelectric element 2543 of the actuation component 254 vibrates due to the inverse piezoelectric effect when an external signal is received, causing multiple friction heads 2542 fixed to the piezoelectric element 2543 to generate elliptical motion, thereby frictionally driving the movable part to tilt. The first actuation component 2512 of the first drive mechanism 251 and the second actuation component 2522 of the second drive mechanism 252 use the ring piezoelectric motor as described above.

[0229] The first actuation assembly 2512 includes a first piezoelectric element 2513 and a first friction drive portion 2514, and the second actuation assembly 2522 includes a second piezoelectric element 2523 and a second friction drive portion 2524. The first pre-pressure assembly 2511 and the first actuation assembly 2512 are disposed opposite each other along a first direction. The first pre-pressure assembly 2511 is fixed to the intermediate frame 24. The first pre-pressure assembly 2511 is connected to the first piezoelectric element 2513 to apply a pre-pressure to the first piezoelectric element 2513 toward the movable carrier 23, so that the first friction drive portion 2514 always maintains frictional contact with the movable carrier 23, thereby allowing the first actuation assembly 2512 to drive the movable carrier 23 to tilt about the first direction.

[0230] The second pre-pressure component 2521 and the second actuation component 2522 are arranged opposite to each other along the second direction. The second pre-pressure component 2521 is fixed to the base 22. The second pre-pressure component 2521 is connected to the second piezoelectric element 2523 to apply a pre-pressure towards the intermediate frame 24 to the second piezoelectric element 2523, so that the second friction drive part 2524 always maintains frictional contact with the intermediate frame 24. Then, the second actuation component 2522 can drive the intermediate frame 24 to drive the movable carrier 23 to tilt around the second direction.

[0231] In one example of this application, the pre-pressure component 253 and the actuation component 254 are arranged opposite each other in a horizontal direction perpendicular to the optical axis, and the direction of the pre-pressure generated by the pre-pressure component 253 is parallel to the direction of the axis around which the piezoelectric element tilts. That is, the placement of the actuation component 254 and the pre-pressure component 253 can satisfy the requirement of driving the movable carrier 23 and / or the intermediate frame 24 to tilt around a first direction or a second direction.

[0232] In some specific examples, a first drive mechanism 251 is disposed between a first carrier sidewall 231 and a first frame sidewall 241. The first frame sidewall 241 has a first opening, a first pre-pressing assembly 2511 is fixed to the outer surface of the first frame sidewall 241, and a first actuation assembly 2512 passes through the first opening into the inner side of the intermediate frame 24. One side of a first piezoelectric element 2513 is connected to the first pre-pressing assembly 2511, and the other side of the first piezoelectric element 2513 opposite to this side is connected to a first friction drive unit 2514. Under the action of the first pre-pressing assembly, the first friction drive unit 2514 maintains frictional contact with the first carrier sidewall 231, thereby driving the movable carrier 23 to tilt relative to the intermediate frame 24 about a first direction.

[0233] The second drive mechanism 252 is disposed between the second frame sidewall 242 and the second base sidewall 222. The second base sidewall 222 has a second opening. The second pre-press assembly 2521 is fixed to the outer surface of the second base sidewall 222, and the second actuation assembly 2522 passes through the second opening into the inner side of the base 22. One side of the second piezoelectric element 2523 is connected to the second pre-press assembly 2521, and the other side of the second piezoelectric element 2523 opposite to this side is connected to the second friction drive part 2524. Under the action of the second pre-press assembly, the second friction drive part 2524 maintains frictional contact with the second frame sidewall 242, thereby driving the intermediate frame 24 to tilt relative to the base 22 about a second direction.

[0234] In one example of this application, the support assembly 26 includes a plurality of first support balls and a plurality of second support balls. The first support balls are disposed between the third carrier sidewall 233 and the third frame sidewall 243, meaning the opposite side of the movable carrier 23 is held by the first support balls and the first friction drive part 2514. When the movable carrier 23 is driven to rotate about a first direction by the first drive mechanism 251, the first support balls can support the movable carrier 23. Furthermore, the preload generated by the first preload assembly 2511 can keep the first support balls held between the third carrier sidewall 233 and the third frame sidewall 243, preventing them from easily falling off.

[0235] The number of first and second support balls is at least three, forming a stable support plane to provide smooth support during the tilting movement of the movable carrier 23 and / or the intermediate frame 24, thereby reducing the risk of the movable carrier 23 and / or the intermediate frame 24 overturning.

[0236] The second support ball is disposed between the fourth frame sidewall 244 and the fourth base sidewall 224, meaning that the opposite sides of the intermediate frame 24 are clamped by the second support ball and the second friction drive part 2524. When the intermediate frame 24 is driven to rotate around the second direction by the second drive mechanism 252, the second support ball can support the intermediate frame 24. Furthermore, the preload generated by the second preload assembly 2521 can keep the second support ball clamped between the fourth frame sidewall 244 and the fourth base sidewall 224, preventing it from easily falling off.

[0237] In one example of this application, the outer surface of the third carrier sidewall 233 has a first arc-shaped groove, and the inner surface of the third frame sidewall 243 has a second arc-shaped groove. The first and second arc-shaped grooves are arranged opposite to each other along a first direction, and a first support ball is disposed between the first and second arc-shaped grooves. The axis of the imaginary line with the first direction passes through the center of the arc surfaces of the first and second arc-shaped grooves.

[0238] The outer surface of the fourth frame sidewall 244 has a third arc-shaped groove, and the inner surface of the fourth base sidewall 224 has a fourth arc-shaped groove. The third and fourth arc-shaped grooves are arranged opposite each other along the second direction, and the second support ball is disposed between the third and fourth arc-shaped grooves. The axis of the imaginary line with the second direction passes through the center of the arc surfaces of the third and fourth arc-shaped grooves.

[0239] In one example of this application, the support component 26 may include a first rotating shaft and a second rotating shaft, wherein the third carrier sidewall 233 is located between the third frame sidewall 243, and the second rotating shaft is located between the fourth frame sidewall 244 and the fourth base sidewall 224. For example, the first rotating shaft extends along a first direction, one end of the first rotating shaft is fixedly connected to the third frame sidewall 243, and the other end of the first rotating shaft is movably connected to the third carrier sidewall 233. When the movable carrier 23 is driven, the first rotating shaft can support the movable carrier 23 to tilt relative to the intermediate frame 24 about the first direction.

[0240] The second rotating shaft extends along the second direction. One end of the second rotating shaft is fixedly connected to the side wall 224 of the fourth base, and the other end of the second rotating shaft is movably connected to the side wall 244 of the fourth frame. When the intermediate frame 24 is driven, the second rotating shaft can support the intermediate frame 24 to tilt relative to the base 22 about the second direction.

[0241] In some specific examples, the first substrate 2551 is fixed to the first frame sidewall 241 of the intermediate frame 24 by the first pre-pressing assembly 2511, and the second substrate 2552 is fixed to the second base sidewall 222 of the base 22 by the second pre-pressing assembly 2521. The first substrate 2551 is bent and extended toward the base 22 to increase the length of the first substrate 2551 and reduce the reaction force of the first substrate 2551 when the intermediate frame 24 rotates about the second direction.

[0242] The first substrate 2551 and the second substrate 2552 can extend toward the conductive substrate 2553 to be electrically connected to the conductive substrate 2553 and electrically connected to external circuits through the conductive substrate 2553. Of course, the intermediate frame 24 and the base 22 can also be provided with conductive structures, and the first substrate 2551, the second substrate 2552 and the conductive substrate 2553 can be electrically connected through the conductive structures, and electrically connected to external circuits through the conductive substrate 2553.

[0243] The basic principles, main features, and advantages of this application have been described above. Those skilled in the art should understand that this application is not limited to the above embodiments. The embodiments and descriptions in the specification are merely the principles of this application. Various changes and modifications can be made to this application without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection claimed by this application is defined by the appended claims and their equivalents.

Claims

1. A gimbal assembly, characterized in that, include: An active carrier for carrying an imaging component, the imaging component defining an optical axis, the active carrier having an arc-shaped contact surface, the arc-shaped opening of the contact surface being parallel to the direction of the optical axis; An intermediate frame, wherein the movable carrier is movably disposed on the intermediate frame; The first driving mechanism includes a first pre-pressure component and a first actuation component. The first pre-pressure component is fixed to the intermediate frame and applies a pre-pressure towards the movable carrier to the first actuation component. The first actuation component is located between the first pre-pressure component and the movable carrier and maintains frictional contact with the movable carrier under the action of the pre-pressure. The first actuation component includes a first friction head, which makes frictional contact with the contact surface to drive the movable carrier to tilt about a direction perpendicular to the optical axis.

2. The gimbal assembly according to claim 1, characterized in that, The friction head has an arc-shaped friction surface on the side facing the contact surface, and the radius of curvature of the friction surface is smaller than the radius of curvature of the contact surface.

3. The gimbal assembly according to claim 1, characterized in that, The gimbal assembly further includes a first friction plate disposed on the movable carrier. The first friction plate includes a first arc segment with an arc-shaped contact surface. The friction head has an arc-shaped friction surface on the side facing the contact surface. The first arc segment and the friction surface of the first friction head maintain frictional contact. The radius of curvature of the friction surface is smaller than the radius of curvature of the first arc segment.

4. The gimbal assembly according to claim 2, characterized in that, The center of curvature of the friction surface is aligned with the center of curvature of the contact surface along the optical axis.

5. The gimbal assembly according to claim 4, characterized in that, When the movable carrier moves at an angle around a first direction, the axis around which the movable carrier moves passes through the center of curvature of the arc-shaped surface, wherein the first direction is perpendicular to the optical axis.

6. The gimbal assembly as described in claim 4, characterized in that, The direction of the arc-shaped opening on the friction surface is the same as the direction of the arc-shaped opening on the contact surface.

7. The gimbal assembly as described in claim 4, characterized in that, The direction of the arc-shaped opening on the friction surface is opposite to the direction of the arc-shaped opening on the contact surface.

8. The gimbal assembly according to claim 1, characterized in that, The first pre-compression component and the first actuation component are arranged vertically along the optical axis. The first friction head of the first actuation component makes frictional contact with the movable carrier along the optical axis to drive the movable carrier from the top or bottom.

9. The gimbal assembly according to claim 8, characterized in that, The movable carrier further includes a first carrier extension arm extending from the carrier sidewall of the movable carrier in a direction away from the optical axis. The first carrier extension arm and the first drive mechanism are located on the same side of the movable carrier. The first carrier extension arm has a first carrier top surface and a first carrier bottom surface opposite each other along the optical axis. The first carrier top surface or the first carrier bottom surface has an arc-shaped contact surface. The first friction head maintains frictional contact with the contact surface from the top or bottom.

10. The gimbal assembly according to claim 9, characterized in that, The system further includes a support assembly, which includes a first support portion on the same side as the first drive mechanism and a second support portion on the opposite side of the first drive mechanism. The movable carrier also includes a second carrier extension arm. The intermediate frame includes a first frame sidewall, a second frame sidewall, a third frame sidewall, and a fourth frame sidewall disposed along its periphery. The first support portion is disposed between the first carrier extension arm and the first frame sidewall, and the second support portion is disposed between the second carrier extension arm and the third frame sidewall.

11. The gimbal assembly according to claim 10, characterized in that, The first frame sidewall and the third frame sidewall are respectively provided with a first frame arc groove and a second frame arc groove. The first support part is disposed between the first carrier extension arm and the first frame arc groove, and the second support part is disposed between the second carrier extension arm and the second frame arc groove. The first frame arc groove has an arc-shaped surface.

12. The gimbal assembly according to claim 11, characterized in that, The center of the arc surface where the first frame arc groove is located coincides with the arc center of the contact surface, and the radius of curvature of the arc surface where the first frame arc groove is located is greater than the radius of curvature of the arc of the contact surface.

13. The gimbal assembly according to claim 11, characterized in that, The first frame has two arc-shaped grooves. Along the optical axis, the projections of the two first frame arc-shaped grooves do not overlap with the projection of the contact surface of the movable carrier. The first support includes at least two first support members, which are spaced apart in the two first frame arc-shaped grooves.

14. The gimbal assembly according to claim 11, characterized in that, The first frame has one arc-shaped groove, and the first support includes at least two first support members, which are centrally arranged in one arc-shaped groove of the first frame.

15. The gimbal assembly according to claim 10, characterized in that, The system further includes a first auxiliary support structure, which is disposed on the same side as the second support portion. The first auxiliary support structure includes a first pressure member and a first auxiliary support member. The first auxiliary support member is connected to the second carrier extension arm. The first pressure member is fixed to the side wall of the third frame and maintains frictional contact with the first auxiliary support member. The first pressure member can generate downward pressure to maintain frictional contact between the second carrier extension arm and the first auxiliary support member and the second support portion, respectively.

16. A gimbal assembly, characterized in that, include: A movable component for supporting an imaging assembly, the imaging assembly defining an optical axis, the movable component having an arc-shaped contact surface, the arc-shaped opening direction of the contact surface being parallel to the optical axis direction; A fixing member, wherein the movable member is movably disposed on the fixing member; A piezoelectric drive mechanism includes a preload assembly, a piezoelectric vibrator, and a friction head. The friction head and the preload assembly are located on opposite sides of the piezoelectric vibrator. The preload assembly is fixed to the fixing member and applies a preload force toward the movable member to the piezoelectric vibrator and the friction head. Under the action of the preload force, the friction head maintains frictional contact with the contact surface of the movable member to drive the movable member to tilt about a direction perpendicular to the optical axis.

17. A gimbal module, characterized in that, include: The gimbal assembly as described in any one of claims 1-15; wherein the imaging assembly includes a lens assembly and a photosensitive assembly, and the lens assembly is disposed on the photosensitive path of the photosensitive assembly.

Images