Motor, camera module and electronic device

Abstract

The present application provides a motor, a camera module, and an electronic device. The motor comprises a base, a first mover, a first driving member, a second mover, a second driving member, and a first pre-pressing member; the first mover is used for bearing an optical element; the first mover is located on the inner side of the base; the first driving member is used for driving the first mover to rotate around a first axis relative to the base, the first axis being perpendicular to a second direction and perpendicular to a first direction; the second mover is located between the first mover and the base; the second driving member is used for driving the second mover to rotate around a second axis relative to the base, the second axis being parallel to the first direction; and the first pre-pressing member is used for providing a first pre-pressure, so that the first mover rotates relative to the base along with the second mover, the direction of the first pre-pressure intersecting with the first axis and intersecting with the second axis. According to the motor provided by the present application, the first pre-pressing member provides the first pre-pressure, so that the first mover rotates relative to the base along with the second mover, reducing the problem of hysteresis of rotation of the first mover relative to the base.

Description

Motor, camera module and electronic device

[0001] The present application claims priority to the Chinese patent application No. 202410474283.7, filed on April 18, 2024, entitled "Motor, camera module and electronic device", the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of shooting devices, in particular to a motor, a camera module and an electronic device. BACKGROUND

[0003] With the continuous development of electronic device technology, the shooting function has become an important feature of electronic devices (such as mobile phones, tablets, etc.) and an important indicator for evaluating the performance of electronic devices. The existing camera module usually has the function of optical image stabilization (OIS) to improve the shooting quality. When performing optical image stabilization, the motor drives the shaking and nodding of the prism or mirror (Mirror) to achieve shake compensation.

[0004] However, the current camera module is prone to hysteresis problems when the motor drives the prism or mirror to achieve shake compensation, affecting the anti-shake effect of the camera module. SUMMARY

[0005] The present application provides a motor, a camera module and an electronic device. The motor includes a base, a first mover, a first driving member, a second mover, a second driving member and a first pre-pressing member. The motor provides a first pre-pressing force through the first pre-pressing member to make the first mover rotate relative to the base following the second mover, and improve the consistency of the first mover rotating relative to the base following the second mover, to reduce the hysteresis problem of the first mover rotating relative to the base.

[0006] In a first aspect, the present application provides a motor. The motor includes a base, a first mover, a first driving member, a second mover, a second driving member and a first pre-pressing member. The first mover is used to carry an optical element, and the optical element is used to adjust the light incident along a first direction to be transmitted along a second direction, and the second direction is perpendicular to the first direction. The first mover is located on the inner side of the base, and the first driving member is used to drive the first mover to rotate relative to the base around a first axis, and the first axis is perpendicular to the second direction and perpendicular to the first direction. The second mover is located between the first mover and the base, and the second driving member is used to drive the second mover to rotate relative to the base around a second axis, and the second axis is parallel to the first direction. The first pre-pressing member is used to provide a first pre-pressing force to make the first mover rotate relative to the base following the second mover, and the direction of the first pre-pressing force intersects the first axis and intersects the second axis.

[0007] In the present application, since the direction of the first pre-pressure intersects the first axis and the second axis, so that the first pre-pressure has a component parallel to the second direction, and since the connecting direction of the first mover and the second mover is also parallel to the second direction, the first mover and the second mover can be fixed together by the first pre-pressure, and when the second driving member drives the second mover to rotate around the second axis relative to the base, the first mover can move together with the second mover, and during the movement, the first mover and the second mover are in abutment with the first rotation support member and the second rotation support member, that is, the rotation of the second mover around the second axis does not affect the relative position between the first axis and the first mover and the second mover, so that the movement of the second mover does not interfere with the rotation of the first mover around the first axis, reduces or even eliminates the hysteresis of the rotation of the first mover around the first axis, and improves the nodding anti-shake compensation effect of the first mover.

[0008] In some possible implementation manners, the direction of the first pre-pressure can be perpendicular to the first axis and perpendicular to the second axis, so that the direction of the first pre-pressure can be opposite to the direction of the possible disengagement tendency between the first mover and the second mover, and the first mover can better follow the rotation of the second mover relative to the base.

[0009] In some possible implementation manners, the first mover includes a first arm, a second arm and a third arm, the first arm and the second arm are oppositely arranged, and the third arm is connected between the first arm and the second arm, and the first arm, the third arm and the second arm surround to form a first space for accommodating the optical element. The motor further includes a first rotation support member and a second rotation support member, the first rotation support member and the second rotation support member are arranged parallel to the first axis, the first arm is connected to the second mover through the first rotation support member, and the second arm is connected to the second mover through the second rotation support member. The first pre-pressure acts between the third arm and the second mover.

[0010] In the present implementation manner, since the first rotation support member and the second rotation support member are arranged parallel to the first axis, the first mover can rotate around the first axis with the first rotation support member and the second rotation support member as rotation supports, so that the rotation of the first mover relative to the base around the first axis is realized.

[0011] In some possible implementation manners, the first arm includes a first part and a second part, the first part of the first arm is connected to the third arm, and the second part of the first arm protrudes from a side of the first part of the first arm away from the second arm, the first rotation support member is arranged between the second part of the first arm and the second mover parallel to the second direction, to connect the second part of the first arm and the second mover. The second arm includes a first part and a second part, the first part of the second arm is connected to the third arm, and the second part of the second arm protrudes from a side of the first part of the second arm away from the first arm, and the second rotation support member is arranged between the second part of the second arm and the second mover parallel to the second direction, to connect the second part of the second arm and the second mover.

[0012] In the present implementation, the first pre-pressing force provided by the first pre-pressing member can fix the first mover on the second mover, i.e., the first pre-pressing force makes the first mover rely on the second mover through the first rotation support member and the second rotation support member. Since the third arm is located between the first arm and the second arm, and the sixth arm is located between the fourth arm and the fifth arm, the first pre-pressing force can better balance the force at the first rotation support member and the second rotation support member, prevent the first mover and the second mover from being separated at the first rotation support member and the second rotation support member, and reduce the hysteresis of the first mover rotating around the first axis.

[0013] In the present implementation, the first rotation support member and the second rotation support member can be balls, which can reduce the friction of the first mover rotating relative to the second mover.

[0014] In some possible implementations, the first axis passes through the first space.

[0015] In the present implementation, the first axis can pass through the first space, so that the first axis can pass through the vicinity of the center of mass of the whole first mover carrying the optical element, thereby shortening the moment of force for driving the first mover to rotate around the first axis, reducing the driving force required for driving the first mover to rotate around the first axis, and facilitating energy saving.

[0016] In some possible implementations, the first axis passes through the center of mass of the whole first mover carrying the optical element.

[0017] In the present implementation, the first axis can pass through the center of mass of the whole first mover carrying the optical element, so that when the first mover drives the optical element to rotate around the first axis, the rotation balance of the whole first mover and the optical element is high, which facilitates to improve the stability of the first mover rotating around the first axis.

[0018] In some possible implementations, the number of the first pre-pressing members is two. The two first pre-pressing members are arranged in parallel to the first axis.

[0019] In the present implementation, the two first pre-pressing members can provide the first pre-pressing force parallel to the second direction, improve the stability of fixing the first mover and the second mover, thereby reducing or even eliminating the influence of the second mover rotating around the second axis on the first mover rotating around the first axis, and further reducing or even eliminating the hysteresis of the first mover rotating around the first axis.

[0020] In the present implementation, the two first pre-pressing members are arranged on the two sides of the second axis.

[0021] In the present implementation, since the second mover can rotate clockwise or counterclockwise around the second axis, by providing two first pre-pressing members, the stability of the first mover and the second mover can be improved in both rotation directions of the second mover around the second axis, thereby reducing or even eliminating the influence of the rotation of the second mover around the second axis on the rotation of the first mover around the first axis, and further reducing or even eliminating the hysteresis of the rotation of the first mover around the first axis.

[0022] In the present implementation, the center of the first pre-pressing member can be in a plane passing through the first axis and perpendicular to the first direction, so that the direction of the force of the first pre-pressing member acting between the first mover and the second mover can be coplanar with the first axis, thereby facilitating the first pre-pressing member to make the first mover and the second mover more stable at the first rotation support member and the second rotation support member.

[0023] In some possible implementations, the second mover includes a fourth arm, a fifth arm, and a sixth arm, the fourth arm and the fifth arm are oppositely arranged, and the sixth arm is connected between the fourth arm and the fifth arm, the fourth arm, the sixth arm, and the fifth arm surround to form a second space for accommodating the first mover, and the sixth arm is connected to the base. The motor further includes a second pre-pressing member for providing a second pre-pressing force and acting between the sixth arm and the base, and the direction of the second pre-pressing force intersects the first axis and the second axis.

[0024] In the present implementation, the second pre-pressing member provides the second pre-pressing force to fix the second mover to the base, that is, the second pre-pressing force makes the second mover rely on the base through the third rotation support member and the fourth rotation support member. Since the third slot is located between the first slot and the second slot, so that the second magnet of the second pre-pressing member is located between the third rotation support member and the fourth rotation support member and on the second axis, so that the second pre-pressing force can better balance the force acting on the third rotation support member and the fourth rotation support member, prevent the second mover and the base from being separated at the third rotation support member and the fourth rotation support member, and reduce the hysteresis of the rotation of the second mover around the second axis.

[0025] In the present implementation, since the direction of the second pre-pressing force intersects the first axis and the second axis, so that the second pre-pressing force has a component parallel to the second direction, and since the connection direction of the second mover and the base is also parallel to the second direction, so that the second mover and the base can be fixed together by the second pre-pressing force, and when the first driving member drives the first mover to rotate around the first axis relative to the base, the first mover will not drive the second mover to separate from the base, therefore, after the first mover completes the rotation around the first axis, the second mover can still rely on the base through the third rotation support member and the fourth rotation support member, and the position of the second axis relative to the second mover and the base does not change, thereby reducing or even eliminating the hysteresis of the rotation of the second mover around the second axis.

[0026] In the present implementation, the first rotating support, the second rotating support, the third rotating support, the fourth rotating support, the first pre-pressing member and the second pre-pressing member jointly constitute a double-layer ball support and magnetic suction structure of the motor, which is conducive to realizing large-angle rotation of the optical element driven by the first mover and the second mover, and realizing rotation of the optical element with large weight.

[0027] The second part of the first arm can be connected to the fourth arm through the first rotating support, and the second part of the second arm can be connected to the fifth arm through the second rotating support. Specifically, the first rotating support is limitingly installed and connected through the fourth slot of the second part of the first arm and the sixth slot of the fourth arm, and the second rotating support is limitingly installed and connected through the fifth slot of the second part of the second arm and the seventh slot of the fifth arm.

[0028] In the present embodiment, since the first rotating support can be limitingly installed by the fourth slot and the sixth slot, and the second rotating support can be limitingly installed by the fifth slot and the seventh slot, the risk of disengagement of the first rotating support from the second rotating support when the first mover rotates around the first axis is reduced, which is conducive to improving the stability of the rotation of the first mover around the first axis and reducing the hysteresis of the rotation of the first mover around the first axis.

[0029] The fourth slot can be a V-shaped slot or a tapered slot, and the fifth slot can be a V-shaped slot or a tapered slot.

[0030] In the present implementation, since the fourth slot can be a V-shaped slot or a tapered slot, and the fifth slot can be a V-shaped slot or a tapered slot, the rotation stability of the first rotating support and the second rotating support can be improved. Taking the fourth slot as a tapered slot and the fifth slot as a V-shaped slot as an example. The side wall of the tapered slot can position the first rotating support, i.e., the first rotating support cannot linearly move in the X-axis direction and the Y-axis direction in the tapered slot, thereby limiting the relative position relationship between the second part of the first arm and the fourth arm, and further reducing or even avoiding the movement of the optical element in the X-axis direction and the Y-axis direction, and reducing the degree of freedom of the optical element in the non-required motion direction. The two sides of the V-shaped slot can be in contact with the second rotating support for supporting the second rotating support, and can inhibit the rotation of the first rotating support around the Z-axis during the rotation of the first mover around the first axis. Therefore, through the structural design of the fourth slot and the fifth slot, the stability of the rotation of the first rotating support and the second rotating support around the first axis when the first mover rotates around the first axis can be improved, thereby improving the jitter compensation effect caused by the rotation of the first mover around the first axis.

[0031] In some possible implementations, the direction of the force of the second pre-pressing member acting on the second mover is opposite to the direction of the force of the first pre-pressing member acting on the second mover, and the force of the second pre-pressing member acting on the second mover is greater than the force of the first pre-pressing member acting on the second mover.

[0032] In the present implementation, when the first mover rotates around the first axis, the first pre-pressing force acts between the first mover and the second mover to cause the first mover to have a risk of driving the second mover to be disconnected from the base. By arranging the second pre-pressing member to act on the second mover with a force greater than that of the first pre-pressing member, the second pre-pressing member can fix the second mover to the base through the third rotation support member and the fourth rotation support member, thereby reducing or even eliminating the risk of the second mover being disconnected from the base when the first mover rotates around the first axis, and further reducing or even eliminating the hysteresis of the second mover rotating around the second axis.

[0033] In some possible implementations, the motor further includes a third rotation support member and a fourth rotation support member, the third rotation support member and the fourth rotation support member are arranged in parallel to the second axis, the third rotation support member is arranged between the sixth arm and the base along a direction parallel to the second direction, and the fourth rotation support member is arranged between the sixth arm and the base along a direction parallel to the second direction to connect the sixth arm and the base.

[0034] In the present implementation, the third rotation support member and the fourth rotation support member are arranged in parallel to the second axis to enable the second mover to rotate around the second axis with the third rotation support member and the fourth rotation support member as rotation support, thereby enabling the second mover to rotate around the second axis relative to the base. The third rotation support member and the fourth rotation support member are designed to connect the second mover and the base to enable the second mover to lean against the base through the third rotation support member and the fourth rotation support member, and the direction of leaning against the base can be perpendicular to the second axis. The third rotation support member and the fourth rotation support member are arranged on the second axis to enable the direction of the second mover leaning against the base to be perpendicular to the second axis when the second mover rotates around the second axis, thereby reducing or even eliminating the risk of the second mover being disconnected from the base when the second mover rotates around the second axis.

[0035] In some possible implementations, the second pre-pressing member is located between the third rotation support member and the fourth rotation support member and on the second axis.

[0036] In the present implementation, the second pre-pressing force can better balance the forces acting on the third rotation support member and the fourth rotation support member, prevent the second mover and the base from being disconnected at the third rotation support member and the fourth rotation support member, and reduce the hysteresis of the second mover rotating around the second axis.

[0037] In some possible implementations, the second space has an opening along the second axis toward the base to expose the first mover. The first driving member includes a first driving magnet and a first driving coil, the first driving magnet and the first driving coil are arranged in layers and spaced apart in parallel to the second axis, the first driving magnet is mounted to the first mover, and the first driving coil is mounted to the base.

[0038] In the present implementation, the second space is arranged to face the opening of the bottom wall of the base, so that the first mover is capable of mounting the first driving magnet through the bottom, and the first driving magnet is capable of being arranged opposite to the first driving coil, so that the first driving magnet is capable of driving the first mover to rotate around the first axis relative to the base by the Lorentz force after the first driving coil is energized.

[0039] In the present implementation, the first driving magnet and the first driving coil are arranged in a stacked manner along the direction parallel to the second axis, so that the first driving magnet and the first driving coil jointly acting can generate the Lorentz force parallel to the second direction, thereby driving the first mover to rotate around the first axis, i.e., the first mover rotates with the first rotation support and the second rotation support as the rotation supports.

[0040] In some possible implementations, the first driving member further comprises a first magnetic guide member, the first magnetic guide member being mounted to a magnetic pole surface of the first driving magnet, wherein the magnetic pole surface of the first driving magnet is perpendicular to the second axis.

[0041] In the present implementation, the first magnetic guide member can be arranged corresponding to the magnetic pole surface of the first driving magnet, thereby enhancing the magnetic field directivity of the first driving magnet, and further enhancing the strength of the Lorentz force parallel to the second direction generated by the first driving magnet and the first driving coil, and thus improving the driving effect of the first driving member on the first mover.

[0042] In some possible implementations, the first mover comprises a first skeleton and a first carrier, the first carrier wrapping at least part of the first skeleton, and the part of the first skeleton exposed to the first carrier and abutting against the first driving magnet is the first magnetic guide member.

[0043] In the present implementation, the first carrier is used to provide a structure for mounting the optical element, and the first skeleton is embedded in the first carrier to provide structural support for the first carrier, thereby improving the overall structural strength of the first mover.

[0044] The first skeleton can comprise a first plate, a second plate and a third plate. The first plate can be embedded in the structure of the first arm corresponding to the first carrier to improve the structural strength of the first arm. The second plate can be embedded in the structure of the second arm corresponding to the first carrier to improve the structural strength of the second arm. The third plate can be embedded in the structure of the third arm corresponding to the first carrier to improve the structural strength of the third arm.

[0045] The first plate, the second plate and the third plate can be an integral structure to improve the overall structural strength of the first skeleton, thereby improving the overall structural strength of the first mover.

[0046] The third plate can include a first portion, a second portion and a third portion. The first portion of the third plate is connected to the second portion of the third plate by bending. In other words, the second portion of the third plate is arranged obliquely relative to the first portion of the third plate. The first portion of the third plate can be parallel to the YZ plane. The second portion of the third plate can have an opening. The third portion of the third plate is connected to a side wall of the opening and is arranged to extend outwardly from the opening. In other words, the third portion of the third plate extends in the negative direction of the Z axis.

[0047] The third portion of the third plate can have magnetism, so that the third plate can magnetically attract the first magnet of the first pre-pressing member. In this case, the third portion of the third plate is the first magnetic body of the first pre-pressing member, which can improve the effect of the first pre-pressing member acting on the first mover and the second mover.

[0048] In some possible implementation manners, the number of the second driving members is two. One second driving member is mounted on one side of the fourth arm away from the fifth arm, and the other second driving member is mounted on one side of the fifth arm away from the fourth arm.

[0049] In the implementation manner, the number of the second driving members can be two, and the two second driving members are located on two sides of the second shaft, which facilitates the two second driving members to drive the second mover to rotate bidirectionally around the second shaft.

[0050] In some possible implementation manners, the second driving member includes a second driving magnet and a second driving coil. The second driving magnet and the second driving coil are arranged in a stacked and spaced manner along a direction parallel to the first axis. The second driving magnet is mounted on the second mover, and the second driving coil is mounted on the base.

[0051] In the implementation manner, the second driving magnet and the second driving coil are arranged in a stacked and spaced manner along the direction parallel to the first axis, so that the second driving magnet and the second driving coil jointly generate a Lorentz force parallel to the second direction, thereby driving the second mover to rotate around the second shaft, that is, the second mover rotates with the third rotating support and the fourth rotating support as rotating supports.

[0052] In some possible implementation manners, the second driving member further includes a second magnetic guide. The second magnetic guide is mounted on a magnetic pole surface of the second driving magnet. The magnetic pole surface of the second driving magnet is perpendicular to the first axis.

[0053] In the implementation manner, the second magnetic guide can be arranged corresponding to the magnetic pole surface of the second driving magnet, thereby enhancing the magnetic field directivity of the second driving magnet, and further enhancing the strength of the Lorentz force parallel to the second direction generated by the second driving magnet and the second driving coil, and thus improving the driving effect of the second driving member on the second mover.

[0054] In some possible implementation manners, the second mover includes a second skeleton and a second carrier, the second carrier wraps at least part of the second skeleton, and the part of the second skeleton exposed to the second carrier and abutting the second driving magnet is the second magnetic conductor.

[0055] In the implementation manner, the second carrier wraps at least part of the second skeleton, and the overall structural strength of the second mover is improved.

[0056] The fourth plate can be embedded in the structure corresponding to the second carrier of the fourth arm, to improve the structural strength of the fourth arm. The fifth plate can be embedded in the structure corresponding to the second carrier of the fifth arm, to improve the structural strength of the fifth arm. The sixth plate can be embedded in the structure corresponding to the second carrier of the sixth arm, to improve the structural strength of the sixth arm.

[0057] The fourth plate, the fifth plate and the sixth plate can be an integral structure, to improve the overall structural strength of the second skeleton, and thus improve the overall structural strength of the second mover.

[0058] The sixth plate can include a first part and a second part. The first part of the sixth plate can have an opening. The second part of the sixth plate is connected to the side wall of the opening and extends outwardly from the opening. In other words, the second part of the sixth plate extends in the negative direction of the Z axis.

[0059] The second part of the sixth plate can have magnetism, so that the sixth plate can magnetically attract the second magnet of the second pre-pressing piece. At this time, the second part of the sixth plate is a second magnetic body of the second pre-pressing piece, and the effect of the second pre-pressing piece acting on the second mover and the base can be improved.

[0060] In some possible implementation manners, the first pre-pressing piece includes a first magnet and a first magnetic body, the first magnet and the first magnetic body are magnetically attracted, one of the first magnet and the first magnetic body is mounted on the first mover, and the other is mounted on the second mover.

[0061] In the implementation manner, the first magnet and the first magnetic body are magnetically attracted to stably connect the first mover and the second mover.

[0062] In some possible implementation manners, the first pre-pressing piece includes a first elastic piece, one end of the first elastic piece is connected to the first mover, the other end of the first elastic piece is connected to the second mover, and the first elastic piece is in a stretched state.

[0063] In the present implementation, the first elastic member can provide the first pre-pressing force between the first mover and the second mover, thereby providing a force parallel to the second direction. Since the connecting direction of the first mover and the second mover is also parallel to the second direction, the first pre-pressing force can be used to fix the first mover and the second mover together. When the second driving member drives the second mover to rotate around the second axis relative to the base, the first mover can move together with the second mover, and during the movement, the first mover and the second mover are in abutment with the first rotation support member and the second rotation support member. That is, the rotation of the second mover around the second axis does not affect the relative position between the first axis and the first mover and the second mover, so that the movement of the second mover does not interfere with the rotation of the first mover around the first axis, reduces or even eliminates the hysteresis of the first mover rotating around the first axis, and improves the nodding anti-shake compensation effect of the first mover.

[0064] In some possible implementations, the second pre-pressing member includes a second magnet and a second magnetic body, the second magnet is magnetically attracted to the second magnetic body, and one of the second magnet and the second magnetic body is mounted on the second mover, and the other is mounted on the base.

[0065] In the present implementation, the second magnet and the second magnetic body are magnetically attracted to each other to stably connect the second mover and the base.

[0066] In other possible implementations, the second pre-pressing member includes a second elastic member, one end of the second elastic member is connected to the second mover, the other end of the second elastic member is connected to the base, and the second elastic member is in a stretched state.

[0067] In the present implementation, since the second pre-pressing force provided by the second elastic member has a component parallel to the second direction, and since the connecting direction of the second mover and the base is also parallel to the second direction, the second pre-pressing force can be used to fix the second mover and the base together. When the second driving member drives the second mover to rotate around the second axis relative to the base, the second mover does not separate from the base, and the hysteresis of the second mover rotating around the second axis is reduced or even eliminated.

[0068] The force exerted by the second elastic member on the second mover can be opposite to the direction of the force exerted by the first elastic member on the second mover, and the force exerted by the second elastic member on the second mover can be greater than the force exerted by the first elastic member on the second mover.

[0069] In the present implementation, when the first mover rotates around the first axis, the first elastic member acts between the first mover and the second mover to cause the first mover to have a risk of driving the second mover to be disconnected from the base by the first pre-pressure. By arranging the second elastic member to act on the second mover with a force greater than that of the first elastic member acting on the second mover, the second elastic member can fix the second mover to the base through the third rotation support and the second rotation support, thereby reducing or even eliminating the risk of the second mover being disconnected from the base when the first mover rotates around the first axis, and further reducing or even eliminating the hysteresis of the second mover rotating around the second axis.

[0070] In some possible implementations, the motor further includes a first damping member connected between the first mover and the second mover, the first damping member being elastic, and when the first driving member drives the first mover to rotate around the first axis relative to the base, the first damping member is stretched or compressed.

[0071] In the present implementation, the first damping member will be elastically deformed when the first mover rotates around the first axis, so that the first damping member will generate a deformation restoring force, thereby forming damping for the rotation of the first mover around the first axis. The damping provided by the first damping member is beneficial to better control the rotation of the first mover around the first axis, so as to improve the stability of the rotation of the first mover around the first axis.

[0072] The number of the first damping members can be two, one first damping member can be connected between the first arm and the fourth arm, and the other first damping member can be connected between the second arm and the fifth arm, so that the damping provided by the two first damping members is balanced.

[0073] In some possible implementations, the motor further includes a second damping member connected between the second mover and the base, the second damping member being elastic, and when the second driving member drives the second mover to rotate around the second axis relative to the base, the second damping member is stretched or compressed.

[0074] In the present implementation, the second damping member will be elastically deformed when the second mover rotates around the second axis, so that the second damping member will generate a deformation restoring force, thereby forming damping for the rotation of the second mover around the second axis. The damping provided by the second damping member is beneficial to better control the rotation of the second mover around the second axis, so as to improve the stability of the rotation of the second mover around the second axis.

[0075] The number of the second damping members can be two, one second damping member can be connected between the first side wall and the fourth arm, and the other second damping member can be connected between the second side wall and the fifth arm, so that the damping provided by the two second damping members is balanced.

[0076] In some possible implementation manners, the first driving member drives the first mover to rotate relative to the base around the first axis by an angle greater than 0.9 degrees, so as to realize large-angle nodding anti-shake compensation of the first mover.

[0077] In some possible implementation manners, the second driving member drives the second mover to rotate relative to the base around the second axis by an angle greater than 1.5 degrees, so as to realize large-angle panning anti-shake compensation of the second mover.

[0078] In some possible implementation manners, the motor further includes a detection member, which is installed on the base. The detection member is configured to detect the position of the first mover relative to the base, and / or the detection member is configured to detect the position of the second mover relative to the base.

[0079] In the implementation manners, the detection member can detect the relative positional relationship between the first mover and the base, so as to determine the angle of rotation of the first mover around the first axis. The detection member can also detect the relative positional relationship between the second mover and the base, so as to determine the angle of rotation of the second mover around the second axis.

[0080] In the implementation manners, the detection member can include a first sensor and a second sensor. The first sensor can be arranged in the first mounting hole and connected to the first part of the flexible circuit board, and is configured to detect the position of the first mover relative to the base. The second sensor can be arranged in the second mounting hole and connected to the second part of the flexible circuit board, and is configured to detect the position of the second mover relative to the base.

[0081] In the implementation manners, the position changes of the first mover and the second mover cause the magnetic difference to change, and the magnetic difference changes of the first driving magnet and the second driving magnet can be used as position feedback. The first sensor and the second sensor can detect the accurate positions of the first mover and the second mover according to the principle of the magnetic resistance effect of the magnetic field change.

[0082] In the implementation manners, the first sensor can be arranged to detect the position of the first mover relative to the base in real time, so as to determine whether the first mover reaches the preset anti-shake compensation requirement after rotating around the first axis, which is beneficial to improve the anti-shake compensation effect of the motor. The second sensor can be arranged to detect the position of the second mover relative to the base in real time, so as to determine whether the second mover reaches the preset anti-shake compensation requirement after rotating around the second axis, which is beneficial to improve the anti-shake compensation effect of the motor.

[0083] In a second aspect, the present application provides a camera module. The camera module includes an optical element, a lens group, an image sensor, and a motor according to any one of the preceding implementation manners. The optical element, the lens group, and the image sensor are sequentially and spacedly arranged along an optical path. The optical element is installed on the first mover of the motor.

[0084] In the implementation, the camera module can drive the optical element to rotate around the first axis and / or the second axis by the motor, so as to realize shake compensation, thereby reducing the influence of the shake of the electronic device on the imaging of the camera module, and improving the imaging quality of the camera module.

[0085] In a third aspect, the present application provides an electronic device. The electronic device comprises a housing and a camera module as in any of the foregoing implementation.

[0086] In the implementation, the electronic device improves the anti-shake effect by the anti-shake design of the camera module, thereby improving the imaging quality. BRIEF DESCRIPTION OF DRAWINGS

[0087] FIG. 1A is a structural schematic diagram of an electronic device in some embodiments according to the present application;

[0088] FIG. 1B is a partially exploded structural schematic diagram of the electronic device shown in FIG. 1A;

[0089] FIG. 2A is a structural schematic diagram of a camera module in some embodiments according to the present application;

[0090] FIG. 2B is an anti-shake schematic diagram of the camera module shown in FIG. 2A in some embodiments;

[0091] FIG. 3A is a structural schematic diagram of a motor in the camera module shown in FIG. 2A installing an optical element 20 in some embodiments;

[0092] FIG. 3B is a partially structural schematic diagram of the camera module shown in FIG. 3A after being cut along line A-A;

[0093] FIG. 4 is a partially exploded structural schematic diagram of the camera module shown in FIG. 3A in some embodiments;

[0094] FIG. 5 is a structural schematic diagram of a base in the motor shown in FIG. 4 in some embodiments;

[0095] FIG. 6 is a partially exploded structural schematic diagram of a first mover in the motor shown in FIG. 4 in some embodiments;

[0096] FIG. 7A is a structural schematic diagram of the first mover in the motor shown in FIG. 4 from another perspective;

[0097] FIG. 7B is a structural schematic diagram of the first mover shown in FIG. 7A from another perspective;

[0098] FIG. 8 is a partially exploded structural schematic diagram of a second mover in the motor shown in FIG. 4 in some embodiments;

[0099] FIG. 9 is a structural schematic diagram of the second mover in the motor shown in FIG. 4 from another perspective;

[0100] Figure 10A is a structural schematic diagram of the first mover shown in Figure 7A with some of the components mounted in some embodiments;

[0101] Figure 10B is a structural schematic diagram of the first mover shown in Figure 10A with some of the components mounted in some embodiments from another perspective;

[0102] Figure 11A is a structural schematic diagram of the second mover shown in Figure 9 with some of the components mounted in some embodiments;

[0103] Figure 11B is a structural schematic diagram of the second mover shown in Figure 11A with some of the components mounted in some embodiments from another perspective;

[0104] Figure 12A is a structural schematic diagram of the assembly of the portion of the motor shown in Figure 10A with the portion of the motor shown in Figure 11A in some embodiments;

[0105] Figure 12B is a structural schematic diagram of the first mover and the second mover shown in Figure 12A cut along line B-B in some embodiments;

[0106] Figure 12C is a partial exploded structural schematic diagram of the first mover and the second mover shown in Figure 12A;

[0107] Figure 13A is a structural schematic diagram of the base shown in Figure 5 with some of the components mounted in some embodiments;

[0108] Figure 13B is a structural schematic diagram of the base shown in Figure 13A with some of the components mounted in some embodiments from another perspective;

[0109] Figure 14A is a structural schematic diagram of the assembly of the portion of the motor shown in Figure 12A with the portion of the motor shown in Figure 13A in some embodiments;

[0110] Figure 14B is a structural schematic diagram of the motor shown in Figure 3A cut along line C-C in some embodiments;

[0111] Figure 14C is a partial exploded structural schematic diagram of the motor 10 shown in Figure 14A;

[0112] Figure 15A is an analytical schematic diagram of the motor shown in Figure 3B with the second mover rotated clockwise about the second axis in some embodiments;

[0113] Figure 15B is a schematic diagram of the motor shown in Figure 15A with the second mover rotated clockwise about the second axis by an angle γ in some embodiments;

[0114] Figure 15C is an analytical schematic diagram of the motor shown in Figure 3B with the second mover rotated counterclockwise about the second axis in some embodiments;

[0115] Figure 16A is an analytical schematic diagram of the motor shown in Figure 14B with the first mover rotated clockwise about the first axis in some embodiments;

[0116] Fig. 16B is a schematic view of the motor shown in Fig. 16A after the first mover is rotated clockwise around the first axis by an angle β;

[0117] Fig. 16C is a schematic view of the forces acting on the motor shown in Fig. 14B when the first mover is rotated counterclockwise around the first axis in some embodiments;

[0118] Fig. 17 is a schematic view of the motor shown in Fig. 3A in another embodiment after being cut along the line A-A;

[0119] Fig. 18 is a schematic view of the motor shown in Fig. 3A in another embodiment after being cut along the line C-C. DETAILED DESCRIPTION

[0120] The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0121] In the description of the embodiments of the present application, it should be noted that unless specifically defined and limited, the terms "mounting", "connecting" should be understood in a broad sense, for example, "connecting" can be detachable connection, or can be non-detachable connection; can be direct connection, or indirect connection through intermediate medium. "Multiple" means at least two.

[0122] The orientation terms mentioned in the embodiments of the present application, such as "upper", "lower", "inner", "outer", "top", "bottom", "side" and the like, are only the directions of the drawings, therefore, the orientation terms used are for better and clearer illustration and understanding of the embodiments of the present application, and are not intended to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0123] In the embodiments of the present application, the relative positional relationship mentioned, such as parallel, perpendicular, aligned and the like, are all relative to the current process level, and are not absolute strict limits, and a small amount of deviation is allowed, for example, A is parallel to B, which means that A and B are parallel or approximately parallel, and the included angle between A and B can be between 0 degrees and 10 degrees. For example, A is perpendicular to B, which means that A and B are perpendicular or approximately perpendicular, and the included angle between A and B can be between 80 degrees and 100 degrees.

[0124] In the embodiments of the present application, the terms "first", "second", "third", "fourth" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features limited by "first", "second", "third", "fourth" can explicitly or implicitly include one or more of the features.

[0125] Please refer to FIG. 1A and FIG. 1B, FIG. 1A is a structural schematic diagram of an electronic device 1000 in some embodiments provided by the present application; and FIG. 1B is a partially exploded structural schematic diagram of the electronic device 1000 shown in FIG. 1A.

[0126] In some embodiments, the electronic device 1000 can be a mobile phone, a tablet personal computer, a laptop computer, a smart screen, a personal digital assistant (PDA), a camera, a personal computer, a notebook computer, a vehicle-mounted device, a wearable device, augmented reality (AR) glasses, an AR helmet, virtual reality (VR) glasses or a VR helmet, or other devices with a camera function. In the embodiment of FIG. 1A, the electronic device 1000 is taken as an example of a mobile phone for description, of course, other types of electronic devices 1000 can also adopt similar structures, and the following text will not be described in detail.

[0127] It can be understood that FIG. 1A and FIG. 1B only schematically show some components included in the electronic device 1000, and the actual shape, actual size, actual position and actual structure of these components are not limited by FIG. 1A and FIG. 1B, and the electronic device 1000 can also include more or fewer components compared with FIG. 1A and FIG. 1B.

[0128] In some embodiments, the electronic device 1000 can include a camera module 100, a screen 200, and a housing 300. The screen 200 is configured to display images, videos, and the like. The screen 200 can include a light-transmitting panel 2001 and a display screen 2002. The light-transmitting panel 2001 and the display screen 2002 are arranged in layers and fixedly connected. The light-transmitting panel 2001 is mainly configured to protect and prevent dust from the display screen 2002. The material of the light-transmitting panel 2001 includes, but is not limited to, glass. The display screen 2002 can be a flexible display screen or a rigid display screen. For example, the display screen 2002 can be an organic light-emitting diode (OLED) display screen, an active-matrix organic light-emitting diode (AMOLED) display screen, a mini organic light-emitting diode display screen, a micro organic light-emitting diode display screen, a micro organic light-emitting diode display screen, a quantum dot light emitting diode (QLED) display screen, a liquid crystal display (LCD), and the like.

[0129] The housing 300 is configured to protect the internal electronic components of the electronic device 1000. The housing 300 can include a cover plate 3001, a frame 3002, and a camera decoration 3003. The cover plate 3001 is located on the side of the display screen 2002 away from the light-transmissive panel 2001 and is stacked with the light-transmissive panel 2001 and the display screen 2002. The frame 3002 is fixed to the cover plate 3001. In an example, the frame 3002 can be fixed to the cover plate 3001 by adhesive. Alternatively, the frame 3002 can be integrally formed with the cover plate 3001, i.e., the frame 3002 and the cover plate 3001 form an integral structure. The frame 3002 is located between the cover plate 3001 and the light-transmissive panel 2001. The light-transmissive panel 2001 can be fixed to the frame 3002 by adhesive. The light-transmissive panel 2001, the cover plate 3001, and the frame 3002 form an internal accommodating space of the electronic device 1000. The display screen 2002 is accommodated in the internal accommodating space. The cover plate 3001 can be made of metal, plastic, glass, or the like. The cover plate 3001 can be a single material plate or a plate structure formed by splicing multiple plates made of multiple materials.

[0130] The camera module 100 is configured to capture photos and / or videos. In an example, the camera module 100 is installed in the housing 300 and located in the internal accommodating space of the electronic device 1000. The camera module 100 can be used as a rear camera. For example, the light-incident surface of the camera module 100 faces the camera decoration 3003. The camera decoration 3003 is configured to protect the camera module 100.

[0131] In some embodiments, the camera decoration 3003 protrudes to the side of the cover plate 3001 away from the light-transmissive panel 2001. In this way, the camera decoration 3003 can increase the installation space of the camera module 100 in the thickness direction of the electronic device 1000. In other embodiments, the camera decoration 3003 can be flush with the cover plate 3001 or recessed into the internal accommodating space of the electronic device 1000.

[0132] The camera decoration 3003 is provided with a through hole 3004. The through hole 3004 allows light from the scene to enter the light-incident surface of the camera module 100. In other embodiments, the electronic device 1000 can not include the camera decoration 3003. In this case, the cover plate 3001 is no longer provided with the mounting hole, and the through hole 3004 is provided on the cover plate 3001. The through hole 3004 allows light from the scene to enter the light-incident surface of the camera module 100.

[0133] In some embodiments, the camera module 100 can also be used as a front camera. For example, the light entrance surface of the camera module 100 faces the light-transmitting panel 2001. The display screen 2002 is provided with a light path avoiding hole. The light path avoiding hole allows the scene light to pass through the light-transmitting panel 2001 and then enter the light entrance surface of the camera module 100. In some other embodiments, the electronic device 1000 can further include one or more other camera modules (not shown in the figure), which are not strictly limited in the embodiments of the present application.

[0134] In some embodiments, as shown in FIG. 1B, the electronic device 1000 can further include a circuit board 400 and an image processor 500, which are located in the internal accommodation space of the electronic device 1000, and the image processor 500 is fixed to the circuit board 400 and electrically connected to the circuit board 400. The image processor 500 is in communication connection with the camera module 100. The image processor 500 is used to acquire image data from the camera module 100 and process the image data. The communication connection between the camera module 100 and the image processor 500 can include data transmission through electrical connection such as wiring, or data transmission through coupling. It can be understood that the camera module 100 and the image processor 500 can also be in communication connection through other ways capable of realizing data transmission.

[0135] In some embodiments, the electronic device 1000 can further include an analog-to-digital converter (also referred to as an A / D converter, not shown in the figure). The analog-to-digital converter is connected between the camera module 100 and the image processor. The analog-to-digital converter is used to convert the signal generated by the camera module 100 into a digital image signal and transmit it to the image processor, and then the image processor processes the digital image signal, and finally the image or video is displayed through the screen 200.

[0136] In some embodiments, the electronic device 1000 can further include a memory (not shown in the figure), which is in communication connection with the image processor. After the image processor processes the image digital signal, the image is transmitted to the memory, so that when the image needs to be viewed later, the image can be found in the memory at any time and displayed on the screen 200. In some embodiments, the image processor will also compress the processed image digital signal and store it in the memory, so as to save the memory space.

[0137] In some other embodiments, the electronic device 1000 can also not include the screen 200.

[0138] It can be understood that the mounting position of the camera module 100 of the electronic device 1000 shown in FIGS. 1A and 1B is merely illustrative, and the application does not strictly limit the mounting position of the camera module 100. In some other embodiments, the camera module 100 can also be mounted at other positions of the electronic device 1000, for example, the camera module 100 can be mounted at the upper middle or upper right corner of the back of the electronic device 1000. In some other embodiments, the electronic device 1000 can include a terminal body and an auxiliary component capable of rotating, moving or detaching relative to the terminal body, and the camera module 100 can also be arranged on the auxiliary component.

[0139] Please refer to FIGS. 2A and 2B, FIG. 2A is a structural schematic diagram of the camera module 100 in some embodiments provided by the application; and FIG. 2B is an anti-shake schematic diagram of the camera module 100 shown in FIG. 2A in some embodiments.

[0140] In some embodiments, the camera module 100 can include a motor 10, an optical element 20, a lens group 30 and an image sensor 40. The optical element 20, the lens group 30 and the image sensor 40 are sequentially and spacedly arranged along the optical path direction of the camera module 100, and the optical element 20 is mounted on the motor 10. It should be noted that the optical path direction of the camera module 100 is that the light is incident from the outside, reflected by the optical element 20, and then passes through the lens group 30 to the image sensor 40, which is schematically shown by the dashed line with an arrow in FIG. 2A.

[0141] For convenience of description, the optical path direction of the camera module 100 is defined as the Z direction (for example, the horizontal direction of the paper shown in FIG. 2A, which can also be referred to as the Z axis direction). The direction perpendicular to the optical axis and parallel to the direction of the light incident to the optical element 20 is the X direction (for example, the vertical direction of the paper shown in FIG. 2A, which can also be referred to as the X axis direction), and the direction perpendicular to the Z direction and perpendicular to the X direction is the Y direction (for example, the direction perpendicular to the paper shown in FIG. 2A, which can also be referred to as the Y axis direction). More specifically, the positive direction of the X axis is defined as the direction toward the object side, and the negative direction of the X axis is defined as the direction away from the object side; the positive direction of the Z axis is defined as the direction toward the image side, and the negative direction of the Z axis is defined as the direction away from the image side; the positive direction of the Y axis is defined as the direction clockwise rotating from the positive direction of the Z axis, and the negative direction of the Y axis is defined as the direction counterclockwise rotating from the positive direction of the Z axis. Similarly, the definitions of the X, Y and Z directions are also applicable to the drawings to be described below. It should be noted that the above definitions of the X, Y and Z directions are merely for the convenience of describing the positional relationship and connection relationship between the components in the embodiments of the application, and should not be understood as a limitation on the embodiments of the application.

[0142] It should be noted that, for the convenience of description, the negative direction of the X-axis can also be referred to as the first direction D1, the direction of the Z-axis can also be referred to as the second direction D2, and the direction of the Y-axis can also be referred to as the third direction D3.

[0143] For example, the optical element 20 is used to fold and transmit the optical path of the received light to the lens group 30, so as to adjust the light incident along the first direction D1 to be transmitted along the second direction D2. The optical path folding is also referred to as optical path turning, which refers to changing the transmission path of the light. For example, the optical element 20 can be a prism (such as a right-angle prism or a triangular prism) or a reflecting mirror or the like. In other embodiments, the optical element 20 can also be referred to as an optical folding element.

[0144] For example, the lens group 30 is used to transmit the light reflected by the optical element 20 to the image sensor 40, so as to image the object on the image side on the imaging surface. Here, the object side refers to the side where the object is located, and the image side refers to the side where the image of the object is located. The lens group 30 can also perform certain processing on the light reflected by the optical element 20, such as aberration correction, achromatization, etc.

[0145] The lens group 30 can include at least one lens (or lens piece), which can be different or the same. The number of lenses included in the lens group 30 is not limited in the embodiments of the present application, and the number of lenses can be set according to actual needs, or a combination of solid lenses (lens parameters are fixed) and / or liquid lenses (lens parameters can be dynamically adjusted) can be set, which will not be described here.

[0146] The lens group 30 can also include a lens barrel for accommodating the at least one lens. In order to realize zooming, the lens barrel can be an integral whole, and the at least one lens is accommodated in the lens barrel, but the relative positions of the lenses can be adjusted by other structures. Alternatively, the lens barrel can include a plurality of lens barrel parts, and the at least one lens is arranged in groups in the plurality of lens barrel parts, and the relative positions of the plurality of lens barrel parts can be adjusted, so as to adjust the relative positions of the lenses.

[0147] Exemplarily, the image sensor 40 is arranged on the image side of the lens group 30 and is mainly used for imaging. Specifically, the image sensor 40 has an image capturing area (also referred to as a light receiving area or a light receiving surface), and the image sensor 40 captures the received light through the image capturing area. The image sensor 40 is a device with a photoelectric conversion function, which can convert the optical signal of the light captured on the image capturing area into an electrical signal in a corresponding proportional relationship with the optical signal. The image sensor 40 can be a CCD (charged coupled device) image sensor 40 composed of a CCD or a CMOS (complementary metal oxide semiconductor) image sensor 40 composed of a CMOS.

[0148] The optical element 20, the lens group 30, and the image sensor 40 are sequentially arranged along the optical path direction. The imaging principle of the camera module 100 is that the light entering the camera module 100 from the object side is folded by the optical element 20, and the folded light is projected on the image sensor 40 through the lens group 30, thereby realizing imaging of the object.

[0149] In some embodiments, the camera module 100 can further include an optical filter (for example, an IRCF (infra-red cut filter) or an optical filter filtering other light bands), which is arranged between the lens group 30 and the image sensor 40. For example, when the optical filter is an IRCF, unnecessary light projected on the image sensor 40 can be eliminated, thereby preventing ghosting, stray light, color cast, and other problems during imaging of the image sensor 40.

[0150] In some embodiments, the optical element 20 can be made of a material with near-infrared absorption characteristics, such as blue glass or resin-type absorption materials, or colorless glass coated with an absorption material, thereby realizing the near-infrared cut-off capability of the camera module 100. Alternatively, the material of the optical element 20 can be white glass, at least one surface of which for transmitting light can be coated with a near-infrared cut-off film, thereby realizing the near-infrared cut-off capability of the camera module 100.

[0151] In other embodiments, the camera module 100 can further include a connector, a circuit board, and peripheral electronic elements, which are not described in detail herein.

[0152] In order to reduce image blur caused by shaking during shooting and improve imaging quality, the periscopic camera module 100 generally has an optical anti-shake function. For the periscopic camera module 100, the optical element 20 is usually driven to rotate by the motor 10 to compensate for shaking.

[0153] In some embodiments, the optical element 20 can be fixedly connected with the motor 10, and the motor 10 can drive the optical element 20 to rotate around a direction parallel to the Y axis to compensate for the shake in the X direction. The motor 10 can drive the optical element 20 to rotate around a direction parallel to the X axis to compensate for the shake in the Y direction. That is, the motor 10 can realize the rotation of the optical element 20 in two degrees of freedom, that is, the motor 10 can control the rotation of the optical element 20 around two axes. In the embodiments of the present application, the movement of the optical element 20 driven by the motor 10 can also be referred to as a two-degree-of-freedom shift-rotation movement, and correspondingly, the motor 10 can also be referred to as a two-axis rotation voice coil motor.

[0154] It should be noted that the position of the axis around which the motor 10 drives the optical element 20 to rotate can be designed at any position. In order to facilitate description, the motor 10 can drive the optical element 20 to rotate around a first axis L1 to realize nodding movement, where the first axis L1 is parallel to the X axis. The motor 10 can drive the optical element 20 to rotate around a second axis L2 to realize shaking movement, where the second axis L2 is parallel to the Y axis.

[0155] In the embodiments, the camera module 100 can drive the optical element 20 to rotate around the first axis L1 and / or the second axis L2 by the motor 10, thereby realizing shake compensation to reduce the influence of the shake of the electronic device 1000 on the imaging of the camera module 100, thereby improving the imaging quality of the camera module 100.

[0156] Please refer to FIG. 3A, FIG. 3B and FIG. 4, FIG. 3A is a structure schematic diagram of the motor 10 installing the optical element 20 in the camera module 100 shown in FIG. 2A in some embodiments; FIG. 3B is a partial structure schematic diagram of the camera module 100 shown in FIG. 3A after being cut along the line A-A; and FIG. 4 is a partial structure exploded schematic diagram of the motor 10 in the camera module 100 shown in FIG. 3A in some embodiments.

[0157] It can be understood that FIGS. 3A to 4 only schematically show some components included in the motor 10, and the actual shape, actual size, actual position and actual structure of these components are not limited by FIGS. 3A to 4. The motor 10 can also include more or fewer components than FIGS. 3A to 4.

[0158] In some embodiments, the motor 10 can include a base 1, a first mover 2, a first driving member 3, a second mover 4, a second driving member 5, a first rotation support member 6, a second rotation support member 7, a third rotation support member 8, a fourth rotation support member 9, a first pre-pressing member 11, a second pre-pressing member 12, a first damping member 13, a second damping member 14, a detection member 15, a circuit assembly 16, and a shell 17.

[0159] The base 1 can carry and mount the first mover 2, the first driving member 3, the second mover 4, the second driving member 5, the first pre-pressing member 11, the second pre-pressing member 12, the first damping member 13, the second damping member 14, the detection member 15 and the circuit assembly 16, so that the base 1 can serve as a base for the rotation of the first mover 2 and the second mover 4.

[0160] The housing 17 can be connected to the base 1 to seal at least part of the first mover 2, the first driving member 3, the second mover 4, the second driving member 5, the first rotation support member 6, the second rotation support member 7, the third rotation support member 8, the fourth rotation support member 9, the first pre-pressing member 11, the second pre-pressing member 12, the first damping member 13, the second damping member 14, the detection member 15 and the circuit assembly 16, so as to shield and protect and reduce stray light.

[0161] The optical element 20 can be mounted on the first mover 2, and the housing 17 can be connected to the motor 10 to expose the optical element 20, so that the optical element 20 can receive and reflect light.

[0162] In some embodiments, the first mover 2 can carry the optical element 20, and the first mover 2 can be located inside the base 1. The second mover 4 can be located between the first mover 2 and the base 1. The first driving member 3 can drive the first mover 2 to rotate relative to the base 1 about the first axis L1, and the second driving member 5 can drive the second mover 4 to rotate relative to the base 1 about the second axis L2.

[0163] The first rotation support member 6 and the second rotation support member 7 can connect the first mover 2 and the second mover 4, so that the first mover 2 can lean against the second mover 4.

[0164] The first driving member 3 can include a first driving coil 301 and a first driving magnet 302, one of the first driving coil 301 and the first driving magnet 302 can be mounted on the base 1, and the other of the first driving coil 301 and the first driving magnet 302 can be mounted on the first mover 2, so that the first driving coil 301 can generate Lorentz force under the magnetic field of the first driving magnet 302 after being energized, to form a driving force on the first mover 2 through the Lorentz force, to drive the first mover 2 to rotate relative to the base 1 about the first axis L1.

[0165] The first pre-pressing member 11 can act between the first mover 2 and the second mover 4, so that the first rotation support member 6 and the second rotation support member 7 can be stably connected between the first mover 2 and the second mover 4.

[0166] The first pre-pressing member 11 can include a first magnet 111 and a first magnetic body 112. One of the first magnet 111 and the first magnetic body 112 is mounted on the first mover 2, and the other of the first magnet 111 and the first magnetic body 112 is mounted on the second mover 4. The first magnet 111 and the first magnetic body 112 are magnetically attracted to each other to stably connect the first mover 2 and the second mover 4.

[0167] The third rotating support member 8 and the fourth rotating support member 9 are connected to the second mover 4 and the base 1 to allow the second mover 4 to lean against the base 1.

[0168] The second driving member 5 can include a second driving coil 501 and a second driving magnet 502. One of the second driving coil 501 and the second driving magnet 502 is mounted on the base 1, and the other of the second driving coil 501 and the second driving magnet 502 is mounted on the second mover 4. When the second driving coil 501 is electrified, the second driving coil 501 generates a Lorentz force under the magnetic field of the second driving magnet 502 to form a driving force for the second mover 4 to rotate relative to the base 1 about the second axis L2.

[0169] The second pre-pressing member 12 can act between the second mover 4 and the base 1 to stably connect the third rotating support member 8 and the fourth rotating support member 9 to the second mover 4 and the base 1.

[0170] The second pre-pressing member 12 can include a second magnet 121 and a second magnetic body (not shown in the figure). One of the second magnet 121 and the second magnetic body is mounted on the second mover 4, and the other of the second magnet 121 and the second magnetic body is mounted on the base 1. The second magnet 121 and the second magnetic body 122 are magnetically attracted to each other to stably connect the second mover 4 and the base 1.

[0171] In some embodiments, the detection member 15 can detect the relative positional relationship between the first mover 2 and the base 1 to determine the angle of rotation of the first mover 2 about the first axis L1. The detection member 15 can also detect the relative positional relationship between the second mover 4 and the base 1 to determine the angle of rotation of the second mover 4 about the second axis L2.

[0172] In some embodiments, the circuit assembly 16 can be electrically connected to the first driving member 3, the second driving member 5, and the detection member 15 to provide electric current to the first driving member 3, the second driving member 5, and the detection member 15.

[0173] Please refer to FIG. 3B, FIG. 4, and FIG. 5. FIG. 5 is a structural schematic diagram of the base 1 in the motor 10 shown in FIG. 4 in some embodiments.

[0174] In some embodiments, the base 1 can include a bottom wall 101, a first side wall 102, a second side wall 103, and a third side wall 104. The first side wall 102, the second side wall 103, and the third side wall 104 are connected to the same side of the bottom wall 101. The first side wall 102 and the second side wall 103 are spaced apart along a direction parallel to the third direction D3, and the third side wall 104 is connected between the first side wall 102 and the second side wall 103. The bottom wall 101, the first side wall 102, the second side wall 103, and the third side wall 104 surround to form a mounting space 105 for mounting other components in the camera module 100.

[0175] For example, the surface of the bottom wall 101 in the mounting space 105 can be provided with a first mounting hole 1011. The surface of the first side wall 102 facing the second side wall 103 can be provided with a first receiving groove 1021. The second side wall 103 can be provided with a second mounting hole 1031.

[0176] For example, the surface of the third side wall 104 facing the mounting space 105 can be provided with a first groove 1041, a second groove 1042, and a third groove 1043. Among them, the first groove 1041 and the second groove 1042 can be arranged along a direction parallel to the first direction D1. Among them, the third groove 1043 can be located between the first groove 1041 and the second groove 1042, in other words, the center line of the third groove 1043 in the X direction coincides with the projection of the center line of the first groove 1041 in the X direction in the XY plane, and coincides with the projection of the center line of the second groove 1042 in the X direction in the XY plane.

[0177] Among them, the first groove 1041, the second groove 1042, and the third groove 1043 can be arranged in the middle region of the third side wall 104, which is beneficial to balance the design.

[0178] Among them, the shapes of the first groove 1041 and the second groove 1042 can be the same or different. For example, the shape of the first groove 1041 can be a V-shaped groove, the cross section of the first groove 1041 in the YZ plane is V-shaped, in other words, the extension direction of the V-shaped groove is parallel to the X axis direction. The shape of the first groove 1041 can be a conical groove, such as one of a circular conical groove, a circular truncated cone groove, a pyramid groove, etc., the cross-sectional area of the first groove 1041 in the XY plane gradually decreases along the negative direction of the Z axis, in other words, the side wall of the first groove 1041 gradually closes along the negative direction of the Z axis. Similarly, the shape of the second groove 1042 can be a V-shaped groove or a conical groove, etc.

[0179] The first groove 1041, the second groove 1042 and the third groove 1043 can be integrally formed by using a liquid crystal polymer (LCP) material or formed by using an inset-molding process, so as to improve the structural strength of the first groove 1041, the second groove 1042 and the third groove 1043.

[0180] Please refer to FIG. 3B, FIG. 4 and FIG. 6, FIG. 6 is a partial structural exploded schematic view of the first mover 2 in the motor 10 shown in FIG. 4 in some embodiments.

[0181] In some embodiments, the first mover 2 can include a first arm 201, a second arm 202 and a third arm 203. The first arm 201 is oppositely arranged with the second arm 202, and the third arm 203 is connected between the first arm 201 and the second arm 202. The first arm 201, the third arm 203 and the second arm 202 surround to form a first space 204 for accommodating the optical element 20.

[0182] For example, the third arm 203 can have a bearing surface 2031 located in the first space 204. The bearing surface 2031 can be an inclined surface, in other words, the bearing surface 2031 is arranged obliquely relative to the YZ plane. In this embodiment, the inclined bearing surface 2031 is beneficial for installing the optical element 20, so that the optical element 20 can adjust the light incident along the first direction D1 to be transmitted along the second direction D2 by the surface corresponding to the bearing surface 2031.

[0183] The first arm 201 and the second arm 202 are arranged along the third direction D3. The first arm 201 can include a first portion 201a and a second portion 201b. The first portion 201a of the first arm 201 can be connected to the third arm 203, and the second portion 201b of the first arm 201 can be protruded on a side of the first portion 201a of the first arm 201 away from the second arm 202. The second arm 202 can include a first portion 202a and a second portion 202b. The first portion 202a of the second arm 202 can be connected to the third arm 203, and the second portion 202b of the second arm 202 can be protruded on a side of the first portion 202a of the second arm 202 away from the first arm 201.

[0184] The third arm 203 can be a triangular column, and the axis of the triangular column is parallel to the third direction D3, in other words, along the first direction D1. One end of the third arm 203 is thin, and the opposite end is thick, so that the bearing surface 2031 of the third arm 203 presents an inclined surface.

[0185] Exemplarily, the first mover 2 can include a first carrier 205 and a first skeleton 206, the first carrier 205 can wrap at least part of the first skeleton 206. In the embodiment, the first carrier 205 is used to provide a structure for mounting the optical element 20, and the first skeleton 206 is embedded in the first carrier 205 to provide structural support for the first carrier 205, thereby improving the overall structural strength of the first mover 2.

[0186] In the embodiment, the first skeleton 206 can be designed in a profiled manner with the first carrier 205 to improve the fit of the first skeleton 206 and the first carrier 205.

[0187] In the embodiment, the first skeleton 206 can be made of a metal material, and the first carrier 205 can be made of a plastic material or an Inset-Molding plastic. For example, the first skeleton 206 can be made by an integrated die-casting process, and the first carrier 205 can be integrally molded with the first skeleton 206 to wrap at least part of the first skeleton 206.

[0188] In the embodiment, the first skeleton 206 can include a first plate 2061, a second plate 2062, and a third plate 2063. The first plate 2061 can be embedded in the structure of the first carrier 205 corresponding to the first arm 201 to improve the structural strength of the first arm 201. The second plate 2062 can be embedded in the structure of the first carrier 205 corresponding to the second arm 202 to improve the structural strength of the second arm 202. The third plate 2063 can be embedded in the structure of the first carrier 205 corresponding to the third arm 203 to improve the structural strength of the third arm 203.

[0189] In the embodiment, the first plate 2061, the second plate 2062, and the third plate 2063 can be an integrated structure to improve the overall structural strength of the first skeleton 206, thereby improving the overall structural strength of the first mover 2.

[0190] In the embodiment, the third plate 2063 can include a first portion 2063a, a second portion 2063b, and a third portion 2063c. The first portion 2063a of the third plate 2063 is connected to the second portion 2063b of the third plate 2063 by bending, in other words, the second portion 2063b of the third plate 2063 is arranged obliquely relative to the first portion 2063a of the third plate 2063. In the embodiment, the first portion 2063a of the third plate 2063 can be parallel to the YZ plane. In the embodiment, the second portion 2063b of the third plate 2063 can have an opening, and the third portion 2063c of the third plate 2063 is connected to the side wall of the opening and extends outwardly from the opening, in other words, the third portion 2063c of the third plate 2063 extends in the negative direction of the Z axis.

[0191] The third portion 2063c of the third plate 2063 can have magnetism, so that the third plate 2063 can magnetically attract the first magnet 111 of the first pre-pressing piece 11. At this time, the third portion 2063c of the third plate 2063 is the first magnetic body 112 of the first pre-pressing piece 11, which can improve the effect of the first pre-pressing piece 11 acting on the first mover 2 and the second mover 4.

[0192] Please refer to FIG. 6, FIG. 7A and FIG. 7B. FIG. 7A is a structural schematic diagram of the first mover 2 in the motor 10 shown in FIG. 4 from another perspective; and FIG. 7B is a structural schematic diagram of the first mover 2 shown in FIG. 7A from another perspective.

[0193] In some embodiments, the side of the first mover 2 away from the bearing surface 2031 can be provided with a fourth slot 2011 and a fifth slot 2021 along the second direction D2. The fourth slot 2011 can be located on the second portion 201b of the first arm 201, and the fifth slot 2021 can be located on the second portion 202b of the second arm 202. The fourth slot 2011 and the fifth slot 2021 can be arranged along the third direction D3.

[0194] The fourth slot 2011 and the fifth slot 2021 can have the same or different shapes. For example, the fourth slot 2011 can have a V-shaped slot, that is, the cross section of the fourth slot 2011 in the XZ plane is V-shaped, in other words, the extension direction of the V-shaped slot is parallel to the Y-axis direction. The fourth slot 2011 can have a tapered slot, such as a circular conical slot, a circular truncated cone slot, a prismatic slot, etc. The cross-sectional area of the fourth slot 2011 in the XY plane gradually decreases along the Z-axis direction, in other words, the side wall of the fourth slot 2011 gradually converges along the Z-axis direction. Similarly, the fifth slot 2021 can have a V-shaped slot or a tapered slot, etc.

[0195] The fourth slot 2011 and the fifth slot 2021 can be the structure of the first carrier 205 or the structure of the first skeleton 206.

[0196] For example, the side of the third arm 203 away from the bearing surface 2031 can have a hollow structure along the second direction D2, so that the third arm 203 can expose the third portion 2063c of the third plate 2063 through the hollow structure.

[0197] For example, the surface of the third arm 203 away from the bearing surface 2031 can be provided with a third mounting hole 2032 along the first direction D1, so that the third arm 203 can expose the first portion 2063a of the third plate 2063 through the third mounting hole.

[0198] The fourth groove 2011 and the fifth groove 2021 can be integrally formed by using a liquid crystal polymer (LCP) material or formed by using an inset-molding process to improve the structural strength of the fourth groove 2011 and the fifth groove 2021.

[0199] Please refer to FIG. 3B, FIG. 4 and FIG. 8, FIG. 8 is a partial structural exploded schematic view of the second mover 4 in the motor 10 shown in FIG. 4 in some embodiments.

[0200] In some embodiments, the second mover 4 can include a fourth arm 401, a fifth arm 402 and a sixth arm 403. The fourth arm 401 and the fifth arm 402 can be oppositely arranged, and the sixth arm 403 is connected between the fourth arm 401 and the fifth arm 402. The fourth arm 401, the sixth arm 403 and the fifth arm 402 form a second space 404 for accommodating the first mover 2. The shape of the second space 404 can be designed according to the shape and arrangement of the fourth arm 401, the fifth arm 402 and the sixth arm 403.

[0201] For example, the fourth arm 401 and the fifth arm 402 can be arranged in the third direction D3. The surface of the fourth arm 401 facing the Z-axis direction can be provided with a sixth groove 4011, and the surface of the fifth arm 402 facing the Z-axis direction can be provided with a seventh groove 4021. The sixth groove 4011 and the seventh groove 4021 can be arranged parallel to the third direction D3.

[0202] For example, the surface of the sixth arm 403 in the second space 404 can be provided with an eighth groove 4031. The number of the eighth groove 4031 can be one or more. The orthographic projection of the eighth groove 4031 in the XY plane can fall between the orthographic projection of the sixth groove 4011 in the XY plane and the orthographic projection of the seventh groove 4021 in the XY plane.

[0203] For example, the second mover 4 can include a second carrier 405 and a second skeleton 406. The second carrier 405 can wrap at least part of the second skeleton 406 to improve the overall structural strength of the second mover 4.

[0204] The second skeleton 406 can be designed in a shape following the second carrier 405 to improve the fit of the second skeleton 406 and the second carrier 405.

[0205] The second skeleton 406 can be made of a metal material, and the second carrier 405 can be made of a plastic material or an inset-molding plastic. For example, the second skeleton 406 can be prepared by using an integral die-casting process, and the second carrier 405 and the second skeleton 406 are integrally injected to wrap at least part of the second skeleton 406.

[0206] The second skeleton 406 can include a fourth plate 4061, a fifth plate 4062, and a sixth plate 4063. The fourth plate 4061 can be embedded in the structure of the fourth arm 401 corresponding to the second carrier 405 to improve the structural strength of the fourth arm 401. The fifth plate 4062 can be embedded in the structure of the fifth arm 402 corresponding to the second carrier 405 to improve the structural strength of the fifth arm 402. The sixth plate 4063 can be embedded in the structure of the sixth arm 403 corresponding to the second carrier 405 to improve the structural strength of the sixth arm 403.

[0207] The fourth plate 4061, the fifth plate 4062, and the sixth plate 4063 can be an integral structure to improve the overall structural strength of the second skeleton 406, thereby improving the overall structural strength of the second mover 4.

[0208] The sixth plate 4063 can include a first portion 4063a and a second portion 4063b. The first portion 4063a of the sixth plate 4063 can have an opening. The second portion 4063b of the sixth plate 4063 is connected to the side wall of the opening and extends outwardly towards the opening. In other words, the second portion 4063b of the sixth plate 4063 extends towards the negative direction of the Z-axis.

[0209] It should be noted that the sixth slot 4011, the seventh slot 4021, and the eighth slot 4031 can be the structure of the second carrier 405 itself, or can be the slot structure formed by the hole structure of the second carrier 405 cooperating with the second skeleton 406. For example, the second carrier 405 has an opening at a portion of the fourth arm 401. The structure of the second skeleton 406 corresponding to the fourth arm 401 blocks one end of the opening, so that the hole structure of the second carrier 405 presents the slot structure of the second mover 4, i.e., the sixth slot 4011.

[0210] The second portion 4063b of the sixth plate 4063 can have magnetic properties, so that the sixth plate 4063 can magnetically attract the second magnet 121 of the second pre-pressing part 12. At this time, the second portion 4063b of the sixth plate 4063 is the second magnetic body 122 of the second pre-pressing part 12, which can improve the effect of the second pre-pressing part 12 acting on the second mover 4 and the base 1.

[0211] The sixth slot 4011, the seventh slot 4021, and the eighth slot 4031 can be integrally formed by using liquid crystal polymer (LCP) material, or can be formed by using an inset-molding process to improve the structural strength of the sixth slot 4011, the seventh slot 4021, and the eighth slot 4031.

[0212] Please refer to FIG. 8 and FIG. 9, FIG. 9 is a structural schematic diagram of the second mover 4 in the motor 10 shown in FIG. 4 from another perspective.

[0213] In some embodiments, the surface of the fourth arm 401 facing away from the fifth arm 402 can be provided with a second receiving groove 4012, and the surface of the fifth arm 402 facing away from the fourth arm 401 can be provided with a third receiving groove 4022.

[0214] In some embodiments, the surface of the sixth arm 403 facing away from the second space 404 along the second direction D2 can be provided with a ninth groove 4032 and a tenth groove 4033. The ninth groove 4032 and the tenth groove 4033 can be arranged along the first direction D1.

[0215] For example, the first part 4063a of the sixth plate 4063 of the second skeleton 406 can be exposed via the ninth groove 4032 and the tenth groove 4033.

[0216] For example, the second part 4063b of the sixth plate 4063 of the second skeleton 406 can be located between the ninth groove 4032 and the tenth groove 4033. Specifically, the orthographic projection of the second part 4063b of the sixth plate 4063 in the XY plane falls between the orthographic projection of the ninth groove 4032 in the XY plane and the orthographic projection of the tenth groove 4033 in the XY plane. The second part 4063b of the sixth plate 4063 can or can not be exposed to the sixth arm 403.

[0217] The ninth groove 4032 and the tenth groove 4033 can be formed by one-piece molding of liquid crystal polymer (LCP) or by an inset-molding process to improve the structural strength of the ninth groove 4032 and the tenth groove 4033.

[0218] Please refer to FIG. 6, FIG. 7B, FIG. 10A and FIG. 10B, FIG. 10A is a structural schematic diagram of the first mover 2 shown in FIG. 7A in some embodiments of installing some parts; FIG. 10B is a structural schematic diagram of the first mover 2 shown in FIG. 10A in some embodiments of installing some parts from another perspective.

[0219] In some embodiments, the optical element 20 can be installed in the first space 204 and on the bearing surface 2031 to achieve the fixation between the optical element 20 and the first mover 2, so that the optical element 20 can rotate with the first mover 2. In other embodiments, the optical element 20 can also be fixedly connected with the first arm 201 and / or the second arm 202 to achieve the fixation between the optical element 20 and the first mover 2.

[0220] In some embodiments, the first rotating support 6 can be installed in the fourth slot 2011, so that the slot wall of the fourth slot 2011 can form a rotating support for the first rotating support 6. The second rotating support 7 can be installed in the fifth slot 2021, so that the slot wall of the fifth slot 2021 can form a rotating support for the second rotating support 7.

[0221] In some embodiments, the first driving magnet 302 can be installed in the third mounting hole 2032, so that the hole wall of the third mounting hole 2032 can form a limit for the first driving magnet 302, which is conducive to the stable installation of the first driving magnet 302 on the first mover 2.

[0222] For example, the first part 2063a of the third plate 2063 of the first skeleton 206 can be attached to the first driving magnet 302 to provide structural support and connection support for the first driving magnet 302.

[0223] In some embodiments, the first part 2063a of the third plate 2063 of the first skeleton 206 can have magnetism, and the first part 2063a of the third plate 2063 can be attached to the magnetic pole surface of the first driving magnet 302 to enhance the magnetic field directivity of the first driving magnet 302. At this time, the first part 2063a of the third plate 2063 can serve as the first magnetic guide 303 of the first driving magnet 302. In other embodiments, the first magnetic guide 303 can also be another component. In other words, the first magnetic guide 303 is not structurally connected to the first skeleton 206. The first magnetic guide 303 can be pasted on the first carrier 205, or the first magnetic guide 303 can be integrally injection molded with the first carrier 205, as long as the first magnetic guide 303 can be arranged corresponding to the magnetic pole surface of the first driving magnet 302 to enhance the magnetic field directivity of the first driving magnet 302.

[0224] It should be noted that the magnetic pole surface of the first driving magnet 302 has N-pole surface and S-pole surface, and the marking of the magnetic pole surface of the first driving magnet 302 shown in FIG. 10B is only for illustration. It can be understood that in other embodiments, the magnetic pole surface of the first driving magnet 302 can be opposite to the marking shown in FIG. 10B.

[0225] In some embodiments, the first damping member 13 can be installed on the first mover 2. Specifically, two first damping members 13 can be arranged in the third direction D3 to be connected to the first arm 201 and the second arm 202 of the first mover 2, respectively. In other embodiments, the first damping member 13 can also be installed on other regions of the first mover 2, and the first damping member 13 can also be of other quantities.

[0226] Please refer to FIG. 8, FIG. 9, FIG. 11A and FIG. 11B, FIG. 11A is a structural schematic diagram of the second mover 4 shown in FIG. 9 in some embodiments, which shows the installation of some components; FIG. 11B is a structural schematic diagram of the second mover 4 shown in FIG. 11A in some embodiments, which shows the installation of some components from another perspective.

[0227] In some embodiments, the first magnet 111 can be installed in the eighth slot 4031 to limit the installation of the first magnet 111 and improve the installation stability of the first magnet 111.

[0228] For example, the first part 4063a of the sixth plate 4063 of the second skeleton 406 can have magnetism, so that the first part 4063a of the sixth plate 4063 corresponding to the part arranged in the eighth slot 4031 can be magnetically connected with the first magnet 111, so as to improve the installation stability of the first magnet 111 and facilitate the magnetic field directivity of the first magnet 111.

[0229] In this embodiment, the number of the first magnet 111 can be two, and one first magnet 111 can be installed in the first eighth slot 4031.

[0230] In some embodiments, the third rotating support 8 and the fourth rotating support 9 can be installed in the ninth slot 4032 and the tenth slot 4033 respectively, so that the slot wall of the ninth slot 4032 can form a rotating support for the third rotating support 8, and the slot wall of the tenth slot 4033 can form a rotating support for the fourth rotating support 9.

[0231] In some embodiments, the number of the second driving magnet 502 can be two, one second driving magnet 502 can be installed in the second receiving slot 4012 of the fourth arm 401 of the second mover 4, and the other second driving magnet 502 can be installed in the third receiving slot 4022 of the fifth arm 402 of the second mover 4. In this embodiment, the second receiving slot 4012 and the third receiving slot 4022 can improve the installation stability of the second driving magnet 502.

[0232] For example, the fourth plate 4061 and the fifth plate 4062 of the second skeleton 406 can have magnetism, so that the fifth plate 4062 and the sixth plate 4063 can magnetically attract the second magnet 121, thereby further improving the installation stability of the second magnet 121 on the second mover 4.

[0233] The fifth plate 4062 and the sixth plate 4063 can be arranged to correspond to the pole surface of the second driving magnet 502, so as to enhance the magnetic field directivity of the second driving magnet 502. The fifth plate 4062 and the sixth plate 4063 can be used as the second magnetic conductive member 503 of the second driving magnet 502. In some other embodiments, the second magnetic conductive member 503 can also be another component. In other words, the second magnetic conductive member 503 is not structurally connected to the second skeleton 406. The second magnetic conductive member 503 can be attached to the second carrier 405, or the second magnetic conductive member 503 can be integrally injection molded with the second carrier 405, as long as the second magnetic conductive member 503 can be arranged to correspond to the pole surface of the second driving magnet 502, so as to enhance the magnetic field directivity of the second driving magnet 502.

[0234] It should be noted that the pole surface of the second driving magnet 502 has a N-pole surface and an S-pole surface. The labels of the pole surface of the second driving magnet 502 shown in FIGS. 11A and 11B are only for illustration. It can be understood that, in some other embodiments, the labels of the pole surface of the second driving magnet 502 can be opposite to those shown in FIGS. 11A and 11B.

[0235] Please refer to FIGS. 12A, 12B and 12C. FIG. 12A is an assembly structure diagram of the partial structure of the motor 10 shown in FIG. 10A and the partial structure of the motor 10 shown in FIG. 11A in some embodiments. FIG. 12B is a structure diagram of the first rotor 2 and the second rotor 4 along the line B-B shown in FIG. 12A in some embodiments. FIG. 12C is a partial exploded structure diagram of the first rotor 2 and the second rotor 4 shown in FIG. 12A. It should be noted that the view angle of FIG. 12B is the same as that of FIG. 12A.

[0236] In some embodiments, the first rotation support 6 and the second rotation support 7 can be arranged parallel to the first axis L1. The first arm 201 can be connected to the second rotor 4 through the first rotation support 6, and the second arm 202 can be connected to the second rotor 4 through the second rotation support 7.

[0237] In the present embodiment, the first rotation support 6 and the second rotation support 7 are arranged parallel to the first axis L1, so that the first rotor 2 can rotate around the first axis L1 with the first rotation support 6 and the second rotation support 7 as the rotation support, thereby realizing the rotation of the first rotor 2 around the first axis L1 relative to the base 1.

[0238] For example, the first rotating support 6 can be arranged between the second portion 201b of the first arm 201 and the second mover 4 along a direction parallel to the second direction D2 to connect the second portion 201b of the first arm 201 and the second mover 4. The second rotating support 7 can be arranged between the second portion 202b of the second arm 202 and the second mover 4 along a direction parallel to the second direction D2 to connect the second portion 202b of the second arm 202 and the second mover 4.

[0239] In the embodiment, the first rotating support 6 and the second rotating support 7 are designed to connect the first mover 2 and the second mover 4 so that the first mover 2 can lean against the second mover 4 through the first rotating support 6 and the second rotating support 7, and the direction in which the first mover 2 leans against the second mover 4 can be perpendicular to the first axis L1. In addition, the first rotating support 6 and the second rotating support 7 are arranged on the first axis L1 so that when the first mover 2 rotates around the first axis L1, the direction in which the first mover 2 leans against the second mover 4 is perpendicular to the first axis L1, which can reduce or even eliminate the risk of the first mover 2 being disconnected from the second mover 4 when the first mover 2 rotates around the first axis L1.

[0240] In the embodiment, the second portion 201b of the first arm 201 can be connected to the fourth arm 401 through the first rotating support 6, and the second portion 202b of the second arm 202 can be connected to the fifth arm 402 through the second rotating support 7. Specifically, the first rotating support 6 is connected and limited by the fourth slot 2011 of the second portion 201b of the first arm 201 and the sixth slot 4011 of the fourth arm 401, and the second rotating support 7 is connected and limited by the fifth slot 2021 of the second portion 202b of the second arm 202 and the seventh slot 4021 of the fifth arm 402.

[0241] In the embodiment, the first rotating support 6 can be connected and limited by the fourth slot 2011 and the sixth slot 4011, and the second rotating support 7 can be connected and limited by the fifth slot 2021 and the seventh slot 4021, which can reduce the risk of the first rotating support 6 and the second rotating support 7 being disconnected when the first mover 2 rotates around the first axis L1, and is conducive to improving the stability of the rotation of the first mover 2 around the first axis L1 and reducing the hysteresis of the rotation of the first mover 2 around the first axis L1.

[0242] In the embodiment, since the fourth groove 2011 can be a V-shaped groove or a tapered groove, and the fifth groove 2021 can be a V-shaped groove or a tapered groove, the rotation stability of the first rotation support 6 and the second rotation support 7 can be improved. It is illustrated that the fourth groove 2011 is a tapered groove and the fifth groove 2021 is a V-shaped groove. The side wall of the tapered groove can position the first rotation support 6, that is, the first rotation support 6 cannot linearly move in the X-axis direction and the Y-axis direction in the tapered groove, thereby limiting the relative position relationship between the second part 201b of the first arm 201 and the fourth arm 401, and further reducing or even avoiding the movement of the optical element 20 in the X-axis direction and the Y-axis direction, and reducing the degree of freedom of the optical element 20 in the non-required movement direction. The two side surfaces of the V-shaped groove can be in contact with the second rotation support 7 for supporting the second rotation support 7, and can inhibit the rotation of the first rotation support 6 around the Z-axis during the rotation of the first mover 2 around the first axis L1. Therefore, through the structural design of the fourth groove 2011 and the fifth groove 2021, the stability of the rotation of the first rotation support 6 and the second rotation support 7 around the first axis L1 when the first mover 2 rotates around the first axis L1 can be improved, thereby improving the shake compensation effect caused by the rotation of the first mover 2 around the first axis L1.

[0243] In some embodiments, the first rotation support 6 and the second rotation support 7 can be a ball.

[0244] For example, the first axis L1 can pass through the first space 204, so that the first axis L1 can pass through the vicinity of the centroid of the whole after the first mover 2 carries the optical element 20, so as to shorten the moment of driving the first mover 2 to rotate around the first axis L1, thereby reducing the driving force required for driving the first mover 2 to rotate around the first axis L1, which is beneficial to saving energy consumption.

[0245] It should be noted that the centroid of the whole after the first mover 2 carries the optical element 20 refers to the mass center of the whole after the first mover 2 carries the optical element 20, which is illustrated by point M in FIG. 12B. It can be understood that the position of the point M is determined according to the mass distribution of the first mover 2 and the mass distribution of the optical element 20. Specifically, the point M is located at the average position of the mass distribution of the whole after the first mover 2 carries the optical element 20. The position of the point M in the embodiment of FIG. 12B is only illustrative, and in other embodiments, the position of the point M can also be at other positions.

[0246] In some embodiments, the first axis L1 can pass through the centroid of the whole when the first mover 2 carries the optical element 20, so that when the first mover 2 drives the optical element 20 to rotate around the first axis L1, the rotation balance of the whole of the first mover 2 and the optical element 20 is high, which is beneficial to improving the stability of the rotation of the first mover 2 around the first axis L1.

[0247] Please continue to refer to FIG. 12A, FIG. 12B and FIG. 12C, the pre-pressing force between the first mover 2 and the second mover 4 is introduced next.

[0248] In some embodiments, the first pre-pressing member 11 can provide a first pre-pressing force acting between the first mover 2 and the second mover 4. Specifically, the first pre-pressing force can act between the first arm 201 and the sixth arm 403.

[0249] In the present embodiment, the first pre-pressing force provided by the first pre-pressing member 11 can fix the first mover 2 on the second mover 4, i.e. the first pre-pressing force makes the first mover 2 rely on the second mover 4 through the first rotation support member 6 and the second rotation support member 7. Since the third arm 203 is located between the first arm 201 and the second arm 202, and the sixth arm 403 is located between the fourth arm 401 and the fifth arm 402, the first pre-pressing force can better balance the force acting on the first rotation support member 6 and the second rotation support member 7, prevent the first mover 2 and the second mover 4 from being separated at the first rotation support member 6 and the second rotation support member 7, and reduce the hysteresis of the first mover 2 rotating around the first axis L1.

[0250] For example, the first magnet 111 and the first magnetic body 112 of the first pre-pressing member 11 can be arranged at intervals to provide a space for the first mover 2 to rotate around the first axis L1. In other embodiments, the positions of the first magnet 111 and the first magnetic body 112 can be interchanged, specifically, the first magnet 111 can be installed on the first mover 2, and the first magnetic body 112 can be installed on the second mover 4.

[0251] For example, the number of first pre-pressing members 11 can be two, one of which can be arranged near the first rotation support member 6, and the other of which can be arranged near the second rotation support member 7, which is conducive to improving the stability of the connection between the first mover 2 and the second mover 4.

[0252] In the present embodiment, the center of the first pre-pressing member 11 can be in a plane passing through the first axis L1 and perpendicular to the first direction D1, so that the direction of the force acting between the first mover 2 and the second mover 4 by the first pre-pressing member 11 can be coplanar with the first axis L1, thereby facilitating the first pre-pressing member 11 to make the first mover 2 and the second mover 4 more stable at the first rotation support member 6 and the second rotation support member 7.

[0253] In some embodiments, the first damping member 13 can be connected between the first mover 2 and the second mover 4, and the first damping member 13 has elasticity. When the first driving member 3 drives the first mover 2 to rotate around the first axis L1 relative to the base 1, the first damping member 13 is stretched or compressed.

[0254] In the embodiment, the first damping member 13 is elastically deformed when the first mover 2 rotates around the first axis L1, so that the first damping member 13 generates a deformation restoring force, thereby forming damping to the rotation of the first mover 2 around the first axis L1. The damping provided by the first damping member 13 is conducive to better control of the rotation of the first mover 2 around the first axis L1, so as to improve the stability of the rotation of the first mover 2 around the first axis L1.

[0255] For example, the number of the first damping members 13 can be two, one of which can be connected between the first arm 201 and the fourth arm 401, and the other of which can be connected between the second arm 202 and the fifth arm 402, so that the damping provided by the two first damping members 13 is balanced.

[0256] Please refer to FIG. 4, FIG. 5, FIG. 13A and FIG. 13B, FIG. 13A is a structural schematic diagram of the base 1 shown in FIG. 5 in some embodiments, which shows the installation of some components; FIG. 13B is a structural schematic diagram of the base 1 shown in FIG. 13A in another view.

[0257] In some embodiments, the circuit assembly 16 can be installed on the bottom wall 101 of the base 1 to provide electric current for the first driving coil 301 and the second driving coil 501. The circuit assembly 16 can include a flexible circuit board 161, a first reinforcing plate 162 and a second reinforcing plate 163.

[0258] For example, the flexible circuit board 161 can include a first portion 161a and a second portion 161b. The first portion 161a of the flexible circuit board 161 is arranged on the side surface of the bottom wall 101 away from the installation space 105, and covers at least part of the first mounting hole 1011. The second portion 161b of the flexible circuit board 161 can be arranged on the side surface of the second side wall 103 away from the installation space 105, and covers at least part of the second mounting hole 1031.

[0259] In the embodiment, the flexible circuit board 161 is arranged outside the installation space 105, which can reduce the motion interference of the flexible circuit board 161 to the first mover 2 and the second mover 4 in the installation space 105. The first driving coil 301 and the second driving coil 501 can be electrically connected through the flexible circuit board 161 to provide electric energy for the first driving coil 301 and the second driving coil 501.

[0260] The flexible circuit board 161 has flexibility, which can better fit the installation to the bottom wall 101 and the second side wall 103.

[0261] For example, the first reinforcing plate 162 can be arranged on the side of the first portion 161a of the flexible circuit board 161 away from the bottom wall 101, and the first reinforcing plate 162 is connected to the bottom wall 101. The second reinforcing plate 163 can be arranged on the side of the second portion 161b of the flexible circuit board 161 away from the second side wall 103, and the second reinforcing plate 163 is connected to the second side wall 103. In this embodiment, the arrangement of the first reinforcing plate 162 and the second reinforcing plate 163 can improve the stability of the installation of the flexible circuit board 161 and the base 1.

[0262] In some embodiments, the first driving coil 301 can be installed in the first mounting hole 1011. One of the two second driving coils 501 can be installed in the first receiving groove 1021, and the other second driving coil 501 can be installed in the second mounting hole 1031.

[0263] In this embodiment, the installation of the driving coils through the hole or groove structure of the base 1 can avoid the interference of the first driving coil 301 and the second driving coil 501 with the movement of the first mover 2 and the second mover 4 relative to the base 1.

[0264] In some embodiments, the detection member 15 can include a first sensor 151 and a second sensor 152. The first sensor 151 can be arranged in the first mounting hole 1011 and connected to the first portion 161a of the flexible circuit board 161, for detecting the position of the first mover 2 relative to the base 1. The second sensor 152 can be arranged in the second mounting hole 1031 and connected to the second portion 161b of the flexible circuit board 161, for detecting the position of the second mover 4 relative to the base 1.

[0265] Specifically, the position change of the first mover 2 and the second mover 4 will cause the magnetic difference change, and the magnetic difference change of the first driving magnet 302 and the second driving magnet 502 can be used as position feedback. The first sensor 151 and the second sensor 152 can detect the accurate position of the first mover 2 and the second mover 4 according to the principle of the magnetoresistance effect.

[0266] In this embodiment, the first sensor 151 can be arranged to detect the position of the first mover 2 relative to the base 1 in real time, so as to determine whether the first mover 2 reaches the preset dither compensation requirement after rotating around the first axis L1, which is beneficial to improve the dither compensation effect of the motor 10. The second sensor 152 can be arranged to detect the position of the second mover 4 relative to the base 1 in real time, so as to determine whether the second mover 4 reaches the preset dither compensation requirement after rotating around the second axis L2, which is beneficial to improve the dither compensation effect of the motor 10.

[0267] Please refer to FIG. 3B, FIG. 14A to FIG. 14C, FIG. 14A is a structural schematic diagram of the partial structure of the motor 10 shown in FIG. 12A and the partial structure of the motor 10 shown in FIG. 13A assembled in some embodiments; FIG. 14B is a structural schematic diagram of the motor 10 shown in FIG. 3A along the line C-C after being cut open in some embodiments; and FIG. 14C is a partial exploded structural schematic diagram of the motor 10 shown in FIG. 14A.

[0268] In some embodiments, the second damping member 14 can be connected between the second mover 4 and the base 1, and the second damping member 14 has elasticity, and when the second driving member 5 drives the second mover 4 to rotate relative to the base 1 around the second axis L2, the second damping member 14 is stretched or compressed.

[0269] In the present embodiment, the second damping member 14 is elastically deformed when the second mover 4 rotates around the second axis L2, so that the second damping member 14 generates a deformation restoring force, thereby forming a damping to the rotation of the second mover 4 around the second axis L2. The damping provided by the second damping member 14 is conducive to better control of the rotation of the second mover 4 around the second axis L2, so as to improve the stability of the rotation of the second mover 4 around the second axis L2.

[0270] For example, the number of the second damping members 14 can be two, one second damping member 14 can be connected between the first side wall 102 and the fourth arm 401, and the other second damping member 14 can be connected between the second side wall 103 and the fifth arm 402, so that the dampings provided by the two second damping members 14 are balanced.

[0271] In some embodiments, the second space can have an opening facing the base 1 along the second axis L2 to expose the first mover 2. The first driving magnet 302 and the first driving coil 301 can be arranged in layers and spaced apart along the second axis L2, and the pole face of the first driving magnet 302 is perpendicular to the second axis L2.

[0272] In the present embodiment, by providing the opening of the second space 404 facing the bottom wall 101 of the base 1, the first mover 2 can be mounted through the bottom, and the first driving magnet 302 can be arranged opposite to the first driving coil 301, so that after the first driving coil 301 is energized, the first driving magnet 302 can be driven by the Lorentz force to drive the first mover 2 to rotate relative to the base 1 around the first axis L1.

[0273] In the embodiment, the first driving magnet 302 and the first driving coil 301 are arranged in a direction parallel to the second axis L2, so that the first driving magnet 302 and the first driving coil 301 can jointly generate a Lorentz force parallel to the second direction D2, thereby driving the first mover 2 to rotate around the first axis L1.

[0274] In the embodiment, the first driving magnet 302 and the first driving coil 301 are arranged in a direction parallel to the second axis L2, so that the first driving magnet 302 and the first driving coil 301 can jointly generate a Lorentz force parallel to the second direction D2, thereby driving the first mover 2 to rotate around the first axis L1.

[0275] In the embodiment, the first driving magnet 302 and the first driving coil 301 are arranged in a direction parallel to the second axis L2, so that the first driving magnet 302 and the first driving coil 301 can jointly generate a Lorentz force parallel to the second direction D2, thereby driving the first mover 2 to rotate around the first axis L1.

[0276] In other embodiments, the positions of the first driving coil 301 and the first driving magnet 302 can be interchanged, specifically, the first driving coil 301 is mounted on the first mover 2, and the first driving magnet 302 is mounted on the base 1.

[0277] In other embodiments, the positions of the first driving coil 301 and the first driving magnet 302 can be interchanged, specifically, the first driving coil 301 is mounted on the first mover 2, and the first driving magnet 302 is mounted on the base 1.

[0278] In some embodiments, the third rotation support 8 and the fourth rotation support 9 can be arranged parallel to the second axis L2, and the second mover 4 can be connected to the base 1 through the third rotation support 8 and the fourth rotation support 9.

[0279] In the embodiment, the third rotation support 8 and the fourth rotation support 9 are arranged parallel to the second axis L2, so that the second mover 4 can rotate around the second axis L2 with the third rotation support 8 and the fourth rotation support 9 as rotation supports, thereby realizing the rotation of the second mover 4 around the second axis L2 relative to the base 1.

[0280] For example, the third rotating support 8 can be arranged between the sixth arm 403 of the second mover 4 and the third side wall 104 of the base 1 in parallel to the second direction D2 to connect the sixth arm 403 of the second mover 4 and the third side wall 104 of the base 1. The fourth rotating support 9 can be arranged between the sixth arm 403 of the second mover 4 and the third side wall 104 of the base 1 in parallel to the second direction D2 to connect the sixth arm 403 of the second mover 4 and the third side wall 104 of the base 1.

[0281] In the embodiment, the third rotating support 8 and the fourth rotating support 9 are arranged on the second axis L2 to make the directions in which the second mover 4 leans against the base 1 all perpendicular to the second axis L2 when the second mover 4 rotates around the second axis L2, so as to reduce or even eliminate the risk of disconnection between the second mover 4 and the base 1 when the second mover 4 rotates around the second axis L2.

[0282] Please refer to FIG. 14B and FIG. 14C, the third rotating support 8 can be limitingly installed and connected through the first slot 1041 of the base 1 and the ninth slot 4032 of the second mover 4, and the fourth rotating support 9 can be limitingly installed and connected through the second slot 1042 of the base 1 and the tenth slot 4033 of the second mover 4.

[0283] In the embodiment, the third rotating support 8 can be limitingly installed by the first slot 1041 and the ninth slot 4032, and the fourth rotating support 9 can be limitingly installed by the second slot 1042 and the tenth slot 4033, so as to reduce the risk of disconnection between the third rotating support 8 and the fourth rotating support 9 when the second mover 4 rotates around the second axis L2, and to improve the stability of the rotation of the second mover 4 around the second axis L2 and reduce the hysteresis of the rotation of the second mover 4 around the second axis L2.

[0284] In the embodiment, the first slot 1041 can be a V-shaped slot or a tapered slot, and the second slot 1042 can be a V-shaped slot or a tapered slot, so that the rotation stability of the third rotation support 8 and the fourth rotation support 9 can be improved. It is illustrated that the first slot 1041 is a V-shaped slot and the second slot 1042 is a tapered slot. The two sides of the V-shaped slot can be in contact with the third rotation support 8 to support the third rotation support 8, and can inhibit the third rotation support 8 from rotating around the Z axis during the rotation of the second mover 4 around the second axis L2. The side wall of the tapered slot can position the fourth rotation support 9, that is, the fourth rotation support 9 cannot linearly move in the X-axis direction and the Y-axis direction in the tapered slot, so as to limit the relative position relationship between the second mover 4 and the base 1, and further reduce or even avoid the movement of the optical element 20 in the X-axis direction and the Y-axis direction, and reduce the degree of freedom of the optical element 20 in the non-required movement direction. Therefore, through the structural design of the first slot 1041 and the second slot 1042, the rotation stability of the third rotation support 8 and the fourth rotation support 9 around the second axis L2 when the second mover 4 rotates around the second axis L2 can be improved, so as to improve the jitter compensation effect caused by the rotation of the second mover 4 around the second axis L2.

[0285] In some embodiments, the third rotation support 8 and the fourth rotation support 9 can be balls.

[0286] In some embodiments, the second pre-pressing force provided by the second pre-pressing member 12 can act between the second mover 4 and the base 1. Specifically, the second pre-pressing force can act between the sixth arm 403 and the third side wall 104.

[0287] In the embodiment, the second pre-pressing force provided by the second pre-pressing member 12 can fix the second mover 4 on the base 1, that is, the second pre-pressing force makes the second mover 4 rely on the base 1 through the third rotation support 8 and the fourth rotation support 9. Since the third slot 1043 is located between the first slot 1041 and the second slot 1042, so that the second magnet 121 of the second pre-pressing member 12 is located between the third rotation support 8 and the fourth rotation support 9 and on the second axis L2, so that the second pre-pressing force can better balance the forces acting on the third rotation support 8 and the fourth rotation support 9, prevent the second mover 4 and the base 1 from being separated at the third rotation support 8 and the fourth rotation support 9, and reduce the hysteresis of the rotation of the second mover 4 around the second axis L2.

[0288] In the embodiment, the first rotation support 6, the second rotation support 7, the third rotation support 8, the fourth rotation support 9, the first pre-pressing member 11 and the second pre-pressing member 12 jointly constitute a double-layer ball support and magnetic suction structure of the motor 10, which is conducive to realizing large-angle rotation of the optical element 20 driven by the first mover 2 and the second mover 4, and realizing rotation of the optical element 20 with large weight.

[0289] For example, the second magnet 121 and the second magnetic body 122 of the second pre-pressing member 12 can be arranged in a spaced manner to provide a moving space for the second mover 4 to rotate around the second axis L2. In other embodiments, the positions of the second magnet 121 and the second magnetic body 122 can be interchanged, specifically, the second magnet 121 can be installed on the second mover 4, and the second magnetic body 122 can be installed on the base 1.

[0290] In some embodiments, the second driving magnet 502 and the second driving coil 501 of the second driving member 5 can be arranged in a stacked and spaced manner along a direction parallel to the first axis L1. In this case, the pole face of the second driving magnet 502 can be perpendicular to the first axis L1.

[0291] In the present embodiment, since the second driving magnet 502 and the second driving coil 501 are arranged in a stacked and spaced manner along a direction parallel to the first axis L1, the combined action of the second driving magnet 502 and the second driving coil 501 can generate a Lorentz force parallel to the second direction D2, thereby driving the second mover 4 to rotate around the second axis L2, i.e., the second mover 4 rotates with the third rotation support 8 and the fourth rotation support 9 as rotation supports.

[0292] In the present embodiment, since the second magnetic guide member 503 can be arranged corresponding to the pole face of the second driving magnet 502, the magnetic field directivity of the second driving magnet 502 is enhanced, thereby enhancing the strength of the Lorentz force parallel to the second direction D2 generated by the action of the second driving magnet 502 and the second driving coil 501, and further improving the driving effect of the second driving member 5 on the second mover 4.

[0293] For example, the number of second driving members 5 can be two, one second driving member 5 is installed on the side of the fourth arm 401 away from the fifth arm 402, and the other second driving member 5 is installed on the side of the fifth arm 402 away from the fourth arm 401. In the present embodiment, since the number of second driving members 5 can be two, and the two second driving members 5 are located on both sides of the second axis L2, it is beneficial for the two second driving members 5 to drive the second mover 4 to rotate around the second axis L2 in two directions.

[0294] The second driving member 5 drives the second moving element 4 to rotate relative to the base 1 around the second axis L2 by an angle greater than 1.5°, so as to realize large-angle pan stabilization compensation of the second moving element 4. For example, the second driving member 5 can drive the second moving element 4 to rotate relative to the base 1 around the second axis L2 by 1.6°, or 1.8°, or 1.9°, or 2.2°, or other values greater than 1.5°. It should be noted that the angle range of the second driving member 5 driving the second moving element 4 to rotate around the second axis L2 is a one-way rotation range, that is, the second moving element 4 can rotate clockwise around the second axis L2 by greater than 1.5°, or can rotate counterclockwise around the second axis L2 by greater than 1.5°.

[0295] In other embodiments, the positions of the second driving coil 501 and the second driving magnet 502 can be interchanged, specifically, the second driving coil 501 is mounted to the second moving element 4, and the second driving magnet 502 is mounted to the base 1.

[0296] In other embodiments, the positions of the second driving coil 501 and the second driving magnet 502 can be interchanged, specifically, the second driving coil 501 is mounted to the second moving element 4, and the second driving magnet 502 is mounted to the base 1.

[0297] Please refer to FIG. 14B and FIG. 15A, FIG. 15A is an analysis schematic diagram of the motor 10 shown in FIG. 3B when the second moving element 4 rotates clockwise around the second axis L2 in some embodiments.

[0298] In some embodiments, the first pre-pressing member 11 can provide a first pre-pressing force to enable the first moving element 2 to follow the second moving element 4 to rotate relative to the base 1. The direction of the first pre-pressing force intersects the first axis L1 and intersects the second axis L2.

[0299] In the present embodiment, since the direction of the first pre-pressing force intersects the first axis L1 and intersects the second axis L2, so that the first pre-pressing force has a component parallel to the second direction D2, and since the connection direction of the first moving element 2 and the second moving element 4 is also parallel to the second direction D2, so that the first moving element 2 and the second moving element 4 can be fixed together by the first pre-pressing force, and when the second driving member 5 drives the second moving element 4 to rotate relative to the base 1 around the second axis L2, the first moving element 2 can move together with the second moving element 4, and during this period, the first moving element 2 and the second moving element 4 both remain in abutment with the first rotation support member 6 and the second rotation support member 7, that is, when the second moving element 4 rotates around the second axis L2, it does not affect the relative position between the first axis L1 and the first moving element 2 and the second moving element 4, so that the movement of the second moving element 4 does not interfere with the rotation of the first moving element 2 around the first axis L1, reduces or even eliminates the hysteresis of the first moving element 2 rotating around the first axis L1, and improves the nod stabilization compensation effect of the first moving element 2.

[0300] Exemplarily, the direction of the first pre-press force can be perpendicular to the first axis L1 and perpendicular to the second axis L2, so that the direction of the first pre-press force can be opposite to the direction of the tendency of the disengagement between the first mover 2 and the second mover 4, and the first mover 2 can better follow the second mover 4 to rotate relative to the base 1.

[0301] In some embodiments, the number of the first pre-press members 11 can be two, and the two first pre-press members 11 can be arranged in a spaced manner along a direction parallel to the first axis L1, so that the two first pre-press members 11 can both provide the first pre-press force parallel to the second direction D2, and the stability of the fixed connection between the first mover 2 and the second mover 4 can be improved, so as to reduce or even eliminate the influence of the rotation of the second mover 4 around the second axis L2 on the rotation of the first mover 2 around the first axis L1, and further reduce or even eliminate the hysteresis of the rotation of the first mover 2 around the first axis L1.

[0302] In some embodiments, the two first pre-press members 11 can be arranged on the two sides of the second axis L2 in a spaced manner. In the embodiment, since the second mover 4 can rotate in two directions (clockwise or counterclockwise) around the second axis L2, by arranging the two first pre-press members 11, the stability of the fixed connection between the first mover 2 and the second mover 4 can be improved in both directions of the rotation of the second mover 4 around the second axis L2, so as to reduce or even eliminate the influence of the rotation of the second mover 4 around the second axis L2 on the rotation of the first mover 2 around the first axis L1, and further reduce or even eliminate the hysteresis of the rotation of the first mover 2 around the first axis L1.

[0303] Specifically, as shown in the view angle of FIGS. 15A to 15C, FIG. 15B is a schematic view of the motor 10 shown in FIG. 15A after the second mover 4 rotates by an angle γ clockwise around the second axis L2; and FIG. 15C is an analysis schematic view of the motor 10 shown in FIG. 3B when the second mover 4 rotates counterclockwise around the second axis L2 in some embodiments.

[0304] It should be noted that FIGS. 15A to 15C are top view angle diagrams of the motor 10 shown in FIG. 3B. The second axis L2 is parallel to the X axis, i.e., the second axis L2 is perpendicular to the paper in the view angle of FIGS. 15A and 15B, and the second axis L2 is schematically shown by a dot in FIGS. 15A to 15C.

[0305] When the second mover 4 rotates clockwise (please refer to the R1 direction in FIG. 15A) around the second axis L2, the portion of the second mover 4 close to the second rotating support 7 will move towards the Z-axis direction, and the portion of the second mover 4 close to the first rotating support 6 will move towards the opposite direction of the Z-axis. Therefore, at the first rotating support 6, the first mover 2 has a tendency to disengage from the second mover 4 along the Z-axis direction (please refer to the T1 direction in FIG. 15A), at this time, the first pre-pressing member 11 close to the first rotating support 6 among the two first pre-pressing members 11 can apply a first pre-pressing force (please refer to the F1 in FIG. 15A) to the first mover 2 towards the opposite direction of the Z-axis, and the force arm fulcrum of the first pre-pressing force is the second rotating support 7, so that the first mover 2 stably abuts against the first rotating support 6, and the first rotating support 6 stably abuts against the second mover 4.

[0306] Therefore, when the second mover 4 rotates clockwise around the second axis L2, the first mover 2 and the second mover 4 will not disengage, after the second mover 4 completes the clockwise rotation around the second axis L2, the first mover 2 can still rely on the first rotating support 6 and the second rotating support 7 to abut against the second mover 4, and the position of the first axis L1 relative to the first mover 2 and the second mover 4 does not change, thereby reducing or even eliminating the hysteresis of the first mover 2 when rotating around the first axis L1.

[0307] Specifically, please refer to FIG. 15A and FIG. 15B. After the second mover 4 rotates γ angle clockwise around the second axis L2, since the first pre-pressing member 11 close to the first rotating support 6 can provide the first pre-pressing force, and abut the first mover 2 against the first rotating support 6 and the first rotating support 6 against the second mover 4 through the first pre-pressing force, so that the position of the first rotating support 6 relative to the first mover 2 and the second mover 4 does not change. Since the first mover 2 has no tendency to disengage at the second rotating support 7 when the second mover 4 rotates clockwise around the second axis L2, therefore, after the second mover 4 rotates γ angle clockwise around the second axis L2, the position of the second rotating support 7 relative to the first mover 2 and the second mover 4 does not change. Since the second mover 4 rotates around the first axis L1 with the first rotating support 6 and the second rotating support 7 as the rotating support, so as to realize the rotation of the first mover 2 around the first axis L1 relative to the base 1, therefore, after the second mover 4 rotates γ angle clockwise around the second axis L2, the position of the first axis L1 relative to the first mover 2 and the second mover 4 does not change, that is, the first axis L1 does not deviate from the first mover 2 and the second mover 4, so that the hysteresis of the first mover 2 rotating around the first axis L1 at this time is small, or even no hysteresis.

[0308] It should be noted that Fig. 15B is schematically shown that the second mover 4 rotates by an angle γ around the second axis L2, and it can be understood that, since the first pre-pressing member 11 always abuts the first mover 2 to the first rotating supporting member 6 and abuts the first rotating supporting member 6 to the second mover 4 during the clockwise rotation of the second mover 4 around the second axis L2, after the second mover 4 rotates by any angle around the second axis L2 clockwise, the position of the first rotating supporting member 6 relative to the first mover 2 and the second mover 4 does not change, and the position of the second rotating supporting member 7 relative to the first mover 2 and the second mover 4 does not change. Wherein, the any angle refers to any angle within the range of angles that the second mover 4 can rotate around the second axis clockwise.

[0309] Please continue to refer to Fig. 14B and Fig. 15C, when the second mover 4 rotates counterclockwise (please refer to the R2 direction in Fig. 15C) around the second axis L2, the part of the second mover 4 close to the first rotating supporting member 6 will move towards the Z axis direction, and the part of the second mover 4 close to the second rotating supporting member 7 will move towards the opposite direction of the Z axis. Therefore, at the second rotating supporting member 7, the first mover 2 has a tendency to separate from the second mover 4 along the Z axis direction (please refer to the T2 direction in Fig. 15C), at this time, the first pre-pressing member 11 close to the second rotating supporting member 7 of the two first pre-pressing members 11 can act on the first mover 2 a first pre-pressing force towards the opposite direction of the Z axis (please refer to the F2 in Fig. 15C), and the force arm fulcrum of the first pre-pressing force is the first rotating supporting member 6, so that the first mover 2 is stably abutted to the second rotating supporting member 7, and the second rotating supporting member 7 is stably abutted to the second mover 4. Therefore, when the second mover 4 rotates counterclockwise around the second axis L2, it will not cause the first mover 2 and the second mover 4 to separate, after the second mover 4 completes the counterclockwise rotation around the second axis L2, the first mover 2 can still rely on the second mover 4 through the first rotating supporting member 6 and the second rotating supporting member 7, and the position of the first axis L1 relative to the first mover 2 and the second mover 4 does not change, thereby reducing or even eliminating the hysteresis when the first mover 2 rotates around the first axis L1.

[0310] Specifically, after the second mover 4 rotates anticlockwise around the second axis L2 by a certain angle, the first pre-pressing member 11 close to the second rotating support 7 can provide the first pre-pressing force, and abut the first mover 2 to the second rotating support 7 and abut the second rotating support 7 to the second mover 4 through the first pre-pressing force, so that the position of the second rotating support 7 relative to the first mover 2 and the second mover 4 is unchanged. Since the first mover 2 has no tendency to disengage at the first rotating support 6 when the second mover 4 rotates anticlockwise around the second axis L2, the position of the first rotating support 6 relative to the first mover 2 and the second mover 4 is unchanged after the second mover 4 rotates anticlockwise around the second axis L2 by a certain angle. Since the first mover 2 rotates around the first axis L1 with the first rotating support 6 and the second rotating support 7 as the rotating support, the first mover 2 rotates around the first axis L1 relative to the base 1, so that the position of the first axis L1 relative to the first mover 2 and the second mover 4 is unchanged after the second mover 4 rotates anticlockwise around the second axis L2 by a certain angle, i.e. the first axis L1 does not deviate relative to the first mover 2 and the second mover 4, so that the hysteresis of the first mover 2 rotating around the first axis L1 at this time is small, or even no hysteresis.

[0311] It should be noted that the direction of the above first pre-pressing force is described when the first mover 2 and the second mover 4 are in the initial state, and when the second mover 4 rotates relative to the base 1, the direction of the first pre-pressing force acting on the first mover 2 is opposite to the direction of the tendency of the first mover 2 to disengage from the second mover 4. It can be understood that the direction of the first pre-pressing force is opposite to the direction of the second mover 4.

[0312] In other embodiments, the number of first pre-pressing members 11 can also be one, and at this time, the first pre-pressing member 11 can be arranged at the center of the third arm 203 of the first mover 2 along the third direction D3, so that the first pre-pressing member 11 can consider the bidirectional rotation of the second mover 4 around the second axis L2.

[0313] Please refer to FIG. 3B and FIG. 16A, which is an analysis schematic diagram of the motor 10 shown in FIG. 14B when the first mover 2 rotates clockwise around the first axis L1 in some embodiments.

[0314] In some embodiments, the second pre-pressing member 12 can provide the second pre-pressing force and act between the sixth arm 403 and the base 1. The direction of the second pre-pressing force can intersect the first axis L1 and the second axis L2.

[0315] In the embodiment, the second pre-pressing force is in a direction intersecting the first axis L1 and the second axis L2, so that the second pre-pressing force has a component parallel to the second direction D2, and the connecting direction of the second mover 4 to the base 1 is also parallel to the second direction D2, so that the second mover 4 can be fixed to the base 1 by the second pre-pressing force, and when the first driving member 3 drives the first mover 2 to rotate around the first axis L1 relative to the base 1, the first mover 2 will not drive the second mover 4 to separate from the base 1, so that after the first mover 2 completes the rotation around the first axis L1, the second mover 4 can still rely on the third rotation support member 8 and the fourth rotation support member 9 to the base 1, and the position of the second axis L2 relative to the second mover 4 and the base 1 does not change, thereby reducing or even eliminating the hysteresis of the rotation of the second mover 4 around the second axis L2.

[0316] For example, the direction of the second pre-pressing force can be perpendicular to the first axis L1 and perpendicular to the second axis L2, so that the direction of the second pre-pressing force can be opposite to the direction of the possible separation trend between the second mover 4 and the base 1, and can better reduce the risk of separation of the second mover 4 from the base 1.

[0317] For example, the direction of the force of the second pre-pressing member 12 acting on the second mover 4 can be opposite to the direction of the force of the first pre-pressing member 11 acting on the second mover 4, and the force of the second pre-pressing member 12 acting on the second mover 4 can be greater than the force of the first pre-pressing member 11 acting on the second mover 4.

[0318] In the embodiment, when the first mover 2 rotates around the first axis L1, the first pre-pressing force acts between the first mover 2 and the second mover 4, so that the first mover 2 has a risk of driving the second mover 4 to separate from the base 1 by the first pre-pressing force, and by setting the force of the second pre-pressing member 12 acting on the second mover 4 greater than the force of the first pre-pressing member 11 acting on the second mover 4, the second pre-pressing member 12 can fix the second mover 4 to the base 1 through the third rotation support member 8 and the fourth rotation support member 9, thereby reducing or even eliminating the risk of the second mover 4 separating from the base 1 when the first mover 2 rotates around the first axis L1, and further reducing or even eliminating the hysteresis of the rotation of the second mover 4 around the second axis L2.

[0319] Specifically, please refer to FIGS. 16A to 16C for a description. FIG. 16B is a schematic view of the motor 10 shown in FIG. 16A after the first mover 2 rotates clockwise by an angle β around the first axis L1; and FIG. 16C is a schematic view of the force analysis of the motor 10 shown in FIG. 16B when the first mover 2 rotates counterclockwise around the first axis L1 in some embodiments.

[0320] When the first mover 2 rotates clockwise (please refer to R3 direction in FIG. 16A) around the first axis L1, the portion of the first mover 2 close to the fourth rotation support 9 will move towards the negative direction of the Z axis, so that the second mover 4 continues to abut against the fourth rotation support 9, and the portion of the first mover 2 close to the third rotation support 8 will move towards the direction of the Z axis. Therefore, at the third rotation support 8, the first pre-pressing member 11 exerts a force (please refer to F3 in FIG. 16A) on the second mover 4 towards the direction of the Z axis, so that the second mover 4 has a tendency to move away from the base 1 along the direction of the Z axis (please refer to T3 direction in FIG. 16A), at this time, the second pre-pressing member 12 exerts a force on the second mover 4 towards the negative direction of the Z axis (please refer to F4 in FIG. 16A), and the force exerted by the second pre-pressing member 12 on the second mover 4 is greater than the force exerted by the first pre-pressing member 11 on the second mover 4, i.e. the force F4 is greater than the force F3, so that the second mover 4 stably abuts against the third rotation support 8, and the third rotation support 8 stably abuts against the base 1. Therefore, when the first mover 2 rotates clockwise around the first axis L1, the second mover 4 will not move away from the base 1, and after the first mover 2 rotates a certain angle clockwise around the first axis L1, the second mover 4 can still rely on the third rotation support 8 and the fourth rotation support 9 to abut against the base 1, and the position of the second axis L2 relative to the second mover 4 and the base 1 does not change, thereby reducing or even eliminating the hysteresis of the second mover 4 when rotating around the second axis L2.

[0321] Specifically, please refer to FIG. 16A and FIG. 16B, after the first mover 2 rotates an angle β clockwise around the first axis L1, the second mover 4 stably abuts against the third rotation support 8 and the third rotation support 8 stably abuts against the base 1 due to the force exerted by the second pre-pressing member 12 on the second mover 4 being greater than the force exerted by the first pre-pressing member 11 on the second mover 4, so that the position of the third rotation support 8 relative to the second mover 4 and the base 1 does not change. Since the second mover 4 has no tendency to move away from the fourth rotation support 9 when the first mover 2 rotates clockwise around the first axis L1, the position of the fourth rotation support 9 relative to the second mover 4 and the base 1 does not change after the first mover 2 rotates an angle β clockwise around the first axis L1. Since the second mover 4 rotates around the second axis L2 with the third rotation support 8 and the fourth rotation support 9 as the rotation support, the position of the second axis L2 relative to the second mover 4 and the base 1 does not change after the first mover 2 rotates a certain angle around the first axis L1, i.e. the second axis L2 does not deviate from the second mover 4 and the base 1, so that the hysteresis of the second mover 4 when rotating around the second axis L2 is small or even non-existent.

[0322] Please continue to refer to FIG. 3B and FIG. 16C, when the first mover 2 rotates anticlockwise (please refer to R4 direction in FIG. 16C) around the first axis L1, the part of the first mover 2 close to the third rotation support 8 will move towards the negative direction of the Z axis, so that the second mover 4 continues to abut against the third rotation support 8, and the part of the first mover 2 close to the fourth rotation support 9 will move towards the direction of the Z axis. Therefore, at the fourth rotation support 9, the first pre-pressing member 11 exerts a force (please refer to F5 in FIG. 16C) on the second mover 4 towards the direction of the Z axis, so that the second mover 4 has a tendency to move away from the base 1 along the direction of the Z axis (please refer to T4 direction in FIG. 16C), at this time, the second pre-pressing member 12 exerts a force on the second mover 4 towards the negative direction of the Z axis (please refer to F5 in FIG. 16C), and the force exerted by the second pre-pressing member 12 on the second mover 4 is greater than the force exerted by the first pre-pressing member 11 on the second mover 4, i.e. the force F6 is greater than the force F5, so that the second mover 4 stably abuts against the fourth rotation support 9, and the fourth rotation support 9 stably abuts against the base 1. Therefore, when the first mover 2 rotates clockwise around the first axis L1, the second mover 4 will not move away from the base 1, and after the first mover 2 rotates a certain angle around the first axis L1, the second mover 4 can still rely on the third rotation support 8 and the fourth rotation support 9 to abut against the base 1, and the position of the second axis L2 relative to the second mover 4 and the base 1 does not change, thereby reducing or even eliminating the hysteresis when the second mover 4 rotates around the second axis L2.

[0323] Please refer to FIG. 3B and FIG. 17, FIG. 17 is a structure schematic diagram of the motor 10 shown in FIG. 3A along the line A-A in another embodiment. The motor 10 shown in FIG. 17 can include most of the structures of the motor 10 shown in FIG. 3B, and the same structures will not be described here.

[0324] In some embodiments, the first pre-pressing member 11 can include a first elastic member 113, one end of the first elastic member 113 can be connected to the first mover 2, and the other end of the first elastic member 113 can be connected to the second mover 4, and the first elastic member 113 is in a stretched state.

[0325] In the embodiment, the first elastic member 113 can provide a first pre-pressing force between the first mover 2 and the second mover 4, thereby providing a force parallel to the second direction D2, and since the connecting direction of the first mover 2 and the second mover 4 is also parallel to the second direction D2, the first mover 2 and the second mover 4 can be fixed together by the first pre-pressing force, and when the second driving member 5 drives the second mover 4 to rotate relative to the base 1 about the second axis L2, the first mover 2 can move together with the second mover 4, and during the movement, the first mover 2 and the second mover 4 are kept in abutment with the first rotating support member 6 and the second rotating support member 7, i.e., the rotation of the second mover 4 about the second axis L2 does not affect the relative position between the first axis L1 and the first mover 2 and the second mover 4, so that the movement of the second mover 4 does not interfere with the rotation of the first mover 2 about the first axis L1, reduces or even eliminates the hysteresis of the rotation of the first mover 2 about the first axis L1, and improves the nodding anti-shake compensation effect of the first mover 2.

[0326] Please refer to FIG. 12B and FIG. 18, and FIG. 18 is a structure schematic diagram of the motor 10 shown in FIG. 3A along line C-C in another embodiment. The motor 10 shown in FIG. 18 can include most of the structures of the motor 10 shown in FIG. 12B, and the same structures will not be described here.

[0327] In some embodiments, the second pre-pressing member 12 can include a second elastic member 123, one end of the second elastic member 123 can be connected to the second mover 4, and the other end of the second elastic member 123 can be connected to the base 1, and the second elastic member 123 is in a stretched state.

[0328] In the embodiment, since the second pre-pressing force provided by the second elastic member 123 has a component parallel to the second direction D2, and since the connecting direction of the second mover 4 and the base 1 is also parallel to the second direction D2, the second mover 4 and the base 1 can be fixed together by the second pre-pressing force, and when the second driving member 5 drives the second mover 4 to rotate relative to the base 1 about the second axis L2, the second mover 4 does not disengage from the base 1, and the hysteresis of the rotation of the second mover 4 about the second axis L2 is reduced or even eliminated.

[0329] In the embodiment, the force of the second elastic member 123 acting on the second mover 4 can be opposite to the direction of the force of the first elastic member 113 acting on the second mover 4, and the force of the second elastic member 123 acting on the second mover 4 can be greater than the force of the first elastic member 113 acting on the second mover 4.

[0330] In the embodiment, when the first mover 2 rotates around the first axis L1, the first elastic member 113 acts between the first mover 2 and the second mover 4 to make the first mover 2 have a risk of driving the second mover 4 to be separated from the base 1 by the first pre-pressure. By setting the force of the second elastic member 123 acting on the second mover 4 to be greater than the force of the first elastic member 113 acting on the second mover 4, the second elastic member 123 can fix the second mover 4 to the base 1 through the third rotation support 8 and the second rotation support 7, reduce or even eliminate the risk of the second mover 4 being separated from the base 1 when the first mover 2 rotates around the first axis L1, and further reduce or even eliminate the hysteresis of the second mover 4 rotating around the second axis L2.

[0331] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict, and any combination of the features in different embodiments is also within the protection scope of the present application, that is, the above-described multiple embodiments can also be combined as needed.

[0332] It should be noted that all the above-mentioned drawings are exemplary drawings of the present application, and do not represent the actual size of the product. The size ratio relationship between the components in the drawings is not limited to the actual product of the present application.

[0333] The above is only some embodiments and implementation manners of the present application, and the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A motor (10) characterized by, The motor (10) comprises a base (1), a first mover (2), a first driving member (3), a second mover (4), a second driving member (5) and a first pre-pressing member (11); The first mover (2) is used for carrying an optical element (20) for adjusting light rays incident along a first direction (D1) to be transmitted along a second direction (D2) perpendicular to the first direction (D1); The first mover (2) is located on the inner side of the base (1), and the first driving member (3) is used for driving the first mover (2) to rotate relative to the base (1) about a first axis (L1) perpendicular to the second direction (D2) and perpendicular to the first direction (D1); The second mover (4) is located between the first mover (2) and the base (1), and the second driving member (5) is used for driving the second mover (4) to rotate relative to the base (1) about a second axis (L2) parallel to the first direction (D1); The first pre-pressing member (11) is used for providing a first pre-pressing force to make the first mover (2) follow the second mover (4) to rotate relative to the base (1), and the direction of the first pre-pressing force intersects the first axis (L1) and intersects the second axis (L2).

2. The motor (10) of claim 1, wherein, The first mover (2) comprises a first arm (201), a second arm (202) and a third arm (203), the first arm (201) and the second arm (202) are oppositely arranged, and the third arm (203) is connected between the first arm (201) and the second arm (202), and the first arm (201), the third arm (203) and the second arm (202) surround to form a first space (204) for accommodating the optical element (20); The motor (10) further comprises a first rotation support member (6) and a second rotation support member (7), the first rotation support member (6) and the second rotation support member (7) are arranged parallel to the first axis (L1), the first arm (201) is connected to the second mover (4) through the first rotation support member (6), and the second arm (202) is connected to the second mover (4) through the second rotation support member (7); The first pre-pressing force acts between the third arm (203) and the second mover (4).

3. The motor (10) of claim 2, wherein, The first arm (201) comprises a first part (201a) and a second part (201b), the first part (201a) of the first arm (201) is connected to the third arm (203), the second part (201b) of the first arm (201) protrudes from one side of the first part (201a) of the first arm (201) away from the second arm (202), the first rotation support member (6) is arranged between the second part (201b) of the first arm (201) and the second mover (4) along parallel to the second direction (D2) to connect the second part (201b) of the first arm (201) and the second mover (4). The second arm (202) comprises a first part (202a) and a second part (202b), the first part (202a) of the second arm (202) is connected to the third arm (203), the second part (202b) of the second arm (202) is protruded from the side of the first part (202a) of the second arm (202) away from the first arm (201), the second rotating support (7) is arranged between the second part (202b) of the second arm (202) and the second mover (4) along the second direction (D2) to connect the second part (202b) of the second arm (202) and the second mover (4).

4. A motor (10) as claimed in claim 2 or 3, characterised in that, The first axis (L1) passes through the first space (204).

5. The motor (10) according to any one of claims 1 to 4, characterized in that The first axis (L1) passes through the centroid of the whole first mover (2) when the first mover (2) carries the optical element (20).

6. The motor (10) according to any one of claims 1 to 5, characterized in that The number of the first pre-pressing members (11) is two. The two first pre-pressing members (11) are arranged in parallel to the first axis (L1) and / or are arranged on both sides of the second axis (L2).

7. The motor (10) as claimed in any one of claims 1 to 6, characterized in that The second mover (4) comprises a fourth arm (401), a fifth arm (402) and a sixth arm (403), the fourth arm (401) and the fifth arm (402) are arranged oppositely, the sixth arm (403) is connected between the fourth arm (401) and the fifth arm (402), the fourth arm (401), the sixth arm (403) and the fifth arm (402) form a second space (404) for accommodating the first mover (2), and the sixth arm (403) is connected to the base (1). The motor (10) further comprises a second pre-pressing member (12) for providing a second pre-pressing force and acting between the sixth arm (403) and the base (1), the direction of the second pre-pressing force intersects with the first axis (L1) and intersects with the second axis (L2).

8. The motor (10) of claim 7, wherein, The direction of the force of the second pre-pressing member (12) acting on the second mover (4) is opposite to the direction of the force of the first pre-pressing member (11) acting on the second mover (4), and the force of the second pre-pressing member (12) acting on the second mover (4) is greater than the force of the first pre-pressing member (11) acting on the second mover (4).

9. A motor (10) as claimed in claim 7 or 8, characterised in that, The motor (10) further comprises a third rotating support (8) and a fourth rotating support (9), the third rotating support (8) and the fourth rotating support (9) are arranged in parallel to the second axis (L2), the third rotating support (8) is arranged between the sixth arm (403) and the base (1) along the second direction (D2), and the fourth rotating support (9) is arranged between the sixth arm (403) and the base (1) along the second direction (D2) to connect the sixth arm (403) and the base (1).

10. The motor (10) of claim 9, wherein, The second pre-press piece (12) is located between the third rotating support piece (8) and the fourth rotating support piece (9) and on the second shaft (L2).

11. A motor (10) as claimed in any one of claims 7 to 10, characterised in that, The second space (404) has an opening facing the base (1) along the second shaft (L2) to expose the first mover (2). The first driving piece (3) comprises a first driving magnet (302) and a first driving coil (301), the first driving magnet (302) and the first driving coil (301) are arranged in a stack and are spaced apart along the second shaft (L2), the first driving magnet (302) is mounted on the first mover (2), and the first driving coil (301) is mounted on the base (1).

12. The motor (10) of claim 11, wherein, The first driving piece (3) further comprises a first magnetic guide piece (303) mounted on a magnetic pole surface of the first driving magnet (302), wherein the magnetic pole surface of the first driving magnet (302) is perpendicular to the second shaft (L2).

13. The motor (10) of claim 12, wherein, The first mover (2) comprises a first skeleton (206) and a first carrier (205), the first carrier (205) wraps at least part of the first skeleton (206), and the part of the first skeleton (206) exposed to the first carrier (205) and in contact with the first driving magnet (302) is the first magnetic guide piece (303).

14. The motor (10) according to any one of claims 7 to 13, characterized in that The number of the second driving pieces (5) is two, one of the second driving pieces (5) is mounted on the side of the fourth arm (401) away from the fifth arm (402), and the other of the second driving pieces (5) is mounted on the side of the fifth arm (402) away from the fourth arm (401).

15. The motor (10) of any one of claims 1 to 14, characterized in that The second driving piece (5) comprises a second driving magnet (502) and a second driving coil (501), the second driving magnet (502) and the second driving coil (501) are arranged in a stack and are spaced apart along the first shaft (L1), the second driving magnet (502) is mounted on the second mover (4), and the second driving coil (501) is mounted on the base (1).

16. The motor (10) of claim 15, wherein, The second driving piece (5) further comprises a second magnetic guide piece (503) mounted on a magnetic pole surface of the second driving magnet (502), wherein the magnetic pole surface of the second driving magnet (502) is perpendicular to the first shaft (L1).

17. The motor (10) of claim 16, wherein, The second mover (4) comprises a second skeleton (406) and a second carrier (405), the second carrier (405) wraps at least part of the second skeleton (406), and the part of the second skeleton (406) exposed to the second carrier (405) and in contact with the second driving magnet (502) is the second magnetic guide piece (503).

18. The motor (10) of any one of claims 1 to 17, characterized in that The first pre-pressing part (11) comprises a first magnet (111) and a first magnetic body (112), the first magnet (111) is magnetically attracted to the first magnetic body (112), one of the first magnet (111) and the first magnetic body (112) is mounted on the first mover (2), and the other is mounted on the second mover (4); And / or, the first pre-pressing part (11) comprises a first elastic part (113), one end of the first elastic part (113) is connected to the first mover (2), the other end of the first elastic part (113) is connected to the second mover (4), and the first elastic part (113) is in a stretched state.

19. The motor (10) as claimed in any one of claims 7 to 14, characterized in that The second pre-pressing part (12) comprises a second magnet (121) and a second magnetic body (122), the second magnet (121) is magnetically attracted to the second magnetic body (122), one of the second magnet (121) and the second magnetic body (122) is mounted on the second mover (4), and the other is mounted on the base (1); And / or, the second pre-pressing part (12) comprises a second elastic part (123), one end of the second elastic part (123) is connected to the second mover (4), the other end of the second elastic part (123) is connected to the base (1), and the second elastic part (123) is in a stretched state.

20. The motor (10) of any one of claims 1 to 19, wherein, The motor (10) further comprises a first damping part (13) connecting the first mover (2) and the second mover (4), the first damping part (13) has elasticity, and when the first driving part (3) drives the first mover (2) to rotate relative to the base (1) about the first axis (L1), the first damping part (13) is stretched or compressed; And / or, the motor (10) further comprises a second damping part (14) connecting the second mover (4) and the base (1), the second damping part (14) has elasticity, and when the second driving part (5) drives the second mover (4) to rotate relative to the base (1) about the second axis (L2), the second damping part (14) is stretched or compressed.

21. The motor (10) of any one of claims 1 to 20, wherein, The first driving part (3) drives the first mover (2) to rotate relative to the base (1) about the first axis (L1) by an angle greater than 0.9°; And / or, the second driving part (5) drives the second mover (4) to rotate relative to the base (1) about the second axis (L2) by an angle greater than 1.5°.

22. The motor (10) of any one of claims 1 to 21, characterized in that The motor (10) further comprises a detection part (15) mounted on the base (1); The detection part (15) is used to detect the position of the first mover (2) relative to the base (1), and / or the detection part (15) is used to detect the position of the second mover (4) relative to the base (1).

23. An image capture module (100), characterized by: The motor (10) as claimed in any one of claims 1 to 22, comprising an optical element (20), a lens group (30), and an image sensor (40) which are sequentially and spaced apart along an optical path direction, and the optical element (20) is mounted to the first mover (2) of the motor (10).

24. An electronic device (1000), characterized by, The camera module (100) as claimed in claim 23, comprising a housing (300), and the camera module (100) is mounted to the housing (300).

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