Anti-shake motor structure, micro pan-tilt camera module and equipment

Abstract

The utility model discloses an anti-shake motor structure, a micro pan-tilt camera module and equipment. The anti-shake motor structure comprises a stator and a rotor. The rotor comprises a drum-shaped body used for installing a device to be anti-shake; the stator comprises an upper cover, the top surface of which is provided with a through hole; the base is connected with the upper cover to form a shell; the support is fixed to the shell and arranged on the peripheral side of the drum-shaped body in a sleeving mode, and the inner peripheral face of the support is connected with the outer peripheral face of the drum-shaped body in a sliding fit mode; and the driving assembly is fixed with the bracket and is used for driving the drum-shaped body to do inclined motion relative to the central axis of the drum-shaped body in the bracket and / or do rotary motion around the central axis of the drum-shaped body. According to the utility model, the large-angle and high-load anti-shake technology can be realized.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of anti-shake motor especially relates to a kind of anti-shake motor structure of larger movement angle, and the camera module and related equipment of application this anti-shake motor structure. BACKGROUND

[0002] In the field of camera, anti-shake motor is a necessary component that can obtain better shooting effect.And with the progress of science and technology, the development of era, camera anti-shake is more and more widely used, involves short video shooting, outdoor live, machine vision, unmanned driving and other fields.

[0003] However, the commonly used camera anti-shake scheme on the market is mostly traditional OIS optical image stabilization, which drives the lens or image sensor to produce relative motion for anti-shake through flexible structure, but this anti-shake method has many problems, such as small anti-shake angle, low load capacity, and cannot completely eliminate high-frequency jitter.

[0004] Among them, the low load capacity is due to the existing anti-shake motor is supported by the metal spring with thin thickness to support the device that needs to be anti-shake, so it is only suitable for small devices, such as small sensors or small lenses, etc.And in limited and narrow space, metal spring must have enough deformation capacity (i.e. the softer the better), and also have enough load capacity (i.e. the harder the better), since the selection direction of the two properties of the metal spring is completely opposite, therefore, on the basis of balancing the two properties, the selected metal spring can meet the basic load demand, but at the same time, it also leads to the deformation of the metal spring cannot reach a relatively large anti-shake angle.In addition, high-frequency jitter is also easy to excite the resonance frequency of the metal spring, resulting in unintended vibration during anti-shake process, and if the metal spring itself has insufficient stiffness and mass, it will not be able to quickly absorb vibration under the condition of continuous high-frequency jitter, for example, camera module, which will cause the relative movement of lens and image sensor, resulting in poor anti-shake effect under high-frequency jitter.

[0005] Therefore, how to provide an anti-shake motor structure with relatively large movement angle, high load capacity and no high-frequency jitter risk is a technical problem to be solved. UTILITY MODEL CONTENTS

[0006] The utility model discloses in order to solve the technical problem of small movement angle, low load capacity and high-frequency jitter risk in the prior art, proposes an anti-shake motor structure, micro-gimbal camera module and equipment.

[0007] The anti-shake motor structure provided by the utility model comprises a stator and a rotor.

[0008] The rotor comprises:

[0009] A drum-shaped body for mounting a device to be damped;

[0010] The stator comprises:

[0011] An upper cover, a top surface of which is provided with a through hole;

[0012] A base connected with the upper cover to form a housing;

[0013] A support fixed with the housing and sleeved on a circumferential side of the drum-shaped body, and an inner circumferential surface of the support is in sliding fit connection with an outer circumferential surface of the drum-shaped body;

[0014] A driving assembly fixed with the support and driving the drum-shaped body to make an inclined motion relative to a central axis of the drum-shaped body and / or a rotary motion around the central axis of the drum-shaped body in the support.

[0015] Further, the drum-shaped body is made of a magnet, and different polarities are distributed upward and downward along the central axis of the drum-shaped body; the driving assembly comprises at least two inclined coils fixed on side surfaces of the support and distributed in mutually orthogonal directions perpendicular to the central axis.

[0016] Further, the four side surfaces of the support in the mutually orthogonal directions are respectively provided with inclined coils, a Hall flexible circuit board is arranged around the inclined coils and is in electrical connection with the inclined coils, and at least two Hall sensors distributed in the mutually orthogonal directions are arranged on the Hall flexible circuit board.

[0017] Further, the driving assembly comprises at least two first piezoelectric ceramics distributed in mutually orthogonal directions perpendicular to the central axis and used for controlling the inclined motion of the drum-shaped body, and / or the driving assembly further comprises at least one second piezoelectric ceramic at an angle of 45° with respect to both of the two orthogonal directions and used for controlling the rotary motion of the drum-shaped body around the central axis thereof.

[0018] Further, the base is a driving plate in electrical connection with the driving assembly.

[0019] The micro-gimbal camera module comprises:

[0020] The anti-shake motor structure in any one of the technical solutions;

[0021] A lens assembly fixed in a drum-shaped body of the micro-gimbal anti-shake motor structure and penetrating through the drum-shaped body, and an optical axis of the lens assembly coincides with a central axis of the drum-shaped body;

[0022] A flexible circuit board of an image sensor, comprising a movable part connected with a bottom of the drum-shaped body and an extension part in flexible connection between the movable part and the extension part;

[0023] An image sensor fixed in the movable part and moving with the movement of the drum-shaped body.

[0024] Furthermore, the lens assembly is a lens; or the lens assembly includes a lens, a lens bracket fitted on the outside of the lens and axially slidingly connected to the drum-shaped body, and a focusing coil disposed on the outer wall of the lens bracket and wound around the optical axis.

[0025] Furthermore, the camera module also includes a drum-shaped base, which is a hollow structure, with its upper end connected to the bottom of the drum and its lower end connected to the movable part around the image sensor.

[0026] Furthermore, the movable part is connected to the extension part via a ring-shaped flexible arm surrounding the movable part. The side of the movable part away from the extension part is connected to the flexible arm, and the side of the extension part closer to the movable part is connected to the flexible arm.

[0027] The device with camera function proposed in this utility model includes the micro-gimbal camera module of any of the above technical solutions.

[0028] This invention replaces the existing spring wire suspension structure with a sliding drum-shaped structure, achieving a spherical universal angle of motion freedom. This increases the stabilization angle and strengthens the load capacity, eliminating high-frequency shaking and marking a significant step forward in image stabilization technology for cameras. Moreover, this invention goes beyond just image stabilization; the spherical universal structure allows lenses and other components requiring stabilization to move at large angles. It can be used in devices, machines, and products that cannot rotate on their own, enabling changes in viewing angle even when the main body is immobile, similar to the movement of human eyes. In the future, it has significant potential applications in fields such as embodied intelligence, bionic robots, and robotic dogs. Attached Figure Description

[0029] The present invention will now be described in detail with reference to the embodiments and accompanying drawings, wherein:

[0030] Figure 1 This is a three-dimensional schematic diagram of an embodiment of the present invention.

[0031] Figure 2 This is an exploded view of an embodiment of the present invention.

[0032] Figure 3 This is a cross-sectional schematic diagram of an embodiment of the present invention.

[0033] Figure 4 This is a top view schematic diagram of a flexible circuit board for an image sensor according to an embodiment of the present invention.

[0034] Figure 5 This is a cross-sectional schematic diagram of another embodiment of the present invention.

[0035] Figure 6 This is a top view schematic diagram of another embodiment of the present invention.

[0036] Reference Signs List:

[0037] 1, upper cover; 2, lens; 3, focusing coil; 4, lens holder; 5, drum-shaped magnet; 6, holder; 7, tilt coil; 8, Hall flexible circuit board; 9, drum-shaped base; 10, image sensor flexible circuit board; 11, base; 12, image sensor; 101, movable part; 102, flexible arm; 103, extension; 301, first piezoelectric ceramic; 302, second piezoelectric ceramic; 501, drum-shaped body. DETAILED DESCRIPTION

[0038] In order to make the technical problems, technical solutions and beneficial effects of the utility model clearer and more apparent, the utility model will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the utility model and are not used to limit the utility model.

[0039] Therefore, one feature indicated in the specification will be used to explain one feature of one embodiment of the utility model, and it is not implied that each embodiment of the utility model must have the explained feature. In addition, it should be noted that the specification describes many features. Although certain features can be combined together to show possible system designs, these features can also be used in other combinations that are not explicitly explained. Therefore, unless otherwise stated, the explained combinations are not intended to be limiting.

[0040] The anti-shake motor structure of the utility model, including stator and rotor.

[0041] The rotor includes a drum-shaped body, which is also called a waist table, and its shape is similar to a sphere with the top and bottom removed, leaving only the middle part. The drum-shaped body can be mounted with lenses, mirrors, lenses or sensors and other devices that need to be anti-shake as needed.

[0042] The stator includes an upper cover, a base, a holder and a driving assembly.

[0043] The top surface of the upper cover is provided with a through hole, and the light path or signal of the device to be anti-shake can pass through the through hole.

[0044] The base is arranged below the upper cover and connected with the upper cover to form a housing.

[0045] The holder is fixed in the housing and sleeved on the circumferential side of the drum-shaped body, and the inner circumferential surface of the holder is in sliding fit connection with the outer circumferential surface of the drum-shaped body, that is, the curvature of the inner circumferential surface of the holder and the outer circumferential surface of the drum-shaped body is consistent, that is, the holder is provided with a drum-shaped body through hole, and the corresponding radius of the drum-shaped body through hole and the corresponding radius of the drum-shaped body are matched with each other, so as to be in sliding fit connection.

[0046] The driving assembly is fixed with the support, the driving assembly can drive the drum-shaped body to make an inclined motion in the support relative to the central axis of the drum-shaped body and / or make a rotary motion around the central axis of the drum-shaped body, and the central axis of the drum-shaped body passes through the centers of the top surface and the bottom surface.

[0047] The utility model discloses a drum-shaped body structure is adopted, makes the joint bearing type sliding connection between drum-shaped body and support, not only reliable connection can make drum-shaped body have better carrying capacity, the shape matching between drum-shaped body and support can also realize the inclined motion or rotary motion of the angle.

[0048] In the first embodiment, the drum-shaped body is made of a magnet, i.e., a drum-shaped magnet, and different polarities are distributed along the central axis of the drum-shaped magnet in an up-down direction. The driving assembly includes at least two inclined coils distributed in mutually orthogonal directions, and the inclined coils are fixed on the support. When the inclined coils are two, one of the inclined coils is fixed in one of the mutually orthogonal directions, and the other inclined coil is perpendicular to the one inclined coil in space and is located in the other of the mutually orthogonal directions. Both of the mutually orthogonal directions are perpendicular to the central axis of the drum-shaped body.

[0049] The electromagnetic interaction principle of the magnet and the inclined coil is a relatively mature technical principle in the art. For the convenience of understanding, a simple example is given, but it is not used to limit the protection scope of the utility model. The magnet can have a south pole in the upper half and a north pole in the lower half. The plane on which the coil is located is parallel to the central axis of the drum-shaped magnet (in some embodiments, it can also be the central axis of the through hole). In the static state, the parts of the coil with opposite currents respectively face different polarities, i.e., fall within the range of magnetic lines of different directions. Based on the left-hand rule, after the coil is energized, the drum-shaped magnet will be driven to incline relative to the central axis of the drum-shaped magnet in the unenergized state, or in other words, the drum-shaped magnet will be driven to incline relative to the central axis of the support.

[0050] In an embodiment based on the above-mentioned embodiments, the support is provided with inclined coils on four side surfaces in mutually orthogonal directions. One or more inclined coils can be arranged on each side surface. The support is surrounded by a Hall flexible circuit board electrically connected to the inclined coils. The Hall flexible circuit board is provided with at least two Hall sensors. When the Hall sensors are two, the two Hall sensors are respectively distributed in mutually orthogonal directions. When the Hall sensors are multiple, the multiple Hall sensors are respectively distributed in mutually orthogonal directions. The position of the Hall sensor in the direction of the central axis of the drum-shaped body is preferably arranged near the polarity interface. When the drum-shaped magnet is in an inclined motion, the position can obtain more signals of the magnetic field change. However, the polarity interface is not the only setting position, and the setting position of the Hall sensor can be adjusted according to the actual application needs by those skilled in the art.

[0051] The detection signal of the Hall sensor can be used to control the tilting movement of the drum-shaped body more accurately.

[0052] In a second embodiment, the driving assembly includes at least two first piezoelectric ceramics distributed in mutually orthogonal directions. The two first piezoelectric ceramics are respectively used to control the tilting movement of the corresponding side of the drum-shaped body.

[0053] The piezoelectric ceramic is another driving assembly with low cost and high flexibility besides the coil.

[0054] In an embodiment, the driving assembly includes a second piezoelectric ceramic with an angle of 45° with respect to the two orthogonal directions. The second piezoelectric ceramic is used to control the rotating movement of the drum-shaped body around the central axis thereof. The position of the second piezoelectric ceramic in the direction of the central axis of the drum-shaped body is preferably at the interface of the polarities, but is not limited to this position.

[0055] The second piezoelectric ceramic can be used to realize the anti-shake function of the device to be prevented from shaking around the central axis thereof.

[0056] In a preferred embodiment, the driving assembly includes both the first piezoelectric ceramic and the second piezoelectric ceramic, so that the device to be prevented from shaking can be controlled in multiple angular directions.

[0057] In an embodiment, the base is a driving board which is electrically connected with the driving assembly, so as to simplify the structure of the anti-shake motor. Of course, in other embodiments, the driving assembly can be electrically connected with the outside world and driven through other circuit boards. For example, when the anti-shake motor mechanism is applied to a camera module, the driving assembly can be electrically connected with the circuit board on which the image sensor is located. However, for a micro-gimbal camera module, since the image sensor needs to move together with the lens, the electrical connection between the driving assembly and the circuit board on which the image sensor is located will cause the circuit board to need to consider sufficient space for electrical connection and movement with the image sensor. Compared with this, the driving assembly as a stator is more suitable for connection with the circuit board on the stator.

[0058] As shown in Figure 1 Based on the above anti-shake motor structure, the micro-gimbal camera module of the present application includes the anti-shake motor structure of each of the above embodiments, a lens assembly, an image sensor flexible circuit board and an image sensor.

[0059] The lens assembly is fixed in the drum-shaped body of the anti-shake motor structure and penetrates the drum-shaped body, i.e. the light path of the lens assembly penetrates the drum-shaped body, and the optical axis of the lens assembly coincides with the central axis of the drum-shaped body.

[0060] The image sensor flexible circuit board comprises a movable part and an extension part, the movable part is connected with the bottom of the drum body, and the extension part is flexibly connected with the movable part, specifically, the extension part can be connected with the movable part through a flexible arm. For example, the flexible arm can be annular, the annular flexible arm is connected with one side of the movable part away from the extension part, and then the annular flexible arm is connected with the movable part on the side of the extension part close to the movable part, so that the length of the flexible arm can be increased in a limited area, the deformation of the flexible arm is ensured to be sufficient, and wiring is more convenient. Of course, the flexible arm can also be in other forms, for example, a flexible circuit board with a sufficient length is reserved on the side of the movable part close to the extension part to serve as the flexible arm, and the flexible arm with the sufficient length needs sufficient space for movement.

[0061] The image sensor is fixed on the movable part and moves with the drum body.

[0062] By fixing the lens assembly and the image sensor at different positions of the drum body, the lens anti-shake structure of the micro gimbal is realized by driving the lens assembly and the image sensor to simultaneously perform anti-shake operation through the drum body. That is, the anti-shake function of the handheld gimbal is realized in the camera module through miniaturized design, the image sensor and the lens do not produce relative movement, the whole module is anti-shaken, and the micro gimbal camera module is realized.

[0063] In one embodiment, the lens assembly is a lens. Alternatively, the lens assembly comprises a lens and a bracket for fixing the lens on the drum body.

[0064] In another embodiment, the lens assembly comprises a lens, a lens bracket and a focusing coil. The lens bracket is sleeved on the outside of the lens and is in axial sliding fit connection with the drum body, that is, under the driving action of an external force, the lens bracket can move up and down along the central axis of the drum body. The focusing coil is arranged on the outer wall of the lens bracket and is wound around the optical axis, that is, wound around the central axis of the drum body.

[0065] By adding a focusing function to the lens assembly, the function of the lens module can be further improved.

[0066] In one embodiment, the camera module further comprises a drum body base, the drum body base is a hollow structure, the upper end of the drum body base is connected to the bottom of the drum body, and the lower end of the drum body base is connected to the movable part on the periphery of the image sensor. Through the drum body base, more space is provided for the tilting movement of the image sensor. Compared with directly connecting the image sensor flexible circuit board on which the image sensor is arranged with the drum body, directly fixing the image sensor on the bottom of the drum body can limit the size of the image sensor to a smaller size specification, and the movable part of the image sensor flexible circuit board is also limited in space and is prone to interference with the coil. However, the addition of the drum body base can solve these problems, which is a better choice of the utility model.

[0067] The camera module of the two embodiments will be described in detail below with reference to the accompanying drawings.

[0068] As Figure 2 , Figure 3 shown in one embodiment of the camera module, the mover of the camera module includes a lens 2, a lens holder 4, and a focus coil 3 (AF coil).

[0069] The lens 2 is fixedly connected to the lens holder 4, the lens holder 4 has the focus coil 3 wound thereon, the outer diameter of the lens holder 4 is in sliding fit with the inner diameter of a drum-shaped magnet 5, the bottom plane of the drum-shaped magnet 5 is fixedly connected to a drum-shaped base 9, the bottom of the drum-shaped base 9 is fixedly connected to a movable part 101 (a circular island in the figure) inside an image sensor flexible circuit board 10, and an image sensor 12 is welded on the movable part 101 inside the image sensor flexible circuit board 10. Figure 4

[0070] The drum-shaped magnet 5 has a cylindrical through hole in the middle, and is magnetized in the axial direction of the central axis of the cylindrical through hole (i.e. the central axis of the drum-shaped magnet). The inner diameter of the drum-shaped magnet is in sliding fit with the outer diameter of the lens holder 4, the focus coil 3 is wound on the lens holder 4, and two leads extend downward to form an electrical connection with the image sensor flexible circuit board 10. According to the left-hand rule, the focus coil 3 can move up and down in the magnetic field when powered, thereby driving the entire lens holder 4 and the lens 2 to move up and down, achieving the AF focusing function.

[0071] The stator of the camera module includes an upper cover 1, a base 11, a holder 6, and a tilt coil 7 (Tilt coil).

[0072] Four tilt coils 7 are wound on the outer periphery of the holder 6 in four directions respectively, a ring of Hall flexible circuit boards 8 is wound outside the four tilt coils 7, the Hall flexible circuit boards 8 are wired downward to form an electrical connection with the base 11 (drive board), the upper half of the upper cover 1 is fixedly connected to the Hall flexible circuit boards 8 and the tilt coils 7, and the lower half of the upper cover 1 is fixedly connected to the base 11 (drive board).

[0073] ​The inner hole of the support 6 is a drum-shaped hole (the inner circumferential surface is partially spherical), and is in sliding fit with the outer circumferential surface of the drum-shaped magnet 5. The outer part of the support 6 is approximately a quadrilateral, and the four sides have bosses, and an inclined coil 7 is wound around each side around the boss, and the entire outer side is surrounded by a ring of a Hall flexible circuit board 8, the four inclined coils 7 are in electrical connection with the Hall flexible circuit board 8, two Hall sensors are welded on the Hall flexible circuit board 8, the two Hall sensors are arranged at the polarity boundary surface and are arranged at 90°, and are opposite to two orthogonal directions of the inclined movement of the drum-shaped magnet 5, which are X-axis and Y-axis directions, and are used to detect the real-time position of the drum-shaped magnet 5. The Hall flexible circuit board 8 is led out from a corner and is in electrical connection with the base 11 (a driving board). The bottom of the drum-shaped magnet 5 is fixedly connected with a drum-shaped base 9, and the drum-shaped base 9 is fixedly connected with a movable part inside an image sensor flexible circuit board 10, as shown in Figure 4 The image sensor flexible circuit board has two flexible arms 102 extending from one end of a circular island-shaped movable part 101 to the other end, and then extending out to form an extension part 103, and can be extended to be in electrical connection with the base 11 (a driving board) or to be in electrical connection with other circuit modules outside. According to the left-hand rule, the four inclined coils 7 pass through different directions of electric current, so that the drum-shaped magnet 5 can realize angular movement around the center (the original spherical center) of the drum-shaped magnet 5, so as to drive the entire lens and the image sensor at the bottom to realize Tilt direction anti-shake.

[0074] As shown in Figure 5 , Figure 6 In another embodiment, the driving assembly of the lens module adopts a piezoelectric ceramic, and the electromagnetic driving form in the previous embodiment is replaced by a piezoelectric driving form, and other structures are the same as those in the previous embodiment.

[0075] Three holes can be punched at the corresponding positions of the support, two first piezoelectric ceramics 301 and one second piezoelectric ceramic 302 are installed in the three holes, and the first and second piezoelectric ceramics can be in contact with the surface of the drum-shaped body 501. The two first piezoelectric ceramics are orthogonally distributed and control the tilt movement of the drum-shaped body 501 on the X-axis and the Y-axis, and the second piezoelectric ceramic is arranged at 45° with the X-axis and the Y-axis and controls the rotation of the drum-shaped body 501 around the central axis, that is, the rotation around the optical axis (Z-axis). The two kinds of piezoelectric ceramics are led out and connected with the base 11 (a driving board).

[0076] If it is a fixed focus camera module, the lens in the above two embodiments can be fixed on the drum-shaped body through the support or directly.

[0077] The utility model discloses a camera module based on the above various embodiments, and further protects a device with a camera function, which adopts the camera module of any one of the above embodiments.

[0078] The device includes but is not limited to mobile terminals such as mobile phones and computers, unmanned aerial vehicles, robots, robotic dogs, and the like.

[0079] The anti-shake angle of the utility model is large, can reach ±10° to ±20°, has strong load capacity, the lens and the image sensor are relatively stable, and there is no high-frequency shaking problem, and is suitable for various devices, machines and products.

[0080] In the description of the utility model, it is understood that the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" and the like indicated orientation or position relationship is usually based on the orientation or position relationship shown in the drawings, only for the convenience of describing the utility model and simplifying the description, in the absence of the opposite statement, these orientation words do not indicate and imply that the indicated device or element must have a particular orientation or be constructed and operated in a particular orientation, therefore, it cannot be understood as the limitation of the protection scope of the utility model. The orientation words "inner, outer" refer to the inner and outer of the contour of each component itself.

[0081] In order to facilitate the description, spatial relative terms such as "on", "above", "upper surface", "upper" and the like can be used to describe the spatial position relationship of one device or feature with other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device described in the drawings. For example, if the device in the drawings is inverted, the device described as "above" or "on" other devices or structures will be positioned "below" or "under" other devices or structures. Thus, the example term "above" can include both "above" and "below" orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0082] The above is only the preferred embodiment of the utility model, and is not used to limit the utility model, any modification, equivalent replacement and improvement made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A shake-stabilizing motor structure, comprising a stator and a mover, characterized in that, The mover includes: The drum-shaped body is used to mount the device to be stabilized. The stator includes: The top cover has a through hole on its top surface; The base is connected to the upper cover to form a housing; A bracket is fixed to the housing and fitted around the drum-shaped body, with the inner circumferential surface of the bracket slidingly connected to the outer circumferential surface of the drum-shaped body. A drive assembly, fixed to the bracket, drives the drum-shaped body to tilt relative to the central axis of the drum-shaped body within the bracket and / or rotate around the central axis of the drum-shaped body.

2. The anti-shake motor structure as described in claim 1, characterized in that, The drum-shaped body is made of magnets, and different polarities are distributed vertically along the central axis of the drum-shaped body; the drive assembly includes at least two inclined coils fixed to the side of the support and distributed in mutually orthogonal directions perpendicular to the central axis.

3. The anti-shake motor structure as described in claim 2, characterized in that, The bracket has tilted coils on its four sides in mutually orthogonal directions. A Hall flexible circuit board electrically connected to the tilted coils is surrounded on the bracket. At least two Hall sensors are distributed in mutually orthogonal directions on the Hall flexible circuit board.

4. The anti-shake motor structure as described in claim 1, characterized in that, The drive assembly includes at least two first piezoelectric ceramics distributed in mutually orthogonal directions perpendicular to the central axis for controlling the tilting motion of the drum-shaped body, and / or, the drive assembly further includes at least one second piezoelectric ceramic at 45° to both orthogonal directions for controlling the rotational motion of the drum-shaped body around its central axis.

5. The anti-shake motor structure as described in any one of claims 1 to 4, characterized in that, The base is a drive board that is electrically connected to the drive assembly.

6. A micro-gimbal camera module, characterized in that, include: The anti-shake motor structure as described in any one of claims 1 to 5; The lens assembly is fixed inside the drum-shaped body of the image stabilization motor structure and passes through the drum-shaped body, and the optical axis of the lens assembly coincides with the central axis of the drum-shaped body; The flexible circuit board for the image sensor includes a movable portion connected to the bottom of the drum-shaped body and an extension portion flexibly connected to the movable portion. The image sensor is fixed to the movable part and moves with the movement of the drum-shaped body.

7. The micro-gimbal camera module as described in claim 6, characterized in that, The lens assembly is a lens; or the lens assembly includes a lens, a lens bracket fitted on the outside of the lens and axially slidingly connected to the drum-shaped body, and a focusing coil disposed on the outer wall of the lens bracket and wound around the optical axis.

8. The micro-gimbal camera module as described in claim 6, characterized in that, It also includes a drum-shaped base, which is a hollow structure, with its upper end connected to the bottom of the drum-shaped body and its lower end connected to the movable part around the image sensor.

9. The micro-gimbal camera module as described in claim 6, characterized in that, The movable part is connected to the extension part via a ring-shaped flexible arm surrounding the movable part. The side of the movable part away from the extension part is connected to the flexible arm, and the side of the extension part closer to the movable part is connected to the flexible arm.

10. A device with a camera function, comprising the micro-gimbal camera module as described in any one of claims 7 to 9.

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