Two-shaft rotating motor framework

Abstract

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

Description

Technical Field

[0001] This utility model relates to the field of optical imaging, and in particular to a two-axis rotary motor architecture. Background Technology

[0002] A periscope lens structure typically consists of two parts: a lens section and a prism section. The prism section is located at the front end of the periscope section, and the imaging chip is located at the rear end of the lens section. Light is reflected by the prism section and enters the lens section.

[0003] The camera functions of current electronic devices are becoming increasingly powerful. Conventional lenses can only capture close-up images (1-2 meters). To capture clear images of distant scenes (10-20 meters), the lens must have telephoto or zoom capabilities. However, such lenses often require a long zoom travel, resulting in a relatively long overall lens length and a lens height exceeding the thickness of the electronic device, making it difficult to meet the demands for thinner or lighter mobile devices. To address this, solutions such as... Figure 1 The periscope design shown involves laying the optical path flat and adding a prism to rotate the optical path by 90 degrees. At this time, the prism support on the mechanism needs to be finely adjusted at small angles of θx and θy to perform OIS manual vibration compensation, so that the entire optical system can be laid flat to reduce the overall height, and work with the focusing motor to complete focusing or zooming in the Z-axis direction.

[0004] However, in traditional periscope optical systems, the rotation center (Mc) and optical center (Oc) are not aligned during hand tremor suppression. Figure 2 As shown, during the rotation of the mechanism, the optical center also undergoes vertical displacement, causing the field-of-view spot position to become off-center, resulting in a decrease in resolution. Secondly, to improve the stability of the optical image, it is necessary to accurately sense its position and be able to precisely adjust the position of the reflecting prism. Generally speaking, the nodding mechanism (corresponding to...) Figure 1 A 1-degree rotation in the θx direction corresponds to a 2-degree rotation of the optical axis. Therefore, the precision of the mechanism in the nodding direction (θx direction) is twice that in the head-shaking direction (θy direction). However, in existing technologies, the head-shaking mechanism is usually located externally, while the nodding mechanism is located internally. Consequently, the movement in the θx direction is subject to crosstalk from the movement in the θy direction, causing a decrease in the precision of the θx direction. Alternatively, to improve precision in existing technologies, the fitting accuracy of components must be extremely high, and errors caused by material deformation must be avoided. On the other hand, due to the triangular structure of the reflecting prism and its relatively higher density compared to the support, the weight at the location of the reflecting prism is relatively greater. Its gravitational torque will significantly affect the control of the rotation in the θx direction, increasing the difficulty of control. Uneven weight distribution will also affect the rotation response speed and power consumption, and in some cases, may even cause the reflecting prism to tip over. Utility Model Content

[0005] To address the aforementioned problems in the prior art, this utility model provides a two-axis rotary motor architecture and its periscope camera module.

[0006] To achieve the above objectives, the main technical solutions adopted by this utility model include:

[0007] A two-axis rotary motor architecture includes:

[0008] A shell, which has an internal space;

[0009] A prism is disposed in the housing and changes the direction of light to the direction of the optical axis;

[0010] A first support, which carries the prism and is rotatable relative to the housing about a first axis;

[0011] The second support supports the first support and is rotatable relative to the housing about a second axis; the first axis and the second axis are perpendicular to each other; the first support is rotatable relative to the second support.

[0012] A first fulcrum component is disposed between the first support and the second support; the first fulcrum component includes a main component that provides the first shaft and an auxiliary component disposed away from the main component;

[0013] A second fulcrum component is disposed between the second bracket and the housing to provide the second shaft;

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

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

[0016] Furthermore, it also includes a second drive unit for driving the second bracket to rotate; the second drive unit includes a second coil and a second magnet disposed opposite to each other in the first axial direction; the second coil is disposed on the housing; the second magnet is disposed on the second bracket.

[0017] Furthermore, both the main component and the auxiliary component are spherical components; the main component is disposed between a first receiving groove formed in the first support and a second receiving groove formed in the second support; the first receiving groove and the second receiving groove are disposed opposite to each other; the main component rotates in situ in a sandwich state between the first receiving groove and the second receiving groove; both the first support and the second support partially accommodate the auxiliary component; the first support and the second support include guide grooves that extend along the circumferential direction of the first axis and cooperate with the auxiliary component.

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

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

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

[0021] Furthermore, the first and second receiving grooves are one of the following: conical groove, multi-faceted groove, V-shaped groove, and square groove, so that the main component can only rotate in place.

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

[0023] Furthermore, the second bracket is provided with a magnetic sheet; the bottom of the first bracket is provided with a reinforcing magnet that cooperates with the magnetic sheet.

[0024] The beneficial effects of this utility model are: the distance between the intersection of the first axis and the second axis in space and the bottom of the shell is greater than or equal to the distance between the main component and the bottom of the shell; through this design, the coverage of the support structure of the first bracket can be effectively improved, that is, the area included by the first fulcrum component is larger, which can also be understood as the first fulcrum component having a larger range of support points, thereby being able to support the first bracket and the prism more stably; the prism module composed of the first bracket, the second bracket, and the prism is approximately square when viewed from the Z-axis direction, mainly to minimize the volume as much as possible, and the prism module is designed based on the size of the long hypotenuse of the prism; the first bracket mainly realizes rotation around the Y direction, and the first fulcrum component is set between the first bracket and the second bracket. When the position of the first fulcrum component is below the second fulcrum component, the first fulcrum component has a larger usable installation area, which can better counteract the influence of the gravitational torque of the prism;

[0025] The second support completes the rotation in the Z direction, thereby increasing the spacing between rotating components and helping to improve the accuracy and stability of the Z-direction rotation. The second fulcrum component is used to control the rotation of the entire prism module. Since the prism module is square in shape as a whole, it is easier to control the even distribution of the weight of the prism module, thereby reducing the adverse effects of gravitational torque. When the Z-direction rotation is set on the second support, the weight of the prism module on both sides of the X direction is almost equal. The control difficulty of the second drive unit is greatly reduced, and the response speed is also faster, thereby improving the rotation accuracy in the Z direction and effectively ensuring the high precision requirement of the prism module in the Z-direction rotation. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the optical path of a prism module using existing technology;

[0028] Figure 2 It is existing technology;

[0029] Figure 3 This is an exploded view of the structure of this utility model;

[0030] Figure 4 This is a side view of the prism module of this utility model;

[0031] Figure 5 This utility model is a structural explosion Figure 2 ;

[0032] Figure 6 This is a partial exploded view of the structure of this utility model;

[0033] Explanation of reference numerals in the attached figures:

[0034] 100, Housing; 110, Top cover; 111, Light inlet; 120, High-precision magnetic field sensing IC; 200, Prism; 300, First bracket; 310, First fulcrum component; 311, Main component; 312, Auxiliary component; 320, First drive unit; 321, First coil; 322, First magnet; 330, Reinforcing magnet; 340, First receiving slot; 400, Second bracket; 410, Second fulcrum component; 420, Second drive unit; 421, Second coil; 422, Second magnet; 430, Magnetic conductive sheet; 440, Second receiving slot; 450, Guide slot; A1, First shaft; A2, Second shaft. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely represents selected embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0036] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," 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 utility model 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 utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0037] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0038] Example:

[0039] like Figure 3 As shown, the optical axis is parallel to the X direction, the first axis A1 is parallel to the Y direction, and the second axis A2 is parallel to the Z direction. For ease of description, the optical axis can also be referred to as the X direction, the first axis A1 as the Y direction, and the second axis A2 as the Z direction. When the second support 400 rotates around the second axis A2 by a certain angle, the first axis A1 will form a certain angle with the Y direction. The first axis A1 is parallel to the Y direction only when it is in the initial state. The following description mainly focuses on the initial state in which the first axis A1 is parallel to the Y direction.

[0040] A two-axis rotary motor architecture includes a housing 100, a prism 200, a first support 300, a second support 400, a first fulcrum member 310, and a second fulcrum member 410. The housing 100 has an internal space to protect and support optical elements housed therein. The housing 100 typically also has a top cover 110, which partially encloses the housing 100. The top cover 110 has a light inlet 111 for light to enter the prism 200. The prism 200 is disposed within the internal space of the housing 100 and can change the direction of light to the direction of the optical axis, which is parallel to the X-axis. The first support 300 supports the prism 200 and is rotatable relative to the second support 400. The second support 400 supports the first support 300 and is rotatable about a second axis A2. The first axis A1 is perpendicular to the second axis A2.

[0041] See Figure 3The rotation of the prism 200 includes rotation about a first axis A1 and rotation about a second axis A2; the prism 200 is supported by a first support 300, and the rotation of the first support 300 about the first axis A1 directly drives the prism 200 to rotate about the first axis A1; the first support 300 is supported on a second support 400, and the rotation of the second support 400 about the second axis A2 drives the first support 300 to rotate about the second axis A2, thereby driving the prism 200 to rotate; the first support 300 can be supported by a first fulcrum member 310, which is inserted between the first support 300 and the second support 400 to rotate about the first axis A1 formed by the main member 311, and can be supported away from the main member 311 by an auxiliary member 312, which can also serve as a guide; the second fulcrum member 410 is disposed between the second support 400 and the housing 100 to provide the second axis A2;

[0042] The distance between the spatial intersection of the first axis A1 and the second axis A2 and the bottom of the housing 100 is greater than or equal to the distance between the main component 311 and the bottom of the housing 100. This design effectively increases the coverage area of ​​the support structure of the first bracket 300, meaning the area covered by the first fulcrum component 310 is larger. This can also be understood as the first fulcrum component 310 having a wider range of support points, thus providing more stable support for the first bracket 300 and the prism 200. Figure 4 As shown, the prism 200 module, composed of the first support 300, the second support 400, and the prism 200, is approximately square when viewed along the Z-axis. This is primarily to minimize the volume. The prism 200 module is designed based on the length of its long hypotenuse. The spatial intersection of the first axis A1 and the second axis A2 is located at... Figure 4 The first support 300 is located at the center of the second support member 410. In this application, the first support 300 mainly realizes rotation around the Y direction. The first support member 310 is disposed between the first support 300 and the second support 400. When the position of the first support member 310 is below the second support member 410, the first support member 310 has a larger usable installation area, which can better counteract the influence of the gravitational torque of the prism 200. Preferably, in one embodiment, the distance between the intersection of the first axis A1 and the second axis A2 in space and the bottom of the housing 100 is greater than the distance between the main member 311 and the bottom of the housing 100, thereby making the first support member 310 have a larger installation area.

[0043] Compared to earlier solutions, this application swaps the rotation axes of the first support 300 and the second support 400, placing the highly sensitive Z-direction rotation structure on the outer layer. This means the second support 400 performs the Z-direction rotation, increasing the spacing between rotating components and improving the accuracy and stability of the Z-direction rotation. Furthermore, the second fulcrum component 410 controls the rotation of the entire prism 200 module. Since the prism 200 module is square in shape, it's easier to control the even distribution of its weight, reducing the adverse effects of gravitational torque. With the Z-direction rotation on the second support 400, the weight of the prism 200 module is almost equal on both sides of the X-direction. This significantly reduces the control difficulty of the second drive unit 420 and increases the response speed, thereby improving the Z-direction rotation accuracy and effectively ensuring the prism 200 module's Z-direction rotation accuracy. The high precision requirement for rotation is a significant challenge. In existing technologies, the rotation structure in the Z-direction is positioned between the first support 300 and the second support 400 to control the rotation of the first support 300 in the Z-direction. Since the first support 300 and the prism 200 form a triangle when viewed from the side (Z-direction), when the first support 300 rotates in the Z-direction, the prism 200 significantly increases its weight in the positive X-axis direction. During rotation in the Z-direction, the drive assembly needs to overcome the influence of gravitational torque to drive the first support 300 to rotate. The influence of gravitational torque on the prism 200 changes constantly with different rotation angles, posing a significant challenge to the control method. Uneven weight distribution also leads to a decrease in control speed, directly affecting the accuracy and response speed of rotation. Achieving counterweight balance through the structure of the first support 300 also places higher demands on its structure.

[0044] In this application, a rotational structure in the Y direction is built-in, meaning the first support 300 is responsible for rotation in the Y direction. This ensures better support for the prism 200, reduces the risk of tipping over, and enhances the stability of the entire support's movement. Furthermore, this structure directly avoids the influence of the gravitational torque of the prism 200. The gravitational torque of the prism 200 primarily affects rotation in the Z direction, which is configured to drive the entire prism 200 module to rotate around the Z direction. The square structure of the entire prism 200 module makes it easier to achieve a relatively balanced weight distribution relative to the Z direction, thus effectively reducing the impact of the gravitational torque from the prism 200. The first fulcrum component 310 provides a larger support area, effectively ensuring support for the prism 200.

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

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

[0047] Reference Figure 4 The main component 311 can be partially accommodated in the first receiving groove 340 and the second receiving groove 440. The first receiving groove 340 and the second receiving groove 440 are one of the following: conical groove, multifaceted groove, V-shaped groove, and square groove, so that the main component 311 can only rotate in place. The multifaceted groove has at least three faces, so that the main component 311 is supported by three points, and the main component 311 can only perform rotational motion instead of translational motion. When the first support 300 rotates about the first axis A1, the main component 311 can maintain a fixed position relative to the first support 300 and the second support 400. That is, the main component 311 can provide the swing axis (i.e., the first axis A1) of the first support 300. Therefore, the main component 311 can be supported by three points, thereby preventing the first axis A1 from moving. Similarly, the multifaceted groove can include three or more inclined surfaces, and the main component 311 can contact an inclined surface at one point. The first receiving groove 340 and the second receiving groove 440 can be in the shape of a triangular pyramid with a truncated head.

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

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

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

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

[0052] The first support 300 and the second support 400 each have their own independent rotation axis, and the center of their rotation axes is the rotation center. During production, it is necessary to ensure that the two virtual rotation axes intersect to form the rotation center. In this invention, the second support 400 has mounting holes for the first fulcrum component 310 and the second fulcrum component 410, thereby ensuring controllable production precision and reliable position of the rotation center. The first support 300 has a first receiving groove 340 that cooperates with the main component 311, and the optical center is determined by the prism 200 mounted on the first support 300. Through the physical cooperation between the first receiving groove 340 and the main component 311, the rotation center and the optical center can be concentric, which can avoid the problem of motor optical center offset and improve the optical effect of the motor.

[0053] In one embodiment, a first driving part 320 for driving the first support 300 to rotate is also included; the first driving part 320 includes a first coil 321 and a first magnet 322 disposed opposite to each other in the optical axis direction; the first coil 321 is disposed on the housing 100; the first magnet 322 is disposed on the first support 300.

[0054] In one embodiment, a second drive unit 420 is further included to drive the second support 400 to rotate; the second drive unit 420 includes a second coil 421 and a second magnet 422 disposed opposite to each other in the direction of the first axis A1; the second coil 421 is disposed on the housing 100; the second magnet 422 is disposed on the second support 400.

[0055] like Figure 6 As shown, in one embodiment, a high-precision magnetic field sensing IC 120 is also provided inside the housing 100 to sense the rotation angle around the first axis A1 and the second axis A2, thereby achieving precise control; the high-precision magnetic field sensing IC 120 is disposed outside the first coil 321 and / or the second coil 421 to reduce coil magnetic field interference and improve positioning accuracy; two high-precision magnetic field sensing ICs 120 are provided to sense the rotation around the first axis A1 and the second axis A2 respectively.

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

[0057] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent modifications made based on the content of this utility model specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A two-axis rotary motor architecture, characterized in that, include: A housing (100) having an internal space; A prism (200) is disposed in the housing (100) and changes the direction of light to the direction of the optical axis; A first support (300) supports the prism (200) and is rotatable about a first axis (1) relative to the housing (100); The second support (400) supports the first support (300) and is rotatable relative to the housing (100) about a second axis (2); the first axis (1) and the second axis (2) are perpendicular to each other; the first support (300) is rotatable relative to the second support (400); A first fulcrum member (310) is disposed between the first support (300) and the second support (400); the first fulcrum member (310) includes a main member (311) providing the first shaft (1) and an auxiliary member (312) disposed away from the main member (311); A second fulcrum member (410) is disposed between the second bracket (400) and the housing (100) to provide the second shaft (2); The distance between the spatial intersection of the first axis (1) and the second axis (2) and the bottom of the shell (100) is greater than or equal to the distance between the main component (311) and the bottom of the shell (100).

2. The two-axis rotary motor architecture according to claim 1, characterized in that: It also includes a first drive unit (320) for driving the first support (300) to rotate; the first drive unit (320) includes a first coil (321) and a first magnet (322) disposed opposite to each other in the optical axis direction; the first coil (321) is disposed on the housing (100); the first magnet (322) is disposed on the first support (300).

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

4. The two-axis rotary motor architecture according to claim 1, characterized in that: Both the main component (311) and the auxiliary component (312) are spherical components; the main component (311) is disposed between a first receiving groove (340) formed in the first support (300) and a second receiving groove (440) formed in the second support (400); the first receiving groove (340) and the second receiving groove (440) are disposed opposite to each other; the main component (311) rotates in situ in a sandwich state between the first receiving groove (340) and the second receiving groove (440); both the first support (300) and the second support (400) partially accommodate the auxiliary component (312); the first support (300) and the second support (400) include a guide groove (450) extending along the circumferential direction of the first axis (1) and cooperating with the auxiliary component (312).

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

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

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

8. The two-axis rotary motor architecture according to claim 4, characterized in that: The first receiving groove (340) and the second receiving groove (440) are one of the following: conical groove, multi-faceted groove, V-shaped groove, and square groove, so that the main component (311) can only rotate in place.

9. A two-axis rotary motor architecture according to claim 1, characterized in that: The distance between the spatial intersection of the first axis (1) and the second axis (2) and the bottom of the housing (100) is greater than the distance between the main component (311) and the bottom of the housing (100).

10. A two-axis rotary motor architecture according to claim 1, characterized in that: The second bracket (400) is provided with a magnetic sheet (430); the bottom of the first bracket (300) is provided with a reinforcing magnet (330) that cooperates with the magnetic sheet (430).

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