Gimbal device, camera module assembly, and terminal

Abstract

Embodiments of the present invention provide a gimbal device, a camera module assembly, and a terminal. The gimbal device is configured to drive the camera module, and comprises a mounting base, a first support, and a first piezoelectric motor; the mounting base is configured to mount the camera module, the first support is provided around the periphery of the mounting base, the first support and the mounting base are rotatably connected to each other by means of a first rotating shaft extending along a first axis, and an included angle is formed between the first axis and an incident light direction of the camera module; the first piezoelectric motor is located between the mounting base and the first support; one of the mounting base and the first support is provided with the first piezoelectric motor, and the other one of the mounting base and the first support comprises a first friction surface; and an output portion of the first piezoelectric motor is configured to be in contact with the first friction surface, so as to drive the mounting base and the first support to rotate relative to each other around the first axis.

Description

A gimbal device, camera module assembly and terminal

[0001] This application claims priority to Chinese patent application filed on July 23, 2024, with application number 202410995979.4 and title "Gimbal Device, Camera Module Components and Terminal", the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present invention relates to the field of gimbal device technology, and in particular to a gimbal device, camera module assembly and terminal. Background Technology

[0003] As application scenarios expand, the demands of camera modules for photography in different scenarios are also increasing. In scenarios involving shooting moving subjects, or in scenarios involving user movement, such as handheld shooting, handheld jogging, and cycling uphill or downhill, the range and frequency of camera module movement are much greater, and commonly used image stabilization drivers in the industry are insufficient to meet the needs of these scenarios. For example, the industry standard uses a voice coil motor (VCM) to directly drive the optical lens to achieve image stabilization. However, the effective drive stroke of a VCM is usually small, and when applied to a large-stroke drive, it is prone to problems such as reduced drive effect and instability. Summary of the Invention

[0004] This invention provides a gimbal device, a camera module assembly, and a terminal. The gimbal device can provide a stable driving force for the camera module and has a large effective driving stroke, which is beneficial to expanding the anti-shake stroke and anti-shake frequency range of the camera module.

[0005] In a first aspect, embodiments of the present invention provide a gimbal device for driving a camera module. The gimbal device includes a mounting base, a first bracket, and a first piezoelectric motor. The mounting base is used to mount the camera module. The first bracket surrounds the outside of the mounting base and is rotatably connected to the mounting base via a first rotating shaft extending along a first axis. The first axis forms an angle with the light-gathering direction of the camera module. The first piezoelectric motor is located between the mounting base and the first bracket. The first piezoelectric motor is mounted on one of the mounting base and the first bracket, and the other of the mounting base and the first bracket is provided with a first friction surface. The output portion of the first piezoelectric motor contacts the first friction surface to drive the mounting base and the first bracket to rotate relative to each other around the first axis.

[0006] It should be noted that the first axis forms an angle with the light-incoming direction of the camera module, meaning that the first axis is not parallel to the light-incoming direction of the camera module. The camera module on the mounting base can rotate around the first axis, thereby changing the relative position of the camera module and the terminal. For example, the first axis is perpendicular to the light-incoming direction of the camera module. A piezoelectric motor is an electric motor that converts electrical energy into mechanical energy using the inverse piezoelectric effect of piezoelectric materials. A piezoelectric motor typically includes a piezoelectric deformable element and an output section. The piezoelectric deformable element is made of piezoelectric material and is used to connect to the drive circuit. Under voltage, the piezoelectric deformable element can undergo regular deformation, thereby driving the output section to produce regular movement. The piezoelectric motor can transmit driving force to the outside through the output section to achieve its driving function. Because it lacks the windings, magnets, and other structures of traditional motors, piezoelectric motors have the advantages of small size, fast response speed, and low noise. Furthermore, they do not generate electromagnetic radiation during operation and are not affected by surrounding electromagnetic fields, thus possessing good anti-electromagnetic interference capabilities.

[0007] In this embodiment of the invention, the gimbal device contacts a first friction surface via the output of a first piezoelectric motor. The first piezoelectric motor applies frictional force to the first friction surface, driving the first bracket and mounting base to rotate around a first axis, thereby changing the relative position of the camera module and the terminal. The first piezoelectric motor has advantages such as small size, fast response speed, low noise, and strong anti-electromagnetic interference capability. Furthermore, the driving efficiency of the first piezoelectric motor is stable and does not decrease due to changes in the relative position of the first bracket and mounting base. Therefore, the mounting base and the first bracket can have a larger effective stroke, providing a stable driving force for the camera module. The rotation range of the camera module around the first axis is less restricted, which is beneficial for expanding the adjustment stroke of the camera module. Moreover, the first piezoelectric motor can achieve precise and rapid driving, enabling the gimbal device to have a wider anti-shake frequency range. This gimbal device actively controls the position of the camera module, achieving optical image stabilization on the one hand, and actively adjusting the framing range of the camera module on the other, expanding the application scenarios of the camera module.

[0008] In some embodiments of the first aspect, the first friction surface is formed as a first arcuate surface unfolding around a first axis. When the mounting base and the first bracket rotate relative to each other by a certain angle, the first piezoelectric motor can still contact the first friction surface and provide driving force. The camera module can be subjected to a stable driving force throughout its rotation stroke around the first axis, which is beneficial for the camera module to achieve stable, smooth, and clear shooting.

[0009] In some embodiments of the first aspect, the output of the first piezoelectric motor and the first rotating shaft are arranged in the same plane. The pressure exerted by the output of the first piezoelectric motor on the first friction surface is in the same plane as the first rotating shaft, and the resulting torque is zero. This allows the first piezoelectric motor and the first friction surface to be driven by a stable frictional force, unaffected by the pressure torque. Even when the first piezoelectric motor is not energized and vibrating, the pressure of the output of the first piezoelectric motor against the first friction surface will not cause the camera module to rotate, thereby improving the stability of the camera module.

[0010] In some embodiments of the first aspect, the gimbal device further includes a first elastic element supported on a first piezoelectric motor, such that the output portion of the first piezoelectric motor abuts against a first friction surface. When the first piezoelectric motor is not in operation (e.g., power off), the first piezoelectric motor remains in contact with the first friction surface under the action of the first elastic element. The frictional force between the output portion of the first piezoelectric motor and the first friction surface maintains a stable position between the mounting base and the first bracket, thus locking the position and holding the camera module in a fixed position.

[0011] In some embodiments, the mounting base is provided with a first friction surface, a first piezoelectric motor is mounted on a first bracket, and a first elastic element is supported between the first bracket and the first piezoelectric motor to provide an elastic force that causes the first piezoelectric motor to abut against the first friction surface.

[0012] In other embodiments, the first bracket is provided with a first friction surface, the first piezoelectric motor is mounted on the mounting base, and the first elastic element is supported between the mounting base and the first piezoelectric motor to provide an elastic force that causes the first piezoelectric motor to abut against the first friction surface.

[0013] In some embodiments of the first aspect, the output portion of the first piezoelectric motor includes one or more contacts, and the first piezoelectric motor includes a first piezoelectric deformable element that can deform under voltage to drive the contacts of the first piezoelectric motor into transmission contact with the first friction surface.

[0014] For example, the first piezoelectric deformation element includes multiple layers of piezoelectric ceramic sheets stacked along the thickness direction, with the multiple piezoelectric ceramic sheets connected in parallel to each other. The multiple piezoelectric ceramic sheets are connected in parallel to the driving circuit, which ensures that the multiple piezoelectric ceramic sheets provide sufficient driving force, while each piezoelectric ceramic sheet requires a smaller driving voltage, so that the first piezoelectric motor can be adapted to low driving voltage operating environments.

[0015] In some embodiments of the first aspect, the gimbal device further includes a second bracket and a second piezoelectric motor. The second bracket is disposed outside the first bracket, and the second bracket and the first bracket are rotatably connected to each other via a second pivot extending along a second axis, the second axis forming an angle with the first axis. The second piezoelectric motor is located between the first bracket and the second bracket. One of the first bracket and the second bracket is provided with a second friction surface, and the other of the first bracket and the second bracket is equipped with the second piezoelectric motor. The output of the second piezoelectric motor contacts the second friction surface to drive the first bracket and the second bracket to rotate relative to each other around the second axis.

[0016] In the above embodiment, the second axis forms an angle with the first axis; in other words, the second axis and the first axis are not parallel. This gimbal device, by adding a second bracket, a second piezoelectric motor, and a second friction surface, provides the first bracket, the mounting base, and the camera module with a degree of freedom to rotate around the second axis. Combining the degree of freedom of rotation around the first axis between the first bracket and the mounting base, the gimbal device can control the camera module to rotate around the first axis and the second axis respectively via the first and second piezoelectric motors. This gimbal device provides the mounting base with at least two degrees of rotational freedom (rotational freedom around the first axis and rotational freedom around the second axis), thereby increasing the adjustment range of the camera module and facilitating the expansion of its application scenarios.

[0017] For example, the first axis and the second axis are perpendicular to each other, which allows for a larger adjustment range. For example, the first axis is perpendicular to the light-inlet direction of the camera module, and the second axis is also perpendicular to the light-inlet direction of the camera module.

[0018] In some embodiments of the first aspect, the second friction surface is formed as a second arcuate surface unfolding around the second axis. When the first bracket and the second bracket rotate relative to each other at a certain angle, the second piezoelectric motor can still contact the second friction surface and provide driving force, so that the camera module can be subjected to a stable driving force during its rotation around the second axis, which is beneficial for the camera module to achieve stable, smooth and clear shooting.

[0019] In some embodiments of the first aspect, the center of the first arcuate surface coincides with the center of the second arcuate surface. Since the first arcuate surface rotates around the first axis and the second arcuate surface unfolds around the second axis, the coincidence of the centers of the first and second arcuate surfaces can be understood as the first and second axes having an intersection point, which is the center of both the first and second arcuate surfaces. During the process of the gimbal device driving the camera module to rotate around the first or second axis, the camera module's position at the center remains unchanged, resulting in higher stability for the camera module.

[0020] In some embodiments of the first aspect, the output portion of the second piezoelectric motor and the second rotating shaft are arranged in the same plane. The pressure exerted by the output portion of the second piezoelectric motor on the second friction surface is in the same plane as the second rotating shaft, resulting in zero torque. The second piezoelectric motor and the second friction surface are driven by a stable frictional force, unaffected by the torque of the pressure. Furthermore, when the second piezoelectric motor is not energized and vibrating, the pressure of the output portion of the second piezoelectric motor against the second friction surface will not cause rotation of the camera module, thereby improving the stability of the camera module.

[0021] In some embodiments of the first aspect, the gimbal device further includes a second elastic element supported on a second piezoelectric motor, such that the output of the second piezoelectric motor abuts against a second friction surface. When the second piezoelectric motor is de-energized, it remains in contact with the second friction surface under the action of the second elastic element, thereby maintaining a stable position between the first and second supports and achieving a position locking function, thus keeping the camera module in a fixed position.

[0022] For example, the first bracket has a second friction surface, the second piezoelectric motor is mounted on the second bracket, and the second elastic element is supported between the second bracket and the second piezoelectric motor to provide an elastic force that causes the second piezoelectric motor to abut against the second friction surface. Alternatively, for example, the second bracket has a second friction surface, the second piezoelectric motor is mounted on the first bracket, and the second elastic element is supported between the first bracket and the second piezoelectric motor to provide an elastic force that causes the second piezoelectric motor to abut against the second friction surface.

[0023] In some embodiments of the first aspect, the output of the second piezoelectric motor includes one or more contacts.

[0024] In some embodiments of the first aspect, the second piezoelectric motor includes a second piezoelectric deformable element capable of deformation under voltage to drive the contacts of the second piezoelectric motor into contact with the second friction surface. Exemplarily, the second piezoelectric deformable element comprises multiple layers of piezoelectric ceramic sheets stacked along the thickness direction, connected in parallel to a drive circuit. This parallel connection of the multiple piezoelectric ceramic sheets to the drive circuit ensures sufficient driving force while requiring a lower driving voltage for each sheet, thus enabling the first piezoelectric motor to be adapted to low-drive-voltage operating environments.

[0025] Secondly, embodiments of the present invention also provide a camera module assembly, including a camera module and a gimbal device in any of the above possible embodiments, wherein the camera module is mounted on a mounting base of the gimbal device.

[0026] In some embodiments of the second aspect, the camera module includes an optical lens and a photosensitive element, both mounted on a gimbal mount. The photosensitive element is located on the imaging side of the optical lens. In this embodiment, the gimbal simultaneously drives the optical lens and the photosensitive element to rotate or move. When the position of the terminal changes, the gimbal drives the optical lens and the photosensitive element to rotate or move, keeping the field of view of the camera module constant, thereby obtaining a stable and clear image. Because the gimbal drives the optical lens and the photosensitive element to move synchronously, the relative position between the optical lens and the photosensitive element is stable. Therefore, the photosensitive element can always obtain light from the optical lens without being limited by the adjustment range. Thus, the camera module can have a larger adjustment range.

[0027] In some embodiments of the second aspect, the camera module includes an optical lens and a photosensitive element. The optical lens is mounted on a mount of the gimbal device, and the photosensitive element is located on the imaging side of the optical lens and the mount. In this way, the gimbal device drives the optical lens to rotate relative to the photosensitive element, compensating for changes in the optical path within the optical lens and maintaining a stable field of view, thereby obtaining a clear image on the photosensitive element.

[0028] Thirdly, embodiments of the present invention also provide a terminal, including an image processor and a camera module component in any of the above possible embodiments. The image processor is communicatively connected to the camera module. The camera module is used to acquire images and input the images into the image processor. The image processor is used to perform image processing on the images.

[0029] In some embodiments of the third aspect, the aforementioned terminal is a mobile phone. Attached Figure Description

[0030] Figure 1 is a schematic diagram of the structure of a terminal provided in an embodiment of the present invention;

[0031] Figure 2 is a schematic diagram of another terminal provided in an embodiment of the present invention;

[0032] Figure 3 is a top view of a camera module assembly provided in an embodiment of the present invention;

[0033] Figure 4 is a schematic diagram of the three-dimensional structure after being cut along line AA in Figure 3;

[0034] Figure 5 is a cross-sectional view after being cut along line AA in Figure 3;

[0035] Figure 6 is a schematic diagram of the three-dimensional structure after being cut along line BB in Figure 3;

[0036] Figure 7 is a cross-sectional view after cutting along line BB in Figure 3. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0038] Hereinafter, the terms "first," "second," etc., are used for descriptive convenience only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0039] In embodiments of the present invention, unless otherwise expressly specified and limited, the term "electrical connection" can refer to a direct electrical connection or an indirect electrical connection via an intermediate medium. Words such as "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary" or "for example" in embodiments of the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0040] In embodiments of the invention, the directional indications used to explain the structure and movement of different components, such as up, down, left, right, front, and back, are relative. These indications are appropriate when the components are in the positions shown in the figures. However, if the description of the component positions changes, these directional indications will also change accordingly. It should also be noted that in embodiments of the invention, the same reference numerals represent the same component or part. For the same parts in embodiments of the invention, the reference numerals may only be used to indicate one part or component as an example in the figures. It should be understood that the reference numerals also apply to other identical parts or components.

[0041] The specific structure of the gimbal device, camera module assembly, and terminal provided in the embodiments of the present invention will be described in detail below with reference to the relevant accompanying drawings.

[0042] As shown in Figure 1, a first aspect of this invention provides a terminal 1, which can be a mobile phone, tablet computer, laptop computer, camera, video recorder, camera, smart TV, network monitoring equipment, motion-sensing game console, dashcam, reversing camera, wearable electronic device, small drone, 3D image capturing device, or other form of device with photo or video recording functions. Figure 1 is a schematic diagram of the structure of a terminal 1 according to an embodiment of the present invention, wherein the terminal 1 in this embodiment is a mobile phone, and the back panel 11 of the terminal 1 is shown. This embodiment of the invention is described using a mobile phone as an example of the terminal 1.

[0043] Terminal 1 may include a camera module 3 and an image processor 8. The image processor 8 is communicatively connected to the camera module 3. The camera module 3 is used to acquire image data and input the image data into the image processor 8. The image processor 8 is used to process the output image data. In practical applications, terminal 1 also includes a housing, in which both the camera module 3 and the image processor 8 are housed. The housing has a light-transmitting hole, and the light-incident side of the camera module 3 is positioned opposite to the light-transmitting hole of the housing. In some embodiments, the communication connection between the camera module 3 and the image processor 8 may include data transmission via electrical connections such as wiring, or data transmission may be achieved through coupling or other means. The camera module 3 and the image processor 8 may also be connected via any other means capable of data transmission, and the present invention does not impose specific limitations on this.

[0044] The function of image processor 8 is to optimize digital image signals through a series of mathematical algorithms, and finally transmit the processed signals to the display or memory. Image processor 8 can be an image processing chip or a digital signal processing (DSP) chip. Its role is to transmit the data obtained by the photosensitive element 5 of the camera module 3 to the central processing unit in a timely and rapid manner and refresh the photosensitive element 5. Therefore, the quality of the DSP chip directly affects the image quality (such as color saturation, sharpness, etc.). Image processor 8 can also be integrated into other chips (such as a central processing chip).

[0045] In the embodiment shown in Figure 1, the camera module 3 is located on the back of the terminal 1, serving as the rear camera of the terminal 1. In some embodiments, the camera module 3 may also be selectively located on the front of the terminal 1, serving as the front camera of the terminal 1. Both the front and rear cameras can be used for selfies or for the photographer to capture images of other objects.

[0046] In some embodiments, terminal 1 is provided with multiple camera modules 3, where "multiple" refers to two or more. Different camera modules 3 may have the same or different structures and performance to meet different shooting requirements. For example, in some embodiments, the multiple camera modules 3 include zoom camera modules or fixed-focus camera modules to achieve zoom shooting and fixed-focus shooting respectively. All multiple camera modules 3 can be communicatively connected to image processor 8, and can selectively cooperate to achieve better shooting results.

[0047] It should be understood that the installation position of the camera module 3 of the terminal 1 in the embodiment shown in Figure 1 is merely illustrative. In some other embodiments, the camera module 3 may also be installed in other locations on the mobile phone, such as the upper part, upper left corner, or upper right corner of the back of the mobile phone. Alternatively, the camera module 3 may not be installed on the main body of the mobile phone, but on a component that is movable or rotatable relative to the mobile phone. For example, this component may extend outward from, retract from, or rotate from the main body of the mobile phone. The present invention does not limit the installation position of the camera module 3.

[0048] As shown in Figure 2, in some embodiments, terminal 1 may further include an analog-to-digital converter 7 (also known as an A / D converter). The analog-to-digital converter 7 is electrically connected between the camera module 3 and the image processor 8. The analog-to-digital converter 7 is used to convert the signal generated by the camera module 3 into a digital image signal and transmit it to the image processor 8. The image processor 8 then processes the digital image signal and finally displays the image or video through a display screen or monitor.

[0049] In some embodiments, terminal 1 may further include a memory 9, which is communicatively connected to an image processor 8. The image processor 8 processes the digital image signal and then transmits the image to the memory 9, so that the image can be retrieved from the storage and displayed on the screen at any time when it is needed to view the image later. In some embodiments, the image processor 8 is also used to compress the processed digital image signal before storing it in the memory 9, so as to save storage space in the memory 9. It should be noted that Figure 2 is only a schematic diagram of the structure of terminal 1 provided in an exemplary embodiment of the present invention. The position and structure of the camera module 3, image processor 8, analog-to-digital converter 7, memory 9, etc. shown therein are only illustrative, and the present invention does not limit their position and specific structure.

[0050] This invention provides a camera module 3, which includes an optical lens 4 and a photosensitive element 5, with the photosensitive element 5 located on the image side of the optical lens 4.

[0051] An optical lens 4 typically consists of multiple lenses arranged along the optical axis. The optical lens 4 is used to capture ambient light and perform corresponding optical processing on the light. In some embodiments, the optical lens 4 further includes an aperture, which is a device for controlling the amount of light transmitted through the lens. The aperture can be a manual aperture or an automatic aperture. In embodiments with an automatic aperture, the automatic aperture includes an aperture driving device that drives the aperture to change its aperture diameter, thereby changing the amount of light entering the optical lens 4.

[0052] In some embodiments, the optical lens 4 further includes a zoom drive, which drives one or more lenses within the optical lens 4 to move along the optical axis, thereby changing the focal length of the optical lens 4 so that the light from the subject can be clearly imaged on the photosensitive element 5 after passing through the optical lens 4, achieving good image sharpness. In other embodiments, the camera module 3 drives the photosensitive element 5 to move via the zoom drive, thereby changing the position of the photosensitive element 5 so that the light from the subject can be clearly imaged on the photosensitive element 5 after passing through the optical lens 4, achieving good image sharpness.

[0053] In some embodiments, the optical lens 4 includes at least one variable-focal-length liquid lens. The liquid lens uses a liquid as a lens, changing the focal length by altering the curvature of the liquid. The optical lens 4 with a liquid lens has a variable focal length, enabling it to adapt to a wider shooting distance and increasing its usability. Furthermore, the liquid lens allows the optical lens 4 to achieve zoom without the need for mechanical drive components, facilitating miniaturization of the optical lens 4. Exemplarily, the liquid lens is a graduated refractive index lens, a liquid-filled lens, or a wetting effect lens.

[0054] The photosensitive element 5 is a semiconductor chip containing hundreds of thousands to millions of photodiodes on its surface. When illuminated by light, these photodiodes generate electrical charges, which are then converted into digital signals by an analog-to-digital converter (ADC). The photosensitive element 5 can be a charge-coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) device. A CCD is made using a highly sensitive semiconductor material that converts light into electrical charges, which are then converted into digital signals by the ADC. A CCD consists of many photosensitive units, typically measured in megapixels. When light illuminates the CCD surface, each photosensitive unit reflects a charge onto its component. The signals generated by all the photosensitive units are combined to form a complete image. CMOS primarily utilizes semiconductors made of silicon and germanium, allowing N-type (negatively charged) and P-type (positively charged) semiconductors to coexist on the CMOS. The current generated by these complementary effects can be recorded and interpreted into an image by the ADC.

[0055] Based on the aforementioned embodiments, the working principle of the camera module 3 is as follows: Light reflected from the subject passes through the optical lens 4 to generate an optical image, which is projected onto the surface of the photosensitive element 5. The photosensitive element 5 converts the optical image into an electrical signal to obtain an analog image signal Sig1, and transmits the converted analog image signal Sig1 to the analog-to-digital converter 7, which converts it into a digital image signal Sig2 for the image processor 8. The image processor 8 can display the digital image signal Sig2 as an image or video through a display screen or monitor. Alternatively, the image processor 8 can process the digital image signal Sig2 before transmitting it to the memory 9, so that the image can be retrieved from the memory and displayed on the display screen at any time when it is needed to view the image later.

[0056] The camera module 3 may also include a circuit board (not shown). The photosensitive element 5 is fixed to the circuit board by bonding or surface mounting. The analog-to-digital converter 7, image processor 8, memory 9, etc., can also be connected to the circuit board by bonding or surface mounting, thereby realizing the communication connection between the photosensitive element 5, analog-to-digital converter 7, image processor 8, memory 9, etc. through the circuit board. The circuit board can be a flexible printed circuit (FPC) or a printed circuit board (PCB) for transmitting electrical signals. The FPC can be a single-sided flexible board, a double-sided flexible board, a multi-layer flexible board, a rigid-flexible board, or a hybrid flexible circuit board.

[0057] It should be noted that the size of the photosensitive element 5 is positively correlated with the imaging area; the larger the size of the photosensitive element 5, the better it is for improving the imaging quality of the camera module 3. In some embodiments, the terminal 1 can use a photosensitive element 5 with a large target surface. Taking a mobile phone as an example, mobile phones in related technologies typically use photosensitive elements 5 with a target surface of 2 / 3 inch or 1 / 1.8 inch. However, in this embodiment of the invention, the mobile phone can use a photosensitive element 5 with a target surface greater than or equal to 1 inch. Alternatively, it can be understood that the mobile phone can use a photosensitive element 5 from a DSLR camera. Since the photosensitive element 5 in this embodiment has a large target surface, it has a larger effective light-sensitive area, which is beneficial for improving the imaging clarity and image quality of the camera module 3.

[0058] Of course, in other embodiments, the photosensitive element 5 can also be a smaller target surface, and the camera module 3 can select photosensitive elements 5 with different target surface sizes as needed. In embodiments where the terminal 1 has multiple camera modules 3, different camera modules 3 can use photosensitive elements 5 with different target surface sizes to suit different imaging needs. In other embodiments, multiple camera modules 3 can also share a single photosensitive element 5, or at least two of the multiple camera modules 3 can share a single photosensitive element 5.

[0059] In some embodiments, the optical lens 4 may further include an infrared filter, located at the image-facing end of the optical lens 4 and positioned between the lens element of the optical lens 4 and the photosensitive element 5. Light processed by the lens element of the optical lens 4 illuminates the infrared filter and, after being filtered by the infrared filter, is transmitted to the photosensitive element 5. The infrared filter can eliminate unwanted light projected onto the photosensitive element 5, preventing false colors or ripples from appearing on the photosensitive element 5, thereby improving its effective resolution and color reproduction. In some embodiments, the infrared filter may also be fixed to the circuit board where the photosensitive element 5 is located. Other components included in the camera module 3 will not be described in detail here.

[0060] In other embodiments, an imaging correction element may be provided on the side of the optical lens 4 near the imaging surface to achieve the effect of correcting the image (such as bending).

[0061] In some embodiments, the camera module 3 further includes a module housing, the interior of which is hollow to accommodate an optical lens 4. Exemplarily, multiple lenses of the optical lens 4 are fixed within the housing, and the optical lens 4 is mounted to the terminal 1 via the housing. In some embodiments, the photosensitive element 5 is fixed to a circuit board within the terminal 1, and the housing containing the optical lens 4 and the photosensitive element 5 are separate. The optical lens 4 is mounted to the light-inlet side of the photosensitive element 5 via the module housing; for example, the optical lens 4 is mounted to the back panel 11 of the terminal 1 via the module housing. In other embodiments, both the optical lens 4 and the photosensitive element 5 are mounted within the module housing and mounted to the terminal 1 via the module housing. In embodiments including an infrared filter and a correction element, both the infrared filter and the correction element are mounted within the module housing.

[0062] As a common application scenario, users hold terminal 1 and take photos using the camera module 3 within terminal 1. However, it's difficult for users to keep terminal 1 in the same position throughout the process. Even slight hand tremors are transmitted to terminal 1, causing camera module 3 to shake and affecting the image captured by the image sensor 5. To ensure image clarity, the terminal typically incorporates an image stabilization driver. This driver compensates for changes in the optical path by rotating the optical lens 4 and / or the image sensor 5. Thus, even if terminal 1 shakes or vibrates, the light from the optical lens 4 can still be stably imaged on the image sensor 5, resulting in good image clarity for the camera module 3. Commonly used drivers in the industry include DC motors, stepper motors, and voice coil motors (VCMs).

[0063] As shown in Figures 3 to 7, the present invention provides a camera module assembly 2, which includes a camera module 3 and a gimbal device 6, wherein the camera module 3 is fixed to the gimbal device 6.

[0064] In some embodiments, the optical lens 4 is mounted on the gimbal device 6, and both the gimbal device 6 and the optical lens 4 are located on the light-inlet side of the photosensitive element 5. The gimbal device 6 is used to drive the optical lens 4 to rotate relative to the photosensitive element 5. In this embodiment, by driving the optical lens 4 to rotate or move relative to the photosensitive element 5, the gimbal device 6 can compensate for changes in the optical path in the optical lens 4, so that the optical lens 4 maintains a stable field of view, thereby obtaining a clear image on the photosensitive element 5.

[0065] In other embodiments, as shown in FIG4, the optical lens 4 and the photosensitive element 5 in the camera module 3 are both mounted on the gimbal device 6. The photosensitive element 5 is located on the imaging side of the optical lens 4, and the gimbal device 6 simultaneously drives the optical lens 4 and the photosensitive element 5 to rotate or move. When the position of the terminal 1 changes, the gimbal device 6 drives the optical lens 4 and the photosensitive element 5 to rotate or move, keeping the field of view of the camera module 3 unchanged, thereby obtaining a stable and clear image. Furthermore, since the gimbal device 6 drives the optical lens 4 and the photosensitive element 5 to move synchronously, the relative position between the optical lens 4 and the photosensitive element 5 is stable. Therefore, the photosensitive element 5 can always obtain light from the optical lens 4 without being limited by the adjustment range. In this way, the camera module 3 can have a larger adjustment range.

[0066] As application scenarios expand, the photography requirements of camera module 3 also increase in different scenarios. In scenarios involving dynamic subjects, or in scenarios where users are actively shooting, such as handheld movement, handheld jogging, or cycling uphill and downhill, the range of motion and frequency of camera module 3 is large, making it difficult for commonly used image stabilization drivers to meet the needs of these scenarios. For example, the industry standard uses a voice coil motor (VCM) to directly drive the optical lens 4 to achieve image stabilization. The VCM uses the force between the energized coil and the magnet to provide driving force for the optical lens 4. However, as the position of the optical lens 4 changes, the driving force of the VCM also changes, resulting in a relatively small effective driving stroke for the optical lens 4. When the position of the optical lens 4 changes significantly, the VCM is prone to problems such as decreased driving effect and unstable driving force.

[0067] In view of this, the present invention provides a gimbal device 6 for driving a camera module 3. The gimbal device 6 provided in this embodiment includes a mounting base 61, a first bracket 62, and a first piezoelectric motor 631. The mounting base 61 is used to mount the camera module 3. Exemplarily, the mounting base 61 can be fixed to the housing of the camera module 3 by means of adhesive bonding, snap-fitting, or welding. Alternatively, the mounting base 61 is integrated with the housing of the camera module 3, and the optical lens 4 can be directly fixed to the mounting base 61.

[0068] As shown in Figure 3, a first bracket 62 surrounds the outer side of the mounting base 61, and the first bracket 62 and the mounting base 61 are rotatably connected to each other via a first rotating shaft 621 extending along a first axis. Exemplarily, one of the first bracket 62 and the mounting base 61 is provided with the first rotating shaft 621, and the other of the first bracket 62 and the mounting base 61 is provided with a sleeve, in which the first rotating shaft 621 is fitted into the sleeve to achieve a rotatable connection between the first bracket 62 and the mounting base 61. Alternatively, the first bracket 62 and the mounting base 61 can also be rotatably connected by means of hinges or bearings, etc., and the present invention does not limit this.

[0069] The first rotating shaft 621 extends along the first axis, which forms an angle with the light-receiving direction of the camera module 3. In other words, the first axis is not parallel to the light-receiving direction of the camera module 3. For example, the first axis is perpendicular to the light-receiving direction of the camera module 3. When the mounting base 61 and the first bracket 62 rotate around the first axis, the light-receiving direction of the camera module 3 on the mounting base 61 also rotates around the first rotating shaft 621. Therefore, the relative rotation of the mounting base 61 and the first bracket 62 around the first axis can adjust the light-receiving direction of the camera module 3, thereby adjusting the framing range of the camera module 3 and achieving a specific function.

[0070] The relative rotation between the first bracket 62 and the mounting base 61 is achieved by the first piezoelectric motor 631. As shown in Figures 4 and 5, the first piezoelectric motor 631 is located between the mounting base 61 and the first bracket 62. The first piezoelectric motor 631 is mounted on one of the mounting base 61 and the first bracket 62, and the other of the mounting base 61 and the first bracket 62 is provided with a first friction surface 622. For example, as shown in Figure 5, the first piezoelectric motor 631 is mounted on the first bracket 62, the mounting base 61 is provided with the first friction surface 622, and the output of the first piezoelectric motor 631 is used to contact the first friction surface 622 to drive the mounting base 61 and the first bracket 62 to rotate relative to each other around a first axis.

[0071] It should be noted that a piezoelectric motor is an electric motor that converts electrical energy into mechanical energy using the inverse piezoelectric effect of piezoelectric materials. A piezoelectric motor typically includes a piezoelectric deformable element and an output section. The piezoelectric deformable element, made of piezoelectric material, is connected to the drive circuit. Under voltage, the piezoelectric deformable element undergoes regular deformation, thereby driving the output section to produce regular movement. The piezoelectric motor can transmit driving force to the outside through the output section to achieve its driving function. Because it lacks the windings, magnets, and other structures of traditional motors, piezoelectric motors have the advantages of small size, fast response speed, and low noise. Furthermore, they do not generate electromagnetic radiation during operation and are unaffected by surrounding electromagnetic fields, thus possessing excellent electromagnetic interference resistance.

[0072] Piezoelectric motors are classified into traveling wave piezoelectric motors and standing wave piezoelectric motors. A traveling wave piezoelectric motor uses a piezoelectric deformable element to generate a traveling wave that propagates in a specific direction to achieve drive, and it offers good positioning and speed control accuracy. A standing wave piezoelectric motor, on the other hand, uses a piezoelectric deformable element to generate a standing wave that remains stationary, causing the output section to vibrate. In this embodiment of the invention, the first piezoelectric motor 631 can be either a traveling wave piezoelectric motor or a standing wave piezoelectric motor; no specific limitation is imposed.

[0073] In this embodiment of the invention, the output portion of the first piezoelectric motor 631 is used to contact the first friction surface 622. When energized, the first piezoelectric motor 631 generates a specific motion through its output portion. Friction is generated between the output portion of the first piezoelectric motor 631 and the first friction surface 622, driving the mounting base 61 and the first bracket 62 to rotate relative to each other around the first axis. For example, the first piezoelectric motor 631 is a standing wave type piezoelectric motor. The output portion of the first piezoelectric motor 631 vibrates along a specific trajectory at the same position, thereby continuously rubbing against the first friction surface 622, and driving the mounting base 61 and the first bracket 62 to rotate relative to each other around the first axis through friction.

[0074] Compared to traditional VCM-driven camera module solutions, this embodiment of the invention uses a first piezoelectric motor 631 to drive the mounting base 61 and the first bracket 62 to rotate relative to each other. The first piezoelectric motor 631 has advantages such as small size, fast response speed, low noise, and strong anti-electromagnetic interference capability. Furthermore, the driving efficiency of the first piezoelectric motor 631 is stable and will not decrease due to changes in the relative position of the first bracket 62 and the mounting base 61. Therefore, the mounting base 61 and the first bracket 62 can have a larger effective stroke. Thus, this embodiment of the invention can provide a stable driving force for the camera module 3, with less restriction on the rotation range of the camera module 3 around the first axis, which is beneficial for expanding the adjustment stroke of the camera module 3.

[0075] Through the gimbal device 6 in the above embodiments, the gimbal device 6 can drive the camera module 3 to change position relative to the terminal 1. The output of the first piezoelectric motor 631 of the gimbal device 6 contacts the first friction surface 622. By applying frictional force to the first friction surface 622 through the first piezoelectric motor 631, the first bracket 62 and the mounting base 61 can be driven to rotate around the first rotating axis 621. The first rotating axis 621 is not parallel to the light-gathering direction of the camera module 3, and the camera module 3 on the mounting base 61 can rotate around the first axis, thereby changing the relative position of the camera module 3 and the terminal 1. The gimbal device 6 actively controls the position of the camera module 3, which on the one hand can realize optical image stabilization of the camera module 3, and on the other hand, the gimbal device 6 can actively adjust the framing range of the camera module 3, expanding the application scenarios of the camera module 3.

[0076] In an exemplary application scenario, the gimbal device 6 in this embodiment is applied to the camera module assembly 2 within the terminal 1. The gimbal device 6 is installed on the terminal 1. When the user holds the terminal 1 and the resulting vibration is transmitted to the camera module assembly 2, the gimbal device 6 drives the mounting base 61 and the first bracket 62 to rotate relative to each other via the first piezoelectric motor 631, causing the camera module 3 to rotate relative to the terminal 1, thereby compensating for the travel of the camera module 3 and enabling the camera module 3 to maintain a relatively stable field of view.

[0077] In another exemplary application scenario, the gimbal device 6 in this embodiment has a larger adjustment range. The first piezoelectric motor 631 drives the camera module 3 to rotate relative to the terminal 1, enabling control of the framing range of the camera module 3 while keeping the position of the terminal 1 unchanged or with minimal change, thereby expanding the possibilities for shooting. For example, the gimbal device 6 can assist the terminal 1 in target locking shooting. During the shooting of a dynamic target, the user controls the terminal 1 to track and shoot the target. The gimbal device 6 in this embodiment can lock the target at a specific position in the frame by controlling the rotation of the camera module 3 to achieve shooting. As another example, the gimbal device 6 can expand the frame. With the terminal 1 in a fixed position, the gimbal device 6 can adjust the framing range of the camera module 3, allowing different framing ranges to be stitched together to obtain a large-format image.

[0078] As shown in Figure 5, in some embodiments, the first friction surface 622 is formed as a first arc surface unfolding around the first axis. In this embodiment, when the mounting base 61 and the first bracket 62 rotate relative to each other by a certain angle, the first piezoelectric motor 631 can still contact the first friction surface 622 and provide driving force. The frictional force applied by the first piezoelectric motor 631 to the first friction surface 622 will not change much, so that the camera module 3 can be subjected to a stable driving force during its rotation around the first axis, which is beneficial for the camera module 3 to achieve stable, smooth and clear shooting.

[0079] Taking the first friction surface 622 located on the mounting base 61 as an example, in some embodiments, the first friction surface 622 is a portion of the surface of the mounting base 61 facing the first bracket 62. The first friction surface 622 has the same surface structure as other areas on the mounting base 61, or the first friction surface 622 is a surface that has undergone roughening treatment. In other embodiments, the mounting base 61 includes a first contact portion, the surface of which facing the first bracket 62 is the first friction surface 622. The first contact portion can be integrally formed with the mounting base 61, or the first contact portion can be fixed to the mounting base 61 by means of bonding, welding, or snap-fitting.

[0080] In addition, in some embodiments, the first friction surface 622 is a surface that has undergone a nitriding process, which gives the first friction surface 622 good wear resistance and surface hardness.

[0081] In some embodiments, the output portion of the first piezoelectric motor 631 and the first rotating shaft 621 are arranged in the same plane. During the process of the output portion of the first piezoelectric motor 631 contacting and transmitting frictional force to the first friction surface 622, the first friction surface 622 is simultaneously subjected to pressure from the output portion of the first piezoelectric motor 631. By arranging the output portion of the first piezoelectric motor 631 and the first rotating shaft 621 in the same plane, the pressure exerted by the output portion of the first piezoelectric motor 631 on the first friction surface 622 is in the same plane as the first rotating shaft 621, and the torque generated is zero. Thus, the first piezoelectric motor 631 and the first friction surface 622 are driven by a stable frictional force, without being affected by the torque of the pressure. Furthermore, when the first piezoelectric motor 631 is not energized and vibrating, the pressure of the output portion of the first piezoelectric motor 631 against the first friction surface 622 will not cause the camera module 3 to rotate, thereby improving the stability of the camera module 3.

[0082] As shown in Figure 5, in some embodiments, the gimbal device 6 further includes a first elastic element 623, which is supported by a first piezoelectric motor 631 so that the output of the first piezoelectric motor 631 abuts against the first friction surface 622. When the first piezoelectric motor 631 is not operating (e.g., power off), the first piezoelectric motor 631 remains in contact with the first friction surface 622 under the action of the first elastic element 623. Thus, the friction between the output of the first piezoelectric motor 631 and the first friction surface 622 enables the mounting base 61 and the first bracket 62 to maintain a stable position, effectively locking the camera module 3 in a fixed position. In this embodiment, the gimbal device 6 does not require other fixing structures, reducing structural complexity and cost.

[0083] For example, the mounting base 61 is provided with a first friction surface 622, the first piezoelectric motor 631 is mounted on the first bracket 62, and the first elastic element 623 is supported between the first bracket 62 and the first piezoelectric motor 631 to provide an elastic force that causes the first piezoelectric motor 631 to abut against the first friction surface 622. Alternatively, the first bracket 62 is provided with the first friction surface 622, the first piezoelectric motor 631 is mounted on the mounting base 61, and the first elastic element 623 is supported between the mounting base 61 and the first piezoelectric motor 631 to provide an elastic force that causes the first piezoelectric motor 631 to abut against the first friction surface 622.

[0084] In some embodiments, the first piezoelectric motor 631 is mounted on a first bracket 62 via a mounting bracket. The motor mounting bracket includes a limiting rod, and the first bracket 62 forms a limiting hole. The limiting rod is inserted into the limiting hole, allowing the limiting rod of the motor mounting bracket to slide within the limiting hole, enabling the first piezoelectric motor 631 to move closer to or further away from the first friction surface 622. A first elastic member 623 is supported between the first piezoelectric motor 631 and the first bracket 62, thereby providing an elastic force to press the first piezoelectric motor 631 against the first friction surface 622.

[0085] In the embodiment where the first piezoelectric motor 631 is mounted on the mounting base 61, the first piezoelectric motor 631 can also be mounted using a similar mounting bracket, which will not be elaborated upon here.

[0086] In some embodiments, the output portion of the first piezoelectric motor 631 includes one or more contacts 633 for contacting the first friction surface 622. In embodiments including multiple contacts 633, the multiple contacts 633 can alternately or simultaneously contact the first friction surface 622 to transmit frictional force, which can effectively improve transmission efficiency. Exemplarily, the multiple contacts 633 can be arranged at intervals around the first axis, or the multiple contacts 633 can be arranged at intervals in a direction perpendicular to the first axis, without specific limitation.

[0087] In some embodiments, the first piezoelectric motor 631 includes a first piezoelectric deformable element 6311, which is capable of deformation under voltage to drive the contacts 633 of the first piezoelectric motor 631 into transmission contact with the first friction surface 622. For example, the first piezoelectric deformable element 6311 includes multiple layers of piezoelectric ceramic sheets stacked along the thickness direction, with the multiple layers connected in parallel to each other to access the drive circuit. Compared to a single piezoelectric ceramic sheet of the same thickness, stacking multiple layers of piezoelectric ceramic sheets along the thickness direction and connecting them in parallel to the drive circuit ensures that the multiple layers of piezoelectric ceramic sheets provide sufficient driving force while requiring a lower driving voltage for each piezoelectric ceramic sheet, thus enabling the first piezoelectric motor 631 to be adapted to low-drive-voltage operating environments.

[0088] In this embodiment of the invention, the gimbal device 6, mounting base 61, and first bracket 62 are made of lightweight, high-rigidity materials to improve driving efficiency. For example, the first bracket 62 is made of stainless steel. In some embodiments, multiple reinforcing ribs are formed on the first bracket 62. In some embodiments, the first bracket 62 has weight-reducing holes.

[0089] As shown in Figures 6 and 7, in some possible embodiments, the gimbal device 6 further includes a second bracket 64 and a second piezoelectric motor 632. The second bracket 64 surrounds the outside of the first bracket 62, and the second bracket 64 and the first bracket 62 are rotatably connected to each other via a second rotating shaft 641 extending along a second axis. Exemplarily, one of the first bracket 62 and the second bracket 64 has the second rotating shaft 641, and the other of the first bracket 62 and the second bracket 64 has a sleeve. The first bracket 62 and the second bracket 64 are rotatably connected by the sleeve fitted onto the second rotating shaft 641.

[0090] In the above embodiment, the second rotating shaft 641 extends along the second axis, which forms an angle with the first axis; in other words, the second axis and the first axis are not parallel. For example, the second axis is perpendicular to the light-gathering direction of the camera module 3. When the second bracket 64 and the first bracket 62 rotate around the second axis, both the first bracket 62 and the mounting base 61 connected to the first bracket 62 rotate around the second axis. The light-gathering direction of the camera module 3 within the mounting base 61 rotates around the second axis, thus changing the field of view of the camera module 3.

[0091] The gimbal device 6 drives the first bracket 62 and the second bracket 64 to rotate relative to each other via a second piezoelectric motor 632. The second piezoelectric motor 632 is located between the first bracket 62 and the second bracket 64. One of the first bracket 62 and the second bracket 64 is provided with a second friction surface 642, and the other of the first bracket 62 and the second bracket 64 is equipped with the second piezoelectric motor 632. As shown in Figure 6, for example, the first bracket 62 is provided with the second friction surface 642, and the second bracket 64 is equipped with the second piezoelectric motor 632. The output part of the second piezoelectric motor 632 contacts the second friction surface 642 to drive the first bracket 62 and the second bracket 64 to rotate relative to each other around a second axis.

[0092] In the above embodiment, the gimbal device 6, by adding a second bracket 64, a second piezoelectric motor 632, and a second friction surface 642, provides the first bracket 62, the mounting base 61, and the camera module 3 with degrees of freedom to rotate around a second axis. Combining the degrees of freedom of rotation around the first axis between the first bracket 62 and the mounting base 61, the gimbal device 6 can control the camera module 3 to rotate around the first axis and the second axis respectively via the first piezoelectric motor 631 and the second piezoelectric motor 632. This gimbal device 6 provides the mounting base 61 with at least two degrees of freedom of rotation (rotation around the first axis and rotation around the second axis), thereby increasing the adjustment range of the camera module 3 and facilitating the expansion of the camera module 3's application scenarios.

[0093] It should be noted that the gimbal device 6 provided in this embodiment of the invention may further include a third bracket, which is rotatably connected to the second bracket 64 around a third axis. A third piezoelectric motor is disposed between the second bracket 64 and the third bracket to drive the relative rotation of the second bracket 64 and the third bracket, thereby increasing the degree of freedom of rotation of the camera module 3 around the third axis. Similarly, the gimbal device 6 can provide multiple degrees of freedom of rotation for the camera module 3 through a multi-layered similar architecture, thereby further increasing the adjustment range of the camera module 3.

[0094] In this embodiment of the invention, the gimbal device 6 is mounted via its outermost bracket. For example, taking the outermost bracket of the gimbal device 6 as the second bracket 64, the second bracket 64 includes a mounting structure for connection to the terminal 1 (e.g., connected to the inside of the backplate 11 of the terminal 1 or the circuit board within the terminal 1). In embodiments where the outermost bracket of the gimbal device 6 is the third bracket, the third bracket is directly mounted to the terminal 1. Further details are omitted here.

[0095] In some embodiments, the second friction surface 642 is formed as a second arcuate surface unfolding around the second axis. When the first bracket 62 and the second bracket 64 rotate relative to each other at a certain angle, the second piezoelectric motor 632 can still contact the second friction surface 642 and provide driving force. The frictional force applied by the second piezoelectric motor 632 to the second friction surface 642 will not change much, so that the camera module 3 can be subjected to a stable driving force during its rotation around the second axis, which is beneficial for the camera module 3 to achieve stable, smooth and clear shooting.

[0096] In some embodiments, as shown in FIG7, the output portion of the second piezoelectric motor 632 and the second rotating shaft 641 are arranged in the same plane. The pressure of the output portion of the second piezoelectric motor 632 on the second friction surface 642 is in the same plane as the second rotating shaft 641, and the torque generated is zero. The second piezoelectric motor 632 and the second friction surface 642 are driven by a stable frictional force, and are not affected by the torque of the pressure. Furthermore, when the second piezoelectric motor 632 is not energized and vibrating, the pressure of the output portion of the second piezoelectric motor 632 against the second friction surface 642 will not cause the camera module 3 to rotate, thereby improving the stability of the camera module 3.

[0097] In some embodiments, the center of the first arc surface coincides with the center of the second arc surface. Since the first arc surface rotates around the first axis and the second arc surface unfolds around the second axis, the coincidence of the centers of the first and second arc surfaces can be understood as the first and second axes having an intersection point, which is the center of the first and second arc surfaces. In this embodiment, during the rotation of the camera module 3 around the first or second axis driven by the gimbal device 6, the position of the camera module 3 at the center remains unchanged, resulting in higher stability for the camera module 3.

[0098] In some embodiments, the first axis and the second axis are perpendicular to each other, which allows for a larger adjustment range. For example, the first axis is perpendicular to the light-receiving direction of the camera module 3, and the second axis is also perpendicular to the light-receiving direction of the camera module 3.

[0099] In some embodiments, the gimbal device 6 further includes a second elastic element 643, which is supported by the second piezoelectric motor 632 so that the output of the second piezoelectric motor 632 abuts against the second friction surface 642. When the second piezoelectric motor 632 is de-energized, it remains in contact with the second friction surface 642 under the action of the second elastic element 643, maintaining a stable position between the first support 62 and the second support 642, thus locking the camera module 3 in a fixed position. In this embodiment, the gimbal device 6 eliminates the need for other fixing structures, reducing structural complexity and cost.

[0100] In some embodiments, the second friction surface 642 is a surface that has undergone nitriding treatment, which gives the second friction surface 642 good wear resistance and surface hardness.

[0101] For example, the first bracket 62 is provided with a second friction surface 642, the second piezoelectric motor 632 is mounted on the second bracket 64, and the second elastic member 643 is supported between the second bracket 64 and the second piezoelectric motor 632 to provide an elastic force that causes the second piezoelectric motor 632 to abut against the second friction surface 642. Alternatively, the second bracket 64 is provided with a second friction surface 642, the second piezoelectric motor 632 is mounted on the first bracket 62, and the second elastic member 643 is supported between the first bracket 62 and the second piezoelectric motor 632 to provide an elastic force that causes the second piezoelectric motor 632 to abut against the second friction surface 642.

[0102] In some embodiments, the output portion of the second piezoelectric motor 632 includes one or more contacts 633, and the second piezoelectric motor 632 includes a second piezoelectric deformer 6321, which is capable of deformation under voltage to drive the contacts 633 of the second piezoelectric motor 632 into transmission contact with the second friction surface 642.

[0103] In some embodiments, the second piezoelectric deformer 6321 includes multiple layers of piezoelectric ceramic sheets stacked along the thickness direction, the multiple layers of piezoelectric ceramic sheets being connected in parallel to each other to access the drive circuit.

[0104] To facilitate understanding of the advantages of the gimbal device 6, the camera module assembly 2 with the gimbal device 6, and the terminal 1 provided by the present invention, the working process and effects of the camera module assembly 2 provided by the present invention will be introduced below in conjunction with a variety of exemplary application scenarios.

[0105] As an example application scenario, during the shooting process of the user handheld terminal 1, the gimbal device 6 can compensate for the angle changes of the camera module 3, maintain the stability of the camera module 3, and thus achieve clear shooting. Therefore, the aforementioned gimbal device 6 allows the camera module 3 to shoot while in motion, achieving image stabilization and obtaining clear images. The gimbal device 6 is installed on the terminal 1. When the shaking generated by the user holding the terminal 1 is transmitted to the camera module assembly 2, the gimbal device 6 drives the mounting base 61 and the first bracket 62 to rotate relative to each other through the first piezoelectric motor 631, causing the camera module 3 to rotate relative to the terminal 1, thereby compensating for the travel of the camera module 3 and enabling the camera module 3 to maintain a relatively stable framing range.

[0106] As another application scenario, the gimbal device 6 can adjust its angle, has a wider angle adjustment range, and can achieve subject tracking. For example, the subject can be kept in a fixed position in the frame, such as a person or a camera module 3. The gimbal device 6 can assist the terminal 1 in achieving target locking and shooting. During the shooting of a dynamic target, the user controls the terminal 1 to track and shoot the target, while the gimbal device 6 in this embodiment of the invention can lock the target in a specific position in the frame to achieve shooting by controlling the rotation of the camera module 3.

[0107] As another application scenario, the gimbal device 6 provided in this embodiment of the invention enables the camera module to achieve large-format stitching functionality. Specifically, when shooting the same scene, the user can expand the image size by adjusting the angle. For example, the gimbal device 6 can expand the image size; with the terminal 1 in a fixed position, the gimbal device 6 can adjust the framing range of the camera module, allowing different framing ranges to be stitched together to obtain a large-format image.

[0108] The above are merely some embodiments and implementations of the present invention, and the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A gimbal device (6) for driving a camera module (3), characterized in that The cloud platform device (6) comprises: a mounting base (61) for mounting the camera module (3); a first support (62) surrounding the outside of the mounting base (61), the first support (62) and the mounting base (61) being rotatably connected to each other through a first rotating shaft (621) extending along a first axis, the first axis having an included angle with the light entering direction of the camera module (3); a first piezoelectric motor (631) located between the mounting base (61) and the first support (62); wherein one of the mounting base (61) and the first support (62) is provided with the first piezoelectric motor (631), and the other of the mounting base (61) and the first support (62) is provided with a first friction surface (622), and the output part of the first piezoelectric motor (631) is in contact with the first friction surface (622) for driving the mounting base (61) and the first support (62) to relatively rotate around the first axis.

2. A head (6) according to claim 1, characterized in that The first friction surface (622) is formed as a first circular arc surface extending around the first axis.

3. A head (6) according to claim 1 or 2, characterized in that The output part of the first piezoelectric motor (631) and the first rotating shaft (621) are arranged in the same plane.

4. A head (6) according to any one of claims 1-3, characterized in that The cloud platform device (6) further comprises a first elastic member (623); wherein the mounting base (61) is provided with the first friction surface (622), the first piezoelectric motor (631) is mounted on the first support (62), and the first elastic member (623) is supported between the first support (62) and the first piezoelectric motor (631) to provide an elastic force for abutting the first piezoelectric motor (631) against the first friction surface (622); or the first support (62) is provided with the first friction surface (622), the first piezoelectric motor (631) is mounted on the mounting base (61), and the first elastic member (623) is supported between the mounting base (61) and the first piezoelectric motor (631) to provide an elastic force for abutting the first piezoelectric motor (631) against the first friction surface (622).

5. A head (6) according to any one of claims 1-4, characterized in that The output part of the first piezoelectric motor (631) comprises one or more contacts (633), and the first piezoelectric motor (631) comprises a first piezoelectric deformation member (6311) capable of deforming under the action of voltage to drive the contacts (633) of the first piezoelectric motor (631) to be in transmission contact with the first friction surface (622).

6. A head (6) according to claim 5, characterized in that The first piezoelectric deformation member (6311) comprises a plurality of layers of piezoelectric ceramic sheets stacked along the thickness direction, and the plurality of layers of piezoelectric ceramic sheets are connected in parallel with each other.

7. A head (6) according to any one of claims 1-6, characterized in that The cloud platform device (6) further comprises: a second support (64) surrounding the outside of the first support (62), the second support (64) and the first support (62) being rotatably connected to each other through a second rotating shaft (641) extending along a second axis, the second axis having an included angle with the first axis; a second piezoelectric motor (632) is arranged between the first support (62) and the second support (64); wherein one of the first support (62) and the second support (64) is provided with a second friction surface (642), and the other of the first support (62) and the second support (64) is provided with the second piezoelectric motor (632), and an output portion of the second piezoelectric motor (632) is in contact with the second friction surface (642) for driving the first support (62) and the second support (64) to relatively rotate around the second axis.

8. A head (6) according to claim 7, characterized in that The first friction surface (622) is formed as a first circular arc surface extending around the first axis, and the second friction surface (642) is formed as a second circular arc surface extending around the second axis.

9. A head (6) according to claim 8, characterized in that The center of the first circular arc surface coincides with the center of the second circular arc surface.

10. A head (6) according to claim 7 or 8, characterized in that The first axis is perpendicular to the light-incident direction of the camera module (3); and / or The second axis is perpendicular to the light-incident direction of the camera module (3).

11. A head (6) according to any one of claims 7-10, characterized in that The output portion of the second piezoelectric motor (632) and the second rotating shaft (641) are arranged in the same plane.

12. A head (6) according to any one of claims 7-10, characterized in that The first axis and the second axis are perpendicular to each other.

13. A head (6) according to any one of claims 7-10, characterized in that The gimbal device (6) further comprises a second elastic member (643); wherein the first support (62) is provided with the second friction surface (642), the second piezoelectric motor (632) is mounted on the second support (64), and the second elastic member (643) is supported between the second support (64) and the second piezoelectric motor (632) to provide an elastic force for abutting the second piezoelectric motor (632) against the second friction surface (642); or The second support (64) is provided with the second friction surface (642), the second piezoelectric motor (632) is mounted on the first support (62), and the second elastic member (643) is supported between the first support (62) and the second piezoelectric motor (632) to provide an elastic force for abutting the second piezoelectric motor (632) against the second friction surface (642).

14. A head (6) according to any one of claims 7-13, characterized in that The output portion of the second piezoelectric motor (632) comprises one or more contacts (633), and the second piezoelectric motor (632) comprises a second piezoelectric deformation member (6321) capable of being deformed under the action of a voltage to drive the contacts of the second piezoelectric motor (632) into transmission contact with the second friction surface (642).

15. A head (6) according to claim 14, characterized in that The second piezoelectric deformation member (6321) comprises a plurality of layers of piezoelectric ceramic sheets stacked in the thickness direction, and the plurality of layers of piezoelectric ceramic sheets are connected in parallel with each other.

16. A camera module assembly (2) comprising: A camera module (3) and a gimbal device (6) according to any one of claims 1-15 are provided, and the camera module (3) comprises an optical lens (4) and a photosensitive element (5); wherein the optical lens (4) and the photosensitive element (5) are both mounted on a mounting base (61) of the gimbal device (6), and the photosensitive element (5) is located on the imaging side of the optical lens (4); or The optical lens (4) is mounted on the mounting seat (61) of the holder device (6), and the photosensitive element (5) is located on the imaging side of the optical lens (4) and the mounting seat (61).

17. A terminal (1) characterized in that The image processing device (8) is in communication connection with the camera module (3), the camera module (3) is used for acquiring an image and inputting the image into the image processing device (8), and the image processing device (8) is used for image processing the image.

Images