Piezoelectric driving head A piezoelectric driving head

Abstract

This utility model discloses a piezoelectric driven gimbal, including a base, a Y-axis rotating device rotatably connected to the base, and an X-axis rotating device rotatably connected to the Y-axis rotating device. The Y-axis rotating device can rotate along the Y-axis under the drive of the Y-axis piezoelectric drive mechanism, and the X-axis rotating device can rotate with the Y-axis rotating device and can rotate along the X-axis under the drive of the X-axis piezoelectric drive mechanism. The Y-axis rotating device includes a bracket, which is fixed to the outer ring of the Y-axis bearing by connector I, and the base is fixed to the inner ring of the Y-axis bearing by connector II. The X-axis rotating device includes a carrier for assembling a camera module, which is fixed to the outer ring of the X-axis bearing A by connector III, and the bracket is fixed to the inner ring of the X-axis bearing by connector IV. This utility model increases the driving force of the piezoelectric drive mechanism by increasing the torque, thereby avoiding jamming caused by insufficient torque.

Description

Technical Field

[0001] This utility model belongs to the field of gimbal technology, and in particular relates to a piezoelectric driven gimbal. Background Technology

[0002] In fields such as security monitoring, drone aerial photography, smart vehicle applications, and industrial inspection, camera modules often need to achieve large-stroke, large-angle rotation to perform functions such as image tracking, scene switching, or image stabilization. Currently, the motion drive of camera modules mainly relies on stepper motors or brushless DC motors, which drive the gimbal structure to achieve multi-directional lens rotation. However, this type of drive method has many drawbacks in practical applications:

[0003] First, the smoothness of motion is insufficient. The motion of stepper motors and brushless DC motors is based on a fixed step distance. During the driving process, "stuttering" is prone to occur due to the step distance interval. Especially when performing large-angle, high-dynamic image tracking, stuttering will cause image jitter and unnatural inter-frame transitions, which will seriously affect image quality and user experience.

[0004] Secondly, the operating noise is relatively high. To meet the demands of long stroke and large angle motion, motor drive systems typically require a reduction gear to amplify the output torque. However, the meshing transmission of mechanical components such as gears and worm gears in the reduction gear generates additional friction and vibration noise. In noise-sensitive scenarios (such as indoor security, conference recording, and precision instrument testing), this type of noise not only interferes with the environment but may also be recorded into video through microphones and other devices, reducing audio quality.

[0005] Furthermore, the power consumption is relatively high. The motor drive system requires continuous power to maintain the stability of the camera module's posture. Especially when statically locked or making small-range fine adjustments, the motor still needs to maintain a certain output torque to counteract the load gravity and frictional resistance, resulting in continuous energy consumption and hindering the improvement of the device's battery life.

[0006] Furthermore, control precision is limited. During rotation, traditional motor-driven gimbals rely heavily on the motor's own encoder or Hall sensor for position feedback. Affected by factors such as motor step error and transmission clearance of the reduction mechanism, it is difficult to achieve high-precision positioning at the micrometer or sub-arcsecond level, which cannot meet the application scenarios with extremely high control precision requirements.

[0007] Prior art, Chinese patent application CN201910808965.6, discloses a target image tracking gimbal driven by a piezoelectric actuator and its driving control method. The target tracking gimbal has at least two degrees of freedom, including one rotational degree of freedom and one pitch degree of freedom. A rotating frame is mounted on the upper end of a horizontal rotation axis and rotates with the horizontal rotation axis, forming rotational motion; the rotational motion and pitch motion are two independent sets of non-interfering motions. A detection lens module is mounted on the rotating frame, which is mounted on a pitch rotation axis and rotates with the pitch rotation axis, forming pitch motion.

[0008] The aforementioned existing technology employs piezoelectric drive, which generates composite longitudinal and lateral vibrations to drive the horizontal rotation axis (Y-axis) and pitch rotation axis (X-axis) respectively. Compared to ordinary motor drives, piezoelectric drives offer advantages such as compact structure, low operating noise, and high control precision. However, ordinary motors, especially brushless DC motors, can quickly increase output torque by adjusting the input current, exhibiting strong instantaneous burst force and dynamic response capabilities in scenarios requiring sudden load changes or rapid start-up and emergency stop. In contrast, the driving force of a piezoelectric drive mechanism originates from the deformation of the piezoelectric material. The deformation rate is affected by material properties and electrical signal conversion efficiency. Therefore, in scenarios requiring rapid lens rotation, instantaneous focusing, and other high-intensity dynamic responses, its response speed is slower than that of ordinary motor drives. Utility Model Content

[0009] The purpose of this invention is to provide a piezoelectric driven gimbal that partially solves or alleviates the above-mentioned deficiencies in the prior art by increasing the torque to improve the driving force of the piezoelectric drive mechanism.

[0010] To solve the aforementioned technical problems, the present invention specifically adopts the following technical solution:

[0011] The first aspect of this utility model is to provide a piezoelectric driven gimbal, including a base, a Y-axis rotating device rotatably connected to the base, and an X-axis rotating device rotatably connected to the Y-axis rotating device; the Y-axis rotating device can rotate along the Y-axis under the drive of the Y-axis piezoelectric drive mechanism, and the X-axis rotating device can rotate with the Y-axis rotating device and can rotate along the X-axis under the drive of the X-axis piezoelectric drive mechanism.

[0012] The Y-axis rotation device includes a bracket, which is fixed to the outer ring of the Y-axis bearing by a connector I, and the base is fixed to the inner ring of the Y-axis bearing by a connector II.

[0013] The X-axis rotation device includes a carrier for assembling a camera module. The carrier is fixed to the outer ring of the X-axis bearing A by connector III, and the bracket is fixed to the inner ring of the X-axis bearing by connector IV.

[0014] Furthermore, both connector I and connector III include an inner ring surface, and connector I and connector III respectively use their inner ring surfaces to fit onto the outer ring surfaces of the Y-axis bearing and the X-axis bearing A;

[0015] Both connector II and connector IV include an outer ring surface, and connector II and connector IV respectively use their outer ring surfaces to fit into the inner ring surfaces of the Y-axis bearing and the X-axis bearing A.

[0016] Furthermore, the connector I is annular, and the Y-axis piezoelectric drive mechanism acts on the outer ring surface of the connector I to drive the bracket to rotate;

[0017] The connector III is ring-shaped, and the X-axis piezoelectric drive mechanism acts on the outer ring surface of connector III to drive the carrier to rotate.

[0018] Furthermore, the side of the carrier opposite to the X-axis bearing A is rotatably connected to the bracket via the X-axis bearing shaft B, and the X-axis bearing A and the X-axis bearing B are on the same axis.

[0019] Furthermore, the carrier is connected to the X-axis bearing B via a connector V including an outer ring surface; the bracket has an arc-shaped groove and is supported on the outer ring surface of the X-axis bearing B.

[0020] Furthermore, it also includes a bearing baffle for shielding the X-axis bearing B.

[0021] Furthermore, the Y-axis piezoelectric drive mechanism also includes a Y-axis HALL permanent magnet mounted on a bracket, which cooperates with the Y-axis PCB to control the Y-axis piezoelectric drive mechanism;

[0022] The X-axis piezoelectric drive mechanism also includes an X-axis HALL permanent magnet mounted on the carrier. The X-axis HALL permanent magnet works in conjunction with the X-axis PCB to control the X-axis piezoelectric drive mechanism.

[0023] Furthermore, the base has a mounting hole for accommodating the Y-axis bearing, and the connector II is disposed within the mounting hole; the connector II has an inner hole through which a power supply coaxial line for supplying power to the camera module passes.

[0024] Furthermore, the power supply coaxial line connects the camera module and the Y-axis piezoelectric drive mechanism, and the Y-axis piezoelectric drive mechanism is connected to the X-axis piezoelectric drive mechanism via the piezoelectric coaxial line.

[0025] Furthermore, connectors I, II, III, IV, and V are all manufactured using an insert injection molding process.

[0026] Beneficial effects:

[0027] This invention extends the lever arm through the connector, thereby increasing the torque. This balances the gravitational torque and rotational resistance of a large lens, ensuring that the piezoelectric component can stably drive the lens to complete large strokes and large-angle rotations. It solves the problem that traditional piezoelectric drive torque is insufficient to support heavy lenses and is suitable for large-format lens applications.

[0028] By increasing the torque, the driving force of the piezoelectric component can always stably cover the load resistance. Even if there are slight fluctuations in the load during rotation, it can still maintain a uniform and continuous rotation state, avoiding jamming caused by insufficient torque and achieving the advantage of smooth movement.

[0029] Existing technologies require a reduction gear to amplify torque when the motor torque is insufficient, but this reduction gear generates noise and energy consumption. This invention directly increases torque through the connection between the connector and the bearing, eliminating the need for an additional reduction gear. The contact drive between the piezoelectric friction head and the rotating component eliminates gear meshing, reducing mechanical noise; simultaneously, it eliminates the energy loss of the reduction gear, lowering overall power consumption.

[0030] In this invention, closed-loop feedback control is achieved using a Hall magnet, and stable torque is the foundation of control accuracy. By increasing the torque, the minute deformation of the piezoelectric component can be stably converted into a rotation angle through a longer lever arm, reducing control dead zones or lags caused by insufficient driving force. At the same time, the stable rotation of the rotating component makes the position feedback signal of the Hall magnet more accurate, further improving the closed-loop control accuracy. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. The elements or parts in the drawings are not necessarily drawn to scale. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0032] Figure 1 This is an exploded view of the present invention.

[0033] Figure 2 This is a cross-sectional view of the present invention (with the carrier removed).

[0034] Figure 3 This is a cross-sectional structural diagram of the support and carrier in this utility model.

[0035] Figure 4 This is a schematic diagram of the base structure in this utility model.

[0036] Figure 5 This is a schematic diagram of the support structure in this utility model.

[0037] Figure 6 This is a schematic diagram of the carrier structure in this utility model.

[0038] Summary of attached labeling and identification:

[0039] 1-Base, 2-Bracket, 3-Carrier, 4-Y-axis bearing, 5-Y-axis piezoelectric mechanism, 6-Y-axis PCB, 7-Y-axis Hall permanent magnet, 8-X-axis piezoelectric mechanism, 9-X-axis PCB, 10-X-axis bearing B, 11-Bearing baffle, 12-Power supply coaxial line, 13-Piezoelectric coaxial line, 14-X-axis Hall permanent magnet, 15-X-axis bearing A, 100-Camera module, 101-Connector II, 102-Inner hole, 103-Mounting hole, 201-Connector I, 202-Connector IV, 203-Arc groove, 301-Connector III, 302-Connector V. Detailed Implementation

[0040] 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 some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0041] In this document, suffixes such as "module," "part," or "unit" used to denote elements are used only for the purpose of illustrative purposes and have no specific meaning in themselves. Therefore, "module," "part," or "unit" can be used interchangeably.

[0042] In this document, the terms "upper," "lower," "inner," "outer," "front," "rear," "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. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0043] In this document, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, 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.

[0044] In this document, "and / or" includes any and all combinations of one or more of the listed related items.

[0045] In this article, "multiple" means two or more, that is, it includes two, three, four, five, etc.

[0046] Example 1:

[0047] like Figure 1 , Figure 2 As shown, this utility model provides a piezoelectric driven gimbal, including a base 1, a Y-axis rotating device rotatably connected to the base 1, and an X-axis rotating device rotatably connected to the Y-axis rotating device; the Y-axis rotating device can rotate along the Y-axis under the drive of the Y-axis piezoelectric drive mechanism, and the X-axis rotating device can rotate with the Y-axis rotating device and can rotate along the X-axis under the drive of the X-axis piezoelectric drive mechanism.

[0048] The Y-axis rotation device includes a bracket 2, which is fixed to the outer ring of the Y-axis bearing 4 by means of connector I 201, and the base 1 is fixed to the inner ring of the Y-axis bearing 4 by means of connector II 101.

[0049] The X-axis rotation device includes a carrier 3 for assembling the camera module 100. The carrier 3 is fixed to the outer ring of the X-axis bearing A15 by means of connector III 301, and the bracket 2 is fixed to the inner ring of the X-axis bearing by means of connector IV 202.

[0050] The Y-axis rotation device uses base 1 as the stator and bracket 2 as the mover. Base 1 is fixed to the inner ring of the Y-axis bearing via connector II 101, and bracket 2 is fixed to the outer ring of the Y-axis bearing via connector I, allowing bracket 2 to rotate freely relative to base 1 around the Y-axis. The Y-axis piezoelectric drive mechanism serves as the drive element, driving bracket 2 to rotate via frictional torque, thereby causing the X-axis rotation device and camera module 100 to rotate synchronously around the Y-axis.

[0051] The X-axis rotation device uses the support 2 of the Y-axis rotation device as the stator and the carrier 3 as the mover. The support 2 is fixed to the inner ring of the X-axis bearing A via connector IV202, and the carrier 3 is fixed to the outer ring of the X-axis bearing A via connector III301, allowing the carrier 3 to rotate freely relative to the support 2 around the X-axis. The X-axis piezoelectric drive mechanism drives the carrier 3 to rotate, directly causing the camera module 100 mounted on the carrier 3 to rotate around the X-axis.

[0052] like Figures 3-6 As shown, in this utility model, connector I201 is fixed to the outer ring of Y-axis bearing 4, and base 1 is fixed to the inner ring of Y-axis bearing 4 using connector II 101; carrier 3 is fixed to the outer ring of X-axis bearing A15 using connector III 301, and bracket 2 is fixed to the inner ring of X-axis bearing using connector IV 202.

[0053] The friction head of the Y-axis piezoelectric component directly contacts the bracket 2 to generate friction. Since the bracket 2 is fixed to the outer ring of the bearing, and the radius of the outer ring of the bearing is larger than that of the inner ring, the distance from the Y-axis rotation axis to the friction contact point, i.e. the lever arm length, is the outer ring radius of the annular boss of the bracket 2. Compared with the traditional design of connecting the outer ring with the fixed part and the inner ring with the rotating part, the lever arm length is significantly increased.

[0054] Similarly, the friction head of the X-axis piezoelectric component directly contacts the carrier 3 to generate friction. The carrier 3 is fixed to the outer ring of the bearing, so that the distance from the X-axis rotation axis to the friction contact point, i.e. the lever arm length, is the outer radius of the circular boss of the carrier 3, thus realizing the extension of the lever arm in the X-axis direction.

[0055] According to the mechanical formula torque (M) = force (F) × lever arm length (L), with the frictional force F output by the piezoelectric component remaining constant, the above connection method directly increases the driving torque M by extending the lever arm length L. The function of the connector is to ensure that the lever arm length is stably maintained at its longest state (outer ring radius) by fixing the relative positions of the inner and outer rings of the bearing with the rotating / fixed parts, thus providing structural support for torque enhancement.

[0056] Specifically, both connector I 201 and connector III 301 include an inner ring surface, and connector I 201 and connector III 301 respectively use their inner ring surfaces to fit onto the outer ring surfaces of Y-axis bearing 4 and X-axis bearing A15;

[0057] Both connector II 101 and connector IV 202 include an outer ring surface, and connector II 101 and connector IV 202 respectively use their outer ring surfaces to fit into the inner ring surfaces of Y-axis bearing 4 and X-axis bearing A15.

[0058] Connector I201 serves as the connecting component between bracket 2 and the outer ring of Y-axis bearing 4. It is designed with an inner ring surface, which is tightly fitted with the outer ring surface of Y-axis bearing 4 to form a rigid connection between bracket 2 and outer ring of Y-axis bearing 4, ensuring that bracket 2 rotates synchronously around Y-axis with outer ring of Y-axis bearing 4.

[0059] Connector III 301, as the connecting component between carrier 3 and the outer ring of X-axis bearing A15, is also designed with an inner ring surface. The inner ring surface is tightly fitted with the outer ring surface of X-axis bearing A15, so that carrier 3 and outer ring of X-axis bearing A15 form a rigid connection, ensuring that carrier 3 rotates synchronously around the X-axis with outer ring of X-axis bearing A15.

[0060] Connector II 101 serves as the connecting component between the base 1 and the inner ring of the Y-axis bearing 4. It is designed with an outer ring surface, which is tightly fitted with the inner ring surface of the Y-axis bearing, so that the base 1 and the inner ring of the Y-axis bearing 4 are rigidly fixed, ensuring that the inner ring of the Y-axis bearing 4 is relatively stationary with respect to the base 1.

[0061] Connector IV 202, which serves as the connecting component between bracket 2 and the inner ring of X-axis bearing A15, is also designed with an outer ring surface. By tightly fitting the outer ring surface with the inner ring surface of X-axis bearing A15, bracket 2 and the inner ring of X-axis bearing A15 are rigidly fixed, ensuring that the inner ring of X-axis bearing A15 and bracket 2 are relatively stationary.

[0062] More specifically, in this embodiment, the connector I 201 is annular, and the Y-axis piezoelectric drive mechanism acts on the outer ring surface of the connector I 201 to drive the bracket 2 to rotate; the connector III 301 is annular, and the X-axis piezoelectric drive mechanism acts on the outer ring surface of the connector III 301 to drive the carrier 3 to rotate.

[0063] The outer ring of the annular structure is a complete circumference, which provides a continuous and uniform contact area for the friction head of the piezoelectric drive mechanism. The core of piezoelectric drive is to generate frictional torque through the contact between the friction head and the rotating part. The annular outer ring ensures that the friction head maintains stable contact with the action surface during rotation, avoiding driving force fluctuations caused by discontinuities in the action surface, thus laying the foundation for uniform force distribution and smooth movement.

[0064] The outer radius of the annular connector is its maximum radial dimension. According to mechanical formulas, when the frictional force F of the piezoelectric drive mechanism acts on the outer annular surface, the lever arm length L is equal to the outer annular radius. Compared to acting on the inner annular surface or a local small-radius region, the maximum radius of the outer annular surface maximizes the lever arm length, thus maximizing the driving torque M while keeping the output force F of the piezoelectric component constant.

[0065] In addition, in this embodiment, connector II 101 and connector IV 202 are cylindrical. The outer ring surface of the cylindrical connector is a standard cylindrical surface, which can form a complete circumferential contact with the inner ring surface of the bearing inner ring. Compared with non-cylindrical structures (such as square or polygonal structures), it can minimize the fitting clearance and ensure the coaxiality of the connection.

[0066] In this embodiment, the side of the carrier 3 opposite to the X-axis bearing A15 is rotatably connected to the bracket 2 via the X-axis bearing shaft B, and the X-axis bearing A15 and the X-axis bearing B10 are on the same axis. More specifically, the carrier 3 is connected to the X-axis bearing B10 via a connector V 302 including an outer ring surface; the bracket 2 has an arc-shaped groove and is supported on the outer ring surface of the X-axis bearing B10.

[0067] The gimbal needs to be compatible with large-format lenses, and the load of heavy lenses needs to be transferred to the support 2 via bearings. X-axis bearings A and B are located on both sides of the carrier 3, forming a double-sided support structure. The coaxial design allows the two bearings to evenly distribute the weight load of the carrier 3 and the lens, avoiding accelerated wear or deformation of a single bearing due to concentrated force, and significantly improving the overall load-bearing capacity and service life of the X-axis rotation device.

[0068] The arc-shaped groove of bracket 2 fits snugly against the outer ring surface of X-axis bearing B10, forming a surface contact support. The curvature of the arc design matches the curvature of the bearing's outer ring surface, which can evenly distribute the weight load of carrier 3 and lens onto bracket 2, avoiding stress concentration caused by local point contact. This support method works in conjunction with the support of X-axis bearing A15 to construct a stable two-point support structure, effectively resisting the radial force when carrier 3 rotates, reducing vibration, and ensuring smooth rotation.

[0069] The arc-shaped groove allows the carrier 3 to be inserted along the X-axis without obstructing its movement. During assembly, the carrier 3 needs to be combined with the bracket 2 along the X-axis. The arc-shaped groove can avoid protruding structures or connectors on the carrier 3, thus preventing assembly interference and simplifying the installation process.

[0070] In some embodiments, a bearing baffle 11 is also included to shield the X-axis bearing B10 and prevent the intrusion of foreign objects such as dust.

[0071] To achieve precise control, the Y-axis piezoelectric drive mechanism also includes a Y-axis hall permanent magnet 7 mounted on the support 2. The Y-axis hall permanent magnet 7 cooperates with the Y-axis PCB 6 to control the Y-axis piezoelectric drive mechanism. The X-axis piezoelectric drive mechanism also includes an X-axis hall permanent magnet 14 mounted on the carrier 3. The X-axis hall permanent magnet 14 cooperates with the X-axis PCB 9 to control the X-axis piezoelectric drive mechanism.

[0072] The Hall effect refers to the change in output voltage of a Hall element caused by a change in a magnetic field. This principle can be used to achieve non-contact detection of position or angle. In this embodiment, the cooperation between the Hall permanent magnets on the Y and X axes and the PCB essentially constructs a closed-loop control chain of drive-feedback-adjustment:

[0073] The Y-axis permanent magnet 7 is fixed to the bracket 2 and rotates around the Y-axis with the bracket 2. A Hall sensor is integrated on the Y-axis PCB 6. When the bracket 2 rotates, the magnetic field of the Y-axis permanent magnet 7 changes relative to the Hall sensor on the Y-axis PCB 6. The Hall sensor converts the change in magnetic field into an electrical signal and feeds it back to the control circuit of the Y-axis PCB 6. The circuit adjusts the driving force of the Y-axis piezoelectric drive mechanism in real time according to the feedback signal to ensure that the actual rotation angle of the bracket 2 is consistent with the target angle.

[0074] The X-axis permanent magnet 14 is fixed to the carrier 3 and rotates around the X-axis with the carrier 3. A Hall sensor is integrated on the X-axis PCB9. When the carrier 3 rotates, the change in the magnetic field of the X-axis permanent magnet 14 is captured by the Hall sensor on the X-axis PCB9 and converted into an electrical signal. The control circuit adjusts the driving force of the X-axis piezoelectric drive mechanism according to the feedback signal, so as to achieve precise control of the rotation angle of the carrier 3.

[0075] The base 1 has a mounting hole 103 for accommodating the Y-axis bearing 4, and the connector II 101 is disposed within the mounting hole 103. The connector II 101 has an inner hole 102 through which a power supply coaxial line 12 for supplying power to the camera module 100 passes. The power supply coaxial line 12 connects the camera module 100 and the Y-axis piezoelectric drive mechanism, and the Y-axis piezoelectric drive mechanism is connected to the X-axis piezoelectric drive mechanism via a piezoelectric coaxial line 13.

[0076] Mounting hole 103 provides space for concealed installation of Y-axis bearing 4. Meanwhile, the inner hole 102 on connector II 101 facilitates cabling. When the pan-tilt unit is operating, the Y-axis rotation device drives the X-axis rotation device and camera module 100 to rotate around the Y-axis. The X-axis rotation device itself also rotates around the X-axis. If cables are exposed, they are prone to tangling, pulling, or friction and wear with other components due to rotation. The inner hole 102 of connector II 101 provides a fixed through-channel for the power supply coaxial cable 12, allowing the cable to extend from the outside of the base 1 through the inner hole 102 into the inside of the Y-axis rotation device, and then connect to the camera module 100, avoiding direct contact between the cable and rotating components.

[0077] The core function of the power supply coaxial cable 12 is to transmit power to the camera module 100 and the Y-axis piezoelectric drive mechanism, such as the Y-axis PCB6 and the piezoelectric module. The piezoelectric coaxial cable 13 connects the Y-axis piezoelectric drive mechanism and the X-axis piezoelectric drive mechanism, and is used to supply power to the X-axis piezoelectric drive mechanism, thereby reducing cables and simplifying wiring.

[0078] In this embodiment, connector I 201, connector II 101, connector III 301, connector IV 202 and connector V 302 are all manufactured by insert injection molding process.

[0079] Insert injection molding is a process in which a metal insert is pre-placed in an injection mold, and then molten plastic or other polymer materials are injected into the mold, causing the plastic and metal insert to bond tightly together to form an integral structure. The final result is a composite structural component comprising a metal insert and injection-molded plastic. When a gimbal rotates at high frequency or bears the weight of a lens, the connecting parts are subjected to continuous torque and stress. Insert injection molding, through the tight bonding between the metal insert and the plastic matrix, disperses stress over a larger area, avoiding loosening or breakage caused by localized stress concentration, and ensuring long-term stability of the connection between the bearing and the base 1, bracket 2, and carrier 3.

[0080] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0081] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A piezoelectrically driven gimbal, characterized in that: It includes a base, a Y-axis rotating device rotatably connected to the base, and an X-axis rotating device rotatably connected to the Y-axis rotating device; the Y-axis rotating device can rotate along the Y-axis under the drive of the Y-axis piezoelectric drive mechanism, and the X-axis rotating device can rotate with the Y-axis rotating device and can rotate along the X-axis under the drive of the X-axis piezoelectric drive mechanism. The Y-axis rotation device includes a bracket, which is fixed to the outer ring of the Y-axis bearing by a connector I, and the base is fixed to the inner ring of the Y-axis bearing by a connector II. The X-axis rotation device includes a carrier for assembling a camera module. The carrier is fixed to the outer ring of the X-axis bearing A by connector III, and the bracket is fixed to the inner ring of the X-axis bearing by connector IV.

2. The piezoelectric driven gimbal according to claim 1, characterized in that: Both connector I and connector III include an inner ring surface, and connector I and connector III respectively use their inner ring surfaces to fit onto the outer ring surfaces of the Y-axis bearing and the X-axis bearing A; Both connector II and connector IV include an outer ring surface, and connector II and connector IV respectively use their outer ring surfaces to fit into the inner ring surfaces of the Y-axis bearing and the X-axis bearing A.

3. A piezoelectric driven gimbal according to claim 2, characterized in that: The connector I is ring-shaped, and the Y-axis piezoelectric drive mechanism acts on the outer ring surface of the connector I to drive the bracket to rotate. The connector III is ring-shaped, and the X-axis piezoelectric drive mechanism acts on the outer ring surface of connector III to drive the carrier to rotate.

4. A piezoelectric driven gimbal according to claim 1, characterized in that: The carrier is rotatably connected to the bracket on the side opposite to the X-axis bearing A via the X-axis bearing shaft B, and the X-axis bearing A and the X-axis bearing B are on the same axis.

5. A piezoelectric driven gimbal according to claim 4, characterized in that: The carrier is connected to the X-axis bearing B via a connector V including an outer ring surface; the bracket has an arc groove and is supported on the outer ring surface of the X-axis bearing B.

6. A piezoelectric driven gimbal according to claim 4, characterized in that: It also includes a bearing baffle for shielding the X-axis bearing B.

7. A piezoelectric driven gimbal according to claim 1, characterized in that: The Y-axis piezoelectric drive mechanism also includes a Y-axis HALL permanent magnet mounted on a bracket. The Y-axis HALL permanent magnet works in conjunction with the Y-axis PCB to control the Y-axis piezoelectric drive mechanism. The X-axis piezoelectric drive mechanism also includes an X-axis HALL permanent magnet mounted on the carrier. The X-axis HALL permanent magnet works in conjunction with the X-axis PCB to control the X-axis piezoelectric drive mechanism.

8. A piezoelectric driven gimbal according to claim 1, characterized in that: The base has a mounting hole for accommodating the Y-axis bearing, and the connector II is disposed in the mounting hole; the connector II has an inner hole through which a power supply coaxial line for supplying power to the camera module passes.

9. A piezoelectric driven gimbal according to claim 8, characterized in that: The power supply coaxial line connects the camera module and the Y-axis piezoelectric drive mechanism, and the Y-axis piezoelectric drive mechanism is connected to the X-axis piezoelectric drive mechanism via the piezoelectric coaxial line.

10. A piezoelectric driven gimbal according to claim 1, characterized in that: Connector I, connector II, connector III, connector IV, and connector V are all manufactured using an insert injection molding process.

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