Display apparatus and method for controlling extension and retraction of flexible display module in display apparatus

Abstract

A display apparatus, comprising: a flexible display module; an extending and retracting mechanism, comprising a fixed part, a movable part, and an extending and retracting assembly, the fixed part comprising a winding shaft, one end of the flexible display module being connected to the winding shaft, the other end thereof being connected to the movable part, the extending and retracting assembly comprising a plurality of folding extending and retracting frames, each folding extending and retracting frame comprising a plurality of connecting rods connected in sequence, each folding extending and retracting frame having at least one translation part, and the translation parts of any two adjacent folding extending and retracting frames being connected by means of a balance connecting rod; a winding shaft motor, fixed on the fixed part and connected to the winding shaft by means of a transmission gear set; and a lead screw motor, arranged between the fixed part and the balance connecting rod closest to the fixed part, wherein the extending and retracting assembly further comprises angle sensors for measuring included angles between the balance connecting rods and the connecting rods in the folding extending and retracting frames connected to the balance connecting rods, and the lead screw motor and the winding shaft motor are configured to compensate for the winding and unwinding of the flexible display module on the basis of the angles sensed by the angle sensors.

Description

Method for controlling the extension and retraction of a flexible display module in a display device Technical Field

[0001] This invention relates to display technology, and more particularly to a display device and a method for controlling the extension and retraction of a flexible display module in the display device. Background Technology

[0002] Currently, roll-up display devices include a flexible display module and a telescopic mechanism that carries the flexible display module. The telescopic mechanism includes a fixed part, a movable part, and a telescopic assembly. The fixed part and the movable part are respectively used to connect to the opposite sides of the flexible display module. The two ends of the telescopic assembly are connected to the fixed part and the movable part, respectively. The extension and retraction of the telescopic assembly can cause the fixed part and the movable part to move away from or towards each other, thereby causing the flexible display module to unfold or roll up. Summary of the Invention

[0003] On one hand, this disclosure provides a display device, including: a flexible display module; a telescopic mechanism, the telescopic mechanism including a fixed part, a movable part, and a telescopic assembly, the fixed part including a scroll, one end of the flexible display module being connected to the scroll and the other end being connected to the movable part, the telescopic assembly including a plurality of folding telescopic frames, each folding telescopic frame including a plurality of sequentially connected links, each folding telescopic frame having at least one translational part, during the telescopic process of the folding telescopic frame, the distance between the translational part and a first centerline of the telescopic assembly remains unchanged, the extension direction of the first centerline being perpendicular to the telescopic direction of the folding telescopic frame. The telescopic assembly includes a lateral motor, which is fixed to the fixed part and connected to the lateral motor via a balance link; a screw motor, which is disposed between the fixed part and the balance link closest to the fixed part; and an angle sensor for measuring the angle between the balance link and the link connecting the balance link in the folding telescopic frame. The screw motor and the lateral motor are configured to compensate for the winding and unfolding of the flexible display module based on the angle sensed by the angle sensor.

[0004] Optionally, the lead screw motor and the reel motor are configured to drive the winding and unfolding of the flexible display module in a coordinated manner, such that the winding length of the flexible display module on the reel is equal to the extension length of the flexible display module.

[0005] Optionally, one end of the lead screw motor is connected to the fixed part, and the other end is connected to the first hinge shaft, which is located in the first shaft hole of the balance link closest to the fixed part.

[0006] Optionally, the lead screw motor is equipped with an angle sensor configured to calculate the actual sliding distance of the lead screw motor.

[0007] Optionally, each of the folding telescopic frames includes n folding units connected sequentially along the telescopic direction, and each folding unit has the translation part, such that the telescopic length of the folding telescopic frame is n times the sliding stroke of the lead screw motor, where n is a positive integer greater than or equal to 2.

[0008] Optionally, the slip compensation value of the lead screw motor is obtained by the following formula: Where D is the target value of the sliding stroke of the lead screw motor; L1 is the actual sliding distance of the lead screw motor; Li is the extension and retraction amount of the i-th folding unit, which is calculated based on the angle sensed by the angle sensor, where i≥2.

[0009] Optionally, the telescopic mechanism is further equipped with an angle sensor for measuring the actual rotation angle and number of rotations of the reel.

[0010] Optionally, the telescopic mechanism further includes two telescopic slide rails, which are located on both sides of the telescopic assembly in a first direction; the telescopic slide rail includes a first fixed guide rail, a second fixed guide rail, and at least one intermediate guide rail, which is sequentially connected between the first fixed guide rail and the second fixed guide rail, the first fixed guide rail being connected to the fixed part, and the second fixed guide rail being connected to the movable part.

[0011] Optionally, the telescopic mechanism further includes a rear shell, in which the telescopic component is located. The rear shell includes a first fixed sub-shell, a second fixed sub-shell, and at least one intermediate sub-shell. The first fixed sub-shell is connected to the fixed part, the second fixed sub-shell is connected to the movable part, and the at least one intermediate sub-shell is sequentially connected between the first fixed sub-shell and the second fixed sub-shell.

[0012] Optionally, the flexible display module includes a flexible display panel and a support member, wherein the flexible display panel is attached to the support member and is wound up by the roller.

[0013] Optionally, the telescopic assembly further includes a first connecting rod and a second connecting rod, both of which are connected to the middle of the balance link. The first connecting rod and the second connecting rod are located on both sides of the balance link in the telescopic direction, and are staggered from each other in a first direction, which is perpendicular to the telescopic direction.

[0014] Optionally, in addition to the balance link connected to the lead screw motor, the other balance links are equipped with angle sensors, which are configured to measure the angle between the balance link and other links connected to the balance link.

[0015] On the other hand, this disclosure provides a method for controlling the extension and retraction of a flexible display module in a display device, wherein the display device includes: a flexible display module; an extension mechanism, the extension mechanism including a fixed part, a movable part, and an extension assembly, the fixed part including a scroll, one end of the flexible display module being connected to the scroll and the other end being connected to the movable part, the extension assembly including a plurality of folding extension frames, each folding extension frame including a plurality of sequentially connected links, the translational parts of any two adjacent folding extension frames being connected through the balance link; a scroll motor, the scroll motor being fixed on the fixed part and connected to the scroll through a transmission gear set; and a lead screw motor, the lead screw motor being disposed between the fixed part and the balance link closest to the fixed part, wherein the extension assembly further includes an angle sensor for measuring the angle between the balance link and the link connecting the balance link in the folding extension frame, and the method includes: driving the lead screw motor and the scroll motor to compensate for the winding and unfolding of the flexible display module according to the angle sensed by the angle sensor.

[0016] Optionally, the folding telescopic frame includes n folding units connected sequentially along the telescopic direction, each folding unit having the translational part, such that the telescopic length of the folding telescopic frame is n times the sliding stroke of the lead screw motor, where n is a positive integer greater than or equal to 2, wherein the sliding compensation value of the lead screw motor is obtained by the following formula: Where D is the target value of the sliding stroke of the lead screw motor; L1 is the actual sliding distance of the lead screw motor; Li is the extension and retraction amount of the i-th folding unit, which is calculated based on the angle sensed by the angle sensor, where i≥2. Attached Figure Description

[0017] The following figures are merely illustrative examples based on various disclosed embodiments and are not intended to limit the scope of the invention.

[0018] Figure 1 is a schematic diagram of a display device in a retracted state according to some embodiments of the present disclosure.

[0019] Figure 2 is a schematic diagram of the display device in an unfolded state according to some embodiments of the present disclosure.

[0020] Figure 3 is an exploded view showing the structure of a display device according to some embodiments of the present disclosure.

[0021] Figure 4 is a top view of the telescopic mechanism of the display device in the extended state according to some embodiments of the present disclosure.

[0022] Figure 5 is a bottom view of the display device in the extended state according to some embodiments of the present disclosure.

[0023] Figure 6 is a schematic diagram of the folding telescopic frame of the telescopic assembly in the unfolded state according to some embodiments of the present disclosure.

[0024] Figure 7 is a schematic diagram of the folding telescopic frame shown in Figure 6 in the retracted state.

[0025] Figure 8 is a schematic diagram showing the structure of the connecting portion according to some embodiments of the present disclosure.

[0026] Figure 9 is a schematic diagram showing the structure of a balance link according to some embodiments of the present disclosure.

[0027] Figure 10 is a schematic diagram of the telescopic mechanism in a retracted state according to some embodiments of the present disclosure.

[0028] Figure 11 is a schematic diagram of the telescopic mechanism in the deployed state according to some embodiments of the present disclosure.

[0029] Figure 12A is a perspective view of a reel motor and its transmission structure according to some embodiments of the present disclosure.

[0030] Figure 12B is a schematic diagram of a flexible display module driven by a reel motor to wind up a reel, according to some embodiments of the present disclosure.

[0031] Figure 13 is a schematic diagram of the folding telescopic frame of the telescopic assembly in the unfolded state according to some embodiments of the present disclosure.

[0032] Figure 14 is a flowchart illustrating a method for controlling the extension and retraction of a flexible display module in a display device according to some embodiments of the present disclosure. Detailed Implementation

[0033] This disclosure will now be described in more detail with reference to the following embodiments. It should be noted that the following description of some embodiments presented herein is for illustrative and descriptive purposes only. It is not exhaustive or limited to the precise forms disclosed.

[0034] The terminology used in this disclosure is for illustrative purposes only and is not intended to limit the scope of the disclosure. Unless otherwise defined, the technical or scientific terms used in this disclosure should be understood in their ordinary sense by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” “third,” and similar terms used in this disclosure and the claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising” or “including” and similar terms mean that the elements or objects preceding “comprising” or “including” encompass the elements or objects listed following “comprising” or “including” and their equivalents, but do not exclude other elements or objects.

[0035] Figure 1 is a schematic diagram of the display device in a retracted state according to some embodiments of the present disclosure. Figure 2 is a schematic diagram of the display device in an extended state according to some embodiments of the present disclosure. As shown in Figures 1 and 2, the display device includes a flexible display module 10 and a telescopic mechanism 20. The telescopic mechanism 20 supports the flexible display module 10.

[0036] As shown in Figure 1, when the display device is in the retracted state, the telescopic mechanism 20 retracts and the flexible display module 10 is at least partially housed in a part of the telescopic mechanism 20 (e.g., the fixing part 21 shown in Figure 3), at which time the display device is smaller in size. This retracted state can be referred to as the closed state, etc.

[0037] As shown in Figure 2, when the display device is in the unfolded state, the telescopic mechanism 20 unfolds and the flexible display module 10 is laid flat on the telescopic mechanism 20, thus increasing the display area of ​​the display device. This unfolded state can also be referred to as the open state, etc.

[0038] When the display device is in the unfolded state, the area of ​​the display area of ​​the flexible display module 10 is n times the area of ​​the display area of ​​the flexible display module 10 when the display device is in the retracted state, where n is a positive integer greater than or equal to 2. For example, n is equal to 2 or 3, etc. The value n is also referred to as the expansion ratio of the flexible display module 10. According to some embodiments of this disclosure, the expansion ratio n of the flexible display module 10 can reach more than 5 times.

[0039] Figure 3 is an exploded view showing the structure of a display device according to some embodiments of the present disclosure. As shown in Figure 3, the flexible display module 10 includes a flexible display panel 11 and a support member 12. The flexible display panel 11 has display surfaces and non-display surfaces facing each other. The support member 12 is located on the non-display surface of the flexible display panel 11 and is used to support the flexible display panel 11. As an example, the flexible display panel 11 may be an OLED (Organic Light-Emitting Diode) display panel. As an example, the support member 12 may be made of a metallic material, such as stainless steel.

[0040] As shown in Figure 3, the telescopic mechanism 20 includes a fixed part 21, a movable part 22, a telescopic component 23, two telescopic slide rails 24, and a rear shell 25. The fixed part 21 and the movable part 22 are respectively connected to opposite sides of the flexible display module 10. The telescopic component 23 is located between and connected to the fixed part 21 and the movable part 22. The telescopic component 23 has a telescopic function, capable of moving the fixed part 21 and the movable part 22 away from or towards each other. The two telescopic slide rails 24 are located on both sides of the telescopic component 23 along the first direction y. The two ends of the telescopic slide rails 24 are respectively connected to the fixed part 21 and the movable part 22. The telescopic component 23 and the telescopic slide rails 24 are located in the rear shell 25.

[0041] When the display device is in the retracted state, a portion of the flexible display panel 11 and a portion of the support member 12 are housed in the telescopic mechanism 20. When the display device is in the extended state, the flexible display panel 11 and the support member 12 are laid flat on the extended telescopic mechanism 20.

[0042] For example, as shown in Figure 3, the fixing part 21 of the telescopic mechanism 20 is provided with a winding assembly for winding up the flexible display module 10. As an example, the winding assembly includes two spools 211a and 211b, which are arranged parallel to each other and spaced apart. The axial directions of both spools 211a and 211b are perpendicular to the telescopic direction x of the telescopic assembly 23. Spool 211a is used to wind up the flexible display panel 11, and spool 211b is used to wind up the support member 12. Alternatively, the winding assembly may also include only one spool, with the flexible display panel 11 and the support member 12 attached together and wound up using a single spool.

[0043] Figure 4 is a top view of the telescopic mechanism of the display device according to some embodiments of the present disclosure in the deployed state. Figure 5 is a bottom view of the telescopic mechanism of the display device according to some embodiments of the present disclosure in the deployed state. Referring to Figures 4 and 5, the telescopic assembly 23 is located between and connected to the fixed portion 21 and the movable portion 22. The two ends of the telescopic slide rail 24 are connected to the fixed portion 21 and the movable portion 22, respectively. The telescopic assembly 23 and the telescopic slide rail 24 are located within the rear housing 25.

[0044] As shown in Figure 4, in some embodiments, the telescopic slide rail 24 includes a first fixed guide rail 241, a second fixed guide rail 242, and at least one intermediate guide rail 243. The at least one intermediate guide rail 241 is sequentially connected between the first fixed guide rail 242 and the second fixed guide rail 243. The first fixed guide rail 241 is connected to the fixed part 21, and the second fixed guide rail 242 is connected to the movable part 22. The number of intermediate guide rails 243 is not limited in this embodiment and can be set according to the size and expansion ratio of the display device.

[0045] When the display device is in the retracted state, the second fixed guide rail 242 is housed in at least one intermediate guide rail 243, and the at least one intermediate guide rail 243 is housed in the first fixed guide rail 241. When the display device is in the extended state, as shown in FIG4, the second fixed guide rail 242 slides out from the at least one intermediate guide rail 243, and the at least one intermediate guide rail 243 slides out from the first fixed guide rail 241.

[0046] As shown in Figure 5, in some embodiments, the rear shell 25 includes a first fixed sub-shell 251, a second fixed sub-shell 252, and an intermediate sub-shell 253. The first fixed sub-shell 251 is connected to the fixed part 21, and the second fixed sub-shell 252 is connected to the movable part 22. The intermediate sub-shell 253 is connected between the first fixed sub-shell 2511 and the second fixed sub-shell 2512. The number of intermediate sub-shells 253 can be set according to the size and expansion ratio of the display device, for example, it can be one, two, or three.

[0047] When the display device is in the retracted state, the second fixed sub-shell 252 is housed in the intermediate sub-shell 253, which is housed in the first fixed sub-shell 251. When the display device is in the extended state, as shown in FIG5, the second fixed sub-shell 252 extends out from the intermediate sub-shell 253, and the intermediate sub-shell 253 extends out from the first fixed sub-shell 251.

[0048] In some embodiments, the back side of the second fixed sub-housing 252 has a protrusion 25c, which can act as a handle to facilitate the user to pull open the rear housing, thereby driving the telescopic assembly and telescopic slide rail to extend and retract.

[0049] In some embodiments, the bottom plates of the other sub-shells (e.g., the intermediate sub-shell 253 and the first fixed sub-shell 251) besides the second fixed sub-shell 252 all have clearance openings 25d that match the protrusions 25c. When the rear shell 25 is in the retracted state, the protrusions 25c are located in the clearance openings 25d, so as not to affect the telescopic movement of the telescopic mechanism.

[0050] As shown in Figure 4, in some embodiments, the telescopic assembly 23 includes a plurality of folding telescopic frames 231, which are arranged at intervals along a first direction y. Any two adjacent folding telescopic frames 231 are connected by at least one balance link 232. For example, in the example shown in Figure 4, the telescopic assembly 23 includes four folding telescopic frames 231, and any two adjacent folding telescopic frames 231 are connected by three balance links 232. In embodiments according to this disclosure, the number of folding telescopic frames 231 is not limited and can be adjusted according to the actual size of the flexible display module, for example, it can be 2, 3, 5, or 6, etc.

[0051] Figure 6 is a schematic diagram of the folding telescopic frame of the telescopic assembly according to some embodiments of the present disclosure in the unfolded state. Figure 7 is a schematic diagram of the folding telescopic frame shown in Figure 6 in the retracted state. In Figures 6 and 7, the four folding telescopic frames are, in order from top to bottom, the second folding telescopic frame 231b, the first folding telescopic frame 231a, the third folding telescopic frame 231c, and the fourth folding telescopic frame 231d.

[0052] The four folding telescopic frames are divided into a first folding telescopic frame group and a second folding telescopic frame group. The first and second folding telescopic frame groups are symmetrically arranged about the first centerline O of the telescopic assembly 23. The extension direction of the first centerline O is consistent with the telescopic direction x of the telescopic assembly 23. That is, the first folding telescopic frame 231a is the folding telescopic frame closest to the first centerline O in the first telescopic frame group, and the third folding telescopic frame 231c is the folding telescopic frame closest to the first centerline in the second telescopic frame group. The third folding telescopic frame 231c and the first folding telescopic frame 231a are symmetrically arranged about the first centerline O, and the fourth folding telescopic frame 231d and the second folding telescopic frame 231b are symmetrically arranged about the first centerline O.

[0053] In some embodiments, each folding telescopic frame 231 includes a plurality of folding units 2310 connected sequentially along the telescopic direction x, and each folding unit 2310 has a translational portion 2310a. During the telescopic process of the folding telescopic frame 231, the distance between the translational portion 2310a and the first center line O of the telescopic assembly 23 remains unchanged, and displacement occurs only in the telescopic direction x.

[0054] A balance link 232 connects a translation part 2310a of the first folding unit and a translation part 2310a of the second folding unit. The first and second folding units belong to two adjacent folding telescopic frames 231 and are adjacent in the first direction y. Ideally, the distance between the translation parts 2310a of the two adjacent folding units in the first direction y will not change during the extension and retraction of the folding telescopic frame 231. Therefore, placing the balance link 232 between the translation parts 2310a of the two adjacent folding units 2310 facilitates the synchronous extension and retraction of the two folding units 2310 connected to the balance link 232.

[0055] In some embodiments, the folding unit 2310 of the first folding telescopic frame 231a is V-shaped and includes a first link 1a and a second link 1b. One end of the first link 1a and one end of the second link 1b are connected by a first connecting part, and the other end of the second link 1b is connected to one end of the first link 1a of another folding unit 2310 of the first folding telescopic frame 231a by a second connecting part.

[0056] In some embodiments, the folding unit 2310 of the second folding telescopic frame 231b is V-shaped and includes a third link 1c and a fourth link 1d. One end of the third link 1c and one end of the fourth link 1d are connected by a third connecting portion, and the other end of the fourth link 1d is connected to one end of the third link 1c of another folding unit of the second folding telescopic frame 231b by a fourth connecting portion. The third link 1c is parallel to the first link 1a, and the fourth link 1d is parallel to the second link 1b.

[0057] In some embodiments, the structure of the second folding telescopic frame 231b is the same as that of the first folding telescopic frame 231a, and the second folding telescopic frame 231b can be obtained by translating the first folding telescopic frame 231a along the first direction y.

[0058] Referring to Figures 6 and 7, when each folding telescopic frame 231 is in the unfolded state, let the distance from the second connecting part to the first center line O be h. Then, when all folding telescopic frames 231 are in the folded state, the distance from the second connecting part to the first center line O is also h. It can be seen that the distance of the second connecting part relative to the first center line O remains unchanged during the extension and retraction of the telescopic assembly 23. Therefore, the second connecting part of the first folding telescopic frame 231a is the translation part 2310a of the first folding telescopic frame 231a. Similarly, the fourth connecting part of the second folding telescopic frame 231b is the translation part 2310a of the second folding telescopic frame 231b. The balance link 232 connects the second connecting part and the fourth connecting part.

[0059] In some embodiments, the folding unit 2310 of the third folding telescopic frame 231c is V-shaped and includes a first link 1a and a second link 1b. One end of the first link 1a and one end of the second link 1b are connected by a first connecting part, and the other end of the second link 1b is connected to one end of the first link 1a of another folding unit 2310 of the first folding telescopic frame 231c by a second connecting part.

[0060] In some embodiments, the folding unit 2310 of the fourth folding telescopic frame 231d is V-shaped and includes a third link 1c and a fourth link 1d. One end of the third link 1c and one end of the fourth link 1d are connected by a third connecting portion, and the other end of the fourth link 1d is connected to one end of the third link 1c of another folding unit 2310 of the fourth folding telescopic frame 231d by a fourth connecting portion. The third link 1c is parallel to the first link 1a, and the fourth link 1d is parallel to the second link 1b.

[0061] In some embodiments, the structure of the third folding telescopic frame 231c is the same as that of the first folding telescopic frame 231a, and the third folding telescopic frame 231c can be obtained by translating the fourth folding telescopic frame 231d along the first direction y.

[0062] The second connecting part of the third folding telescopic frame 231c is the translation part of the third folding telescopic frame 231c. Similarly, the fourth connecting part of the fourth folding telescopic frame 231d is the translation part of the fourth folding telescopic frame 231d.

[0063] Figure 8 is a schematic diagram illustrating the structure of the connecting portion according to some embodiments of the present disclosure. In some embodiments, as shown in Figure 8, the connecting portion includes a first connecting structure 2a, a second connecting structure 2b, and a connecting plate 2c. The first connecting structure 2a and the second connecting structure 2b are respectively fixedly connected to two adjacent connecting rods in the folding telescopic frame 231. The first connecting structure 2a and the second connecting structure 2b are respectively hinged to the connecting plate 2c, and the rotation axes of the first connecting structure 2a and the second connecting structure 2b relative to the connecting plate 2c are both perpendicular to the telescopic direction x and the first direction y. That is, the rotation axes of the first connecting structure 2a and the second connecting structure 2b relative to the connecting plate 2c extend along the second direction z.

[0064] In some embodiments, the first connecting structure 2a includes two ear plates 21a, which are parallel to each other and spaced apart from each other in the second direction z. The second connecting structure 2b also includes two ear plates 21b, which are parallel to each other and spaced apart from each other in the second direction z. The two ear plates 21a of the first connecting structure 2a are connected to one end of a connecting rod. The two ear plates 21b of the second connecting structure 2b are connected to one end of another connecting rod. In some embodiments, the two ear plates 21a and the connected connecting rod can be integrally formed. A portion of the connecting plate 2c is located between the two ear plates 21a, and another portion of the connecting plate 2c is located between the two ear plates 21b.

[0065] The two ear plates 21a of the first connecting structure 2a and the two ear plates 21b of the second connecting part 2b each have shaft holes. The connecting plate 2c has a first shaft hole c1 (see Figure 9) that mates with the first connecting structure 2a and a second shaft hole c2 (see Figure 9) that mates with the second connecting structure 2b.

[0066] In some embodiments, a first hinge shaft is provided in the shaft hole and the first shaft hole c1 in the ear plate 21a of the first connecting structure 2a. The first hinge shaft is interference-fitted or fixedly connected to the shaft hole in the ear plate 21a to fix the ear plate 21a of the first connecting structure 2a to the first hinge shaft. The hinge shaft is clearance-fitted to the first shaft hole c1 on the connecting plate 2c, so that the first hinge shaft can rotate in the first shaft hole c1 of the connecting plate 2c.

[0067] In some embodiments, a second hinge shaft is provided in the shaft hole and the second shaft hole c2 in the ear plate 21b of the second connecting structure 2b. The second hinge shaft is interference-fitted or fixedly connected to the shaft hole in the ear plate 21b to fix the ear plate of the second connecting structure 2b to the second hinge shaft. The second hinge shaft is clearance-fitted to the second shaft hole c2 on the connecting plate 2c, so that the second hinge shaft can rotate in the second shaft hole c2 of the connecting plate 2c.

[0068] In some embodiments, the outer wall of the ear plate of the first connecting structure 2a includes a first portion and a second portion, which are connected in the circumferential direction. The first portion is planar and is coplanar with the first side surface of the connecting rod to which the first connecting structure 2a is connected. The outer wall of the ear plate of the second connecting structure 2b also includes a first portion and a second portion connected in the circumferential direction, the first portion being planar and coplanar with the first side surface of the connecting rod to which the second connecting portion is connected.

[0069] The second part of the outer side wall of the ear plate of the first connecting structure 2a and the second part of the outer side wall of the second connecting structure 2b are both arc surfaces and tangent to each other.

[0070] The outer walls of the first connecting structure 2a and the second connecting structure 2b each have a toothed structure 2d, which meshes with each other. Because the toothed structures 2d of the first connecting structure 2a and the second connecting structure 2b mesh with each other, during the extension and retraction of the folding telescopic frame 231, the two connecting rods connected by the connecting part in Figure 8 can open and close synchronously, ensuring that the axis of symmetry between the two connecting rods is always along the first direction y.

[0071] In some embodiments, the tooth structure 2d may be disposed in the second portion of the two ear plates 21a of the first connecting structure 2a, or disposed in the second portion of either ear plate 21a of the first connecting structure 2a. The tooth structure 2d of the second connecting structure 2b is disposed correspondingly to the tooth structure 2d of the first connecting structure 2a.

[0072] Figure 9 is a schematic diagram showing the structure of a balance link according to some embodiments of the present disclosure. As shown in Figure 9, the balance link is divided into three segments, wherein the first segment x1 is located between the fourth connecting part of the second folding telescopic frame 231b and the second connecting part of the first folding telescopic frame 231a, the second segment x2 is located between the second connecting part of the first folding telescopic frame 231a and the second connecting part of the third folding telescopic frame 231c, and the third segment x3 is located between the second connecting part of the third folding telescopic frame 231c and the fourth connecting part of the fourth folding telescopic frame 231d.

[0073] In some embodiments, the connecting plate 2c and the balance rod 232, which are arranged sequentially along the first direction y, are both integral structures. This reduces the number of parts in the telescopic mechanism and lowers the assembly difficulty.

[0074] In some embodiments, the second connecting portion of the first folding telescopic frame 231a is connected to the second connecting portion of the third folding telescopic frame 231c via a balance link 232. The second connecting portion of the first folding telescopic frame 231a is connected to the fourth connecting portion of the second folding telescopic frame 231b via a balance link 232. The second connecting portion of the third folding telescopic frame 231a is connected to the fourth connecting portion of the fourth folding telescopic frame 231d via a balance link 232.

[0075] Optionally, the multiple balancing links 232 between all adjacent translation parts in the first direction y can be an integral structure, as shown in Figure 9. For example, the balancing link 232 between the second connecting part of the first folding telescopic frame 231a and the second connecting part of the third folding telescopic frame 231c, the balancing link 232 between the second connecting part of the first folding telescopic frame 231a and the fourth connecting part of the second folding telescopic frame 231b, and the balancing link 232 between the second connecting part of the third folding telescopic frame 231a and the fourth connecting part of the fourth folding telescopic frame 231d can be an integral structure. On the one hand, the integral structure of the balancing links can connect all the folding telescopic frames together, which is beneficial to further improve the synchronization of the telescopic movement of each folding telescopic frame; on the other hand, it can reduce the assembly difficulty of the telescopic mechanism and improve the assembly efficiency.

[0076] In some embodiments, for any folding telescopic frame 231 in the telescopic direction x, there is one or more folding units 2310 between the first balance link and the second balance link. The first balance link and the second balance link are two adjacent balance links 232 in the telescopic direction x among the balance links connecting two adjacent folding telescopic frames. For example, in FIG6, there is one folding unit 2310 between the first balance link and the second balance link. Alternatively, there are multiple folding units 2310 between the first balance link and the second balance link, for example, two or three, etc.

[0077] In this embodiment of the present disclosure, as shown in Figures 6 and 7, the telescopic component 23 further includes at least one magnet 234, and at least one magnet 234 is connected to the middle of at least one balance link 232. The magnet 234 can attract the support member 12 of the flexible display module 10, preventing the flexible display module 10 from wrinkling, improving the flatness of the flexible display module 10, and thus improving the display effect.

[0078] In this embodiment, a magnet 234 is connected to the middle of each balance link 232 intersecting the first center line O. In other embodiments, a portion of the balance links 232 intersecting the first center line O have magnets 234 connected to their middle portions. Optionally, magnets 234 may or may not be connected to the middle portions of balance links 232 that do not intersect the first center line O (i.e., balance links 232 located on both sides of the first center line O).

[0079] Optionally, as shown in Figure 9, the telescopic assembly 23 further includes a first connecting rod 232a and a second connecting rod 232b. One end of the first connecting rod 232a and one end of the second connecting rod 232b are respectively connected to the middle of the balance link 232. The first connecting rod 232a and the second connecting rod 232b are located on both sides of the balance link 232 in the telescopic direction. For example, the first connecting rod 232a is located on the left side of the corresponding balance link 232, and the second connecting rod 232b is located on the right side of the corresponding balance link 232. The length direction of both the first connecting rod 232a and the second connecting rod 232b is consistent with the telescopic direction x. The first connecting rod 232a and the second connecting rod 232b are staggered in the first direction y. For example, the first connecting rod 232a and the second connecting rod 232b are located on both sides of the first centerline O along the first direction y.

[0080] In some embodiments, the first connecting rod 232a is connected to the first magnet, and the second connecting rod 232b is connected to the second magnet. Optionally, the surface of the first connecting rod 232a near the flexible display module has a first mounting groove 232c, in which the first magnet is located. The surface of the second connecting rod 232b near the flexible display module has a second mounting groove 232d, in which the second magnet is located.

[0081] Because the first connecting rod and the second connecting rod are staggered in the first direction y, the first connecting rod and the second connecting rod do not affect the folding function of the folding telescopic frame when multiple folding telescopic frames are in the folded state. When multiple folding telescopic frames are in the unfolded state, since the first connecting rod 232a and the second connecting rod 232b are located on both sides of the balance link 232 in the telescopic direction, the flexible display module can be simultaneously adsorbed on both sides of the balance link 232, which helps improve the flatness of the flexible display module.

[0082] Optionally, referring to Figures 6 and 7, the telescopic assembly may further include multiple synchronous links 233. For example, the synchronous link 233 is located between the first connecting part of the first folding telescopic frame 231a and the third connecting part of the second folding telescopic frame 231b. During the telescopic process of the telescopic assembly 23, the first connecting part and the second connecting part will both be displaced in the telescopic direction x and the first direction y. However, the distance between the first connecting part and the second connecting part will not change. Therefore, a synchronous link can be provided between the first connecting part and the second connecting part without affecting the telescopic action of the telescopic assembly, while improving the synchronization of the movement of the first connecting part and the second connecting part.

[0083] Figure 10 is a schematic diagram of the telescopic mechanism in a retracted state according to some embodiments of the present disclosure. Figure 11 is a schematic diagram of the telescopic mechanism in an extended state according to some embodiments of the present disclosure. As shown in Figures 10 and 11, unlike the aforementioned embodiments, the display device further includes a reel motor 26 and a lead screw motor 27. Furthermore, in this embodiment, the winding assembly includes only one reel 211, and the flexible display panel 11 and the support member 12 are attached together and wound up via the reel 211.

[0084] As shown in Figure 11, the lead screw motor 27 is disposed between the fixed part 21 and the balance link 232 closest to the fixed part 21. Specifically, referring to Figure 9, the lead screw motor 27 is connected between the fixed part 21 and the first hinge shaft within the first shaft hole c1 of the balance link 232 closest to the fixed part 21. Driven by the lead screw motor 27, the balance link 232 can move away from or towards the fixed part 21, thereby realizing the extension and retraction of the telescopic assembly 23.

[0085] It should be noted that, due to the transmission structure of the telescopic assembly 23, as shown in Figure 11, when the sliding stroke of the lead screw motor 27 is X, the telescopic length of the entire telescopic assembly 23 can reach 4X. Therefore, the driving force of the lead screw motor 27 also needs to be amplified by 4 times. In addition, the lead screw motor 27 is equipped with an angle sensor, and the actual sliding distance of the lead screw motor 27 can be calculated based on the angle measured by the angle sensor.

[0086] Figure 12A is a perspective view of a reel motor and its transmission structure according to some embodiments of the present disclosure. Figure 12B is a schematic diagram illustrating a reel motor driving a reel to wind up a flexible display module according to some embodiments of the present disclosure. In some embodiments, the fixing part 21 includes a reel 211, one end of the flexible display module 10 is connected to the reel 211, and the other end is connected to the movable part 22. The display device also includes a reel motor 26, which is fixed to the fixing part 21 and connected to the reel 211 via a transmission gear set 28.

[0087] As shown in Figures 12A and 12B, the rotation of the reel motor 26 drives the transmission gear set 28 to rotate, which in turn drives the reel 211 to rotate. This causes the flexible display panel 11 and the support member 12 to be wound onto the reel 211, or the flexible display panel 11 to be unwound from the reel 211, thus extending out from the fixing part 21. Furthermore, as shown in Figures 12A and 12B, in some embodiments, the telescopic mechanism 20 also includes a guide wheel 212 for guiding the flexible display panel 11 and the support member 12 to be wound onto the reel 211. In addition, the telescopic mechanism is equipped with an angle sensor for measuring the actual rotation angle and number of rotations of the reel 211.

[0088] In an embodiment according to this disclosure, a reel motor 26, in conjunction with a transmission gear set 28, drives a reel 211 to amplify the output torque. A lead screw motor 27, in conjunction with a reel motor 26, controls and adjusts the tension of the flexible display module 10.

[0089] Optionally, a bending sensor and a tension sensor can be built into the flexible display module 10 or the display device. In this case, the bending state of the flexible display module 10 (flatness when unfolded) and the flattening tension of the flexible display panel 11 can be measured by the bending sensor and the tension sensor, respectively. Thus, the bending state of the flexible display module 10 (flatness when unfolded) and the flattening tension of the flexible display panel 11, together with the end position of the flexible display module 10, can serve as a compensation control feedback signal, ensuring smooth force application during the movement of the flexible display module 10 and improving the user experience.

[0090] Optionally, the flexible display module 10 or the display device may include only one of a bending sensor and a tension sensor. In this way, only one of the bending state of the flexible display module 10 (flatness when unfolded) and the unfolding tension of the flexible display panel 11, together with the end position of the flexible display module 10, serves as the compensation control feedback signal.

[0091] Regarding the motion coordination between the scroll motor 26 and the lead screw motor 27, the basic principle is to keep the scrolling length of the flexible display module 10 on the scroll 211 equal to the extension length of the flexible display module 10. For example, assuming the radius of the scroll 211 is R and the thickness of the flexible display module 10 is t, then the scrolling length of the first rotation of the screen is 2π(R+t), the scrolling length of the second rotation is 2π(R+2t), and so on. Therefore, the sliding stroke of the lead screw motor in the first rotation is 2π(R+t) / 4, and the total sliding stroke of the lead screw motor in the first two rotations is [2π(R+t)+2π(R+2t)] / 4, and so on.

[0092] However, as shown in Figures 4 and 5, since the folding telescopic frame 231 used in this disclosure includes multiple links, and the links are driven by a toothed structure 2d, the transmission stages are numerous (7 stages of transmission are carried out through the toothed structure 2d), the vacancy will be amplified, which can easily lead to problems such as the flexible display module 10 bulging.

[0093] Therefore, an embodiment of the present disclosure provides a display device that can eliminate the above-mentioned technical problems. FIG13 is a schematic diagram of the folding telescopic frame of the telescopic assembly in the unfolded state according to some embodiments of the present disclosure. As shown in FIG13, the four folding telescopic frames are, in order from top to bottom, a second folding telescopic frame 231b, a first folding telescopic frame 231a, a third folding telescopic frame 231c, and a fourth folding telescopic frame 231d. The third folding telescopic frame 231c and the first folding telescopic frame 231a are symmetrically arranged about the first center line O of the telescopic assembly 23, and the fourth folding telescopic frame 231d and the second folding telescopic frame 231b are symmetrically arranged about the first center line O.

[0094] In some embodiments, each folding telescopic frame 231 includes a plurality of folding units 2310 connected sequentially along the telescopic direction x, and each folding unit 2310 has a translation portion 2310a. A balance link 232 connects a translation portion 2310a of the first folding unit and a translation portion 2310a of the second folding unit. The first folding unit and the second folding unit belong to two adjacent folding telescopic frames 231 and are adjacent in the first direction y.

[0095] In some embodiments, the folding unit 2310 of the first folding telescopic frame 231a is V-shaped and includes a first link 1a and a second link 1b. In some embodiments, the folding unit 2310 of the second folding telescopic frame 231b is V-shaped and includes a third link 1c and a fourth link 1d. The specific structures of the first link 1a, the second link 1b, the third link 1c, and the fourth link 1d, as well as their connection relationships, can be referred to the descriptions of Figures 5 and 6, and will not be repeated here.

[0096] Unlike the examples in Figures 5 and 6, all balance links 232 except the one connected to the lead screw motor 27 are equipped with angle sensors. For example, as shown in Figure 13, the three balance links 232 on the right side of the figure are respectively equipped with a first angle sensor AS1, a second angle sensor AS2, and a third angle sensor AS3. The first angle sensor AS1, the second angle sensor AS2, and the third angle sensor AS3 are used to measure the angle between the balance link 232 and the other links connected to the balance link 232.

[0097] By installing an angle sensor on the balance link 232, it is possible to compensate for the misalignment caused by multi-stage transmission.

[0098] For example, assuming the target value of the real-time sliding stroke of the lead screw motor 27 is D, based on the real-time actual opening angles θ1, θ2, and θ3 of the connecting rods measured by the angle sensors AS1, AS2, and AS3, the real-time actual total opening length of the bracket L1+L2+L3+L4 can be calculated. Here, L1 is calculated based on the angle measured by the angle sensor on the lead screw motor 27, and L2, L3, and L4 are calculated based on the actual opening angles θ1, θ2, and θ3 of the connecting rods. Then, the real-time sliding compensation value of the lead screw motor is D-(L1+L2+L3+L4) / 4.

[0099] However, this disclosure is not limited thereto. When the folding telescopic frame 231 includes n folding units 2310 connected sequentially along the telescopic direction x, the slip compensation value of the lead screw motor 27 can be obtained by the following formula:

[0100] Where D is the target value of the sliding stroke of the lead screw motor 27; L1 is the actual sliding distance of the lead screw motor 27; Li is the extension and retraction of the i-th folding unit, which is calculated based on the angle sensed by the angle sensor, where i≥2.

[0101] Furthermore, since the relationship between the number of winding turns of the flexible display module 10 and the minimum winding force and the stress on the film layer of the flexible display module 10 is not constant, when the number of winding turns is large, the winding force is large and the stress on the film layer is large; when the number of winding turns is small, the minimum winding force is small and the stress on the film layer is small. Therefore, the motor control position compensation value can be adjusted to optimize the tension during the winding and unwinding process, so as to keep the flexible display module 10 flat throughout the entire movement and minimize the tension, thereby improving the winding reliability of the flexible display module 10 and optimizing the power consumption of the motor.

[0102] On the other hand, the present invention provides a method for controlling the extension and retraction of a flexible display module in a display device, which enables the flexible display module to remain flat throughout its movement. Figure 14 is a flowchart illustrating a method for controlling the extension and retraction of a flexible display module in a display device according to some embodiments of the present disclosure. In some embodiments, as shown in Figure 14, the method includes steps S1 to S10.

[0103] S1. Initialize and reset the reel motor 26 and the lead screw motor 27.

[0104] S2. Read the displacement position and speed input values ​​of the entire machine's unfolding / closing action. The displacement position is the desired position of the flexible display module 10. When the target sliding stroke of the lead screw motor 27 is D, the ideal displacement position of the entire machine is 4D. The speed input value represents the desired extension and retraction speed of the flexible display module 10.

[0105] S3. Calculate the input / compensation values ​​of the angular displacement and angular velocity of the lead screw motor. The angular displacement and angular velocity are calculated based on the displacement position and velocity input values ​​read in step S2. When compensation is involved, the displacement position and velocity compensation values ​​are calculated in step S3.

[0106] S4. Calculate the corresponding lead screw motor angular displacement and angular velocity input / compensation values. The corresponding lead screw motor angular displacement and angular velocity input values ​​are calculated based on the principle of maintaining the winding length of the flexible display module 10 on the scroll 211 equal to the extension length of the flexible display module 10. When compensation is involved, the corresponding lead screw motor angular displacement and velocity compensation values ​​are calculated in step S4.

[0107] S5, start the lead screw motor 27 and the reel motor 26.

[0108] S6. Read the values ​​from the lead screw and reel angle sensors. At this time, read the angles measured by the angle sensor on the lead screw motor and the angle measured by the angle sensor on the reel motor.

[0109] S7. Detect motion error. Based on the angle read in step S6, determine whether there is a motion error. If a motion error exists, perform motor feedback control and restart the motor from step S3. If there is no motion error, proceed to step S8.

[0110] S8. Read the values ​​of the folding telescopic frame angle sensors. Referring to Figure 13, in the embodiment shown in Figure 13, the values ​​of the first angle sensor AS1, the second angle sensor AS2, and the third angle sensor AS3 are read at this time.

[0111] S9. Calculate the actual unfolding / closing length of the entire machine. Referring to Figure 13, in the embodiment shown in Figure 13, assuming the real-time sliding stroke target value of the lead screw motor 27 is D, based on the real-time actual opening angles θ1, θ2, and θ3 of the connecting rods measured by the angle sensors AS1, AS2, and AS3, the real-time actual total opening length of the bracket L1+L2+L3+L4 can be calculated. Here, L1 is calculated based on the angle measured by the angle sensor on the lead screw motor 27, and L2, L3, and L4 are calculated based on the actual opening angles θ1, θ2, and θ3 of the connecting rods.

[0112] S10. Determine if the endpoint position has been reached. Referring to Figure 13, in the embodiment shown in Figure 13, at this point, compare D with (L1+L2+L3+L4) / 4; if D = (L1+L2+L3+L4) / 4, it indicates that the endpoint position has been reached, and the lead screw motor 27 and the reel motor 26 are terminated. If D is not equal to (L1+L2+L3+L4) / 4, perform dummy position compensation feedback control and return to step S3. In the embodiment shown in Figure 13, at this point, the lead screw motor slip compensation value is D - (L1+L2+L3+L4) / 4.

[0113] In some embodiments, when the folding telescopic frame 231 includes n folding units 2310 connected sequentially along the telescopic direction x, where n is a positive integer greater than or equal to 2, the slip compensation value of the lead screw motor 27 can be obtained by the following formula:

[0114] Where D is the target value of the sliding stroke of the lead screw motor 27; L1 is the actual sliding distance of the lead screw motor 27; Li is the extension and retraction of the i-th folding unit, which is calculated based on the angle sensed by the angle sensor, where i≥2.

[0115] Optionally, in some embodiments, a bending sensor and / or a tension sensor may be built into the flexible display module 10 or the display device. In this case, in step S10, data such as the bending state of the flexible display module 10 (flatness when unfolded) and / or the unfolding tension of the flexible display panel 11, together with the end position of the flexible display module 10, can be used as a compensation control feedback signal to ensure that the flexible display module 10 is subjected to force smoothly during its movement, thereby improving the user experience.

[0116] For purposes of illustration and description, the foregoing description of embodiments of the invention has been provided. It is not exhaustive, nor is it intended to limit the invention to the precise forms or exemplary embodiments disclosed. Therefore, the foregoing description should be considered illustrative rather than restrictive. Clearly, many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described to explain the principles of the invention and its best mode of practical application, thereby enabling those skilled in the art to understand the various embodiments of the invention and the various modifications suitable for the particular use or implementation contemplated. The scope of the invention is intended to be defined by the appended claims and their equivalents, wherein, unless otherwise stated, all terms are to be interpreted in their broadest reasonable sense. Therefore, the terms “the invention,” “the present invention,” etc., do not necessarily limit the scope of the claims to specific examples, and references to exemplary embodiments of the invention do not imply limitation of the invention, nor should such limitation be inferred. The invention is defined only by the spirit and scope of the appended claims. Furthermore, these claims may involve the use of “first,” “second,” etc., followed by nouns or elements. These terms should be understood as nomenclature and should not be construed as limiting the number of elements modified by these nomenclatures unless a specific number has been given. Any advantages and benefits described may not apply to all embodiments of the invention. It should be understood that changes to the described embodiments can be made by those skilled in the art without departing from the scope of the invention as defined by the appended claims. Furthermore, the elements and components in this disclosure are not intended for public distribution, whether or not they are expressly recited in the appended claims.

Claims

1. A display device, comprising: Flexible display module; A telescopic mechanism includes a fixed part, a movable part, and a telescopic assembly. The fixed part includes a scroll, one end of a flexible display module is connected to the scroll, and the other end is connected to the movable part. The telescopic assembly includes multiple folding telescopic frames, at least one of the folding telescopic frames includes multiple connecting rods connected in sequence, and each folding telescopic frame has at least one translation part. During the extension and retraction of the folding telescopic frame, the distance between the translation part and the first center line of the telescopic assembly remains unchanged. The extension direction of the first center line is consistent with the extension and retraction direction of the folding telescopic frame. The translation parts of any two adjacent folding telescopic frames are connected by a balance link. A reel motor, fixed to the fixed part and connected to the reel via a transmission gear set; and A lead screw motor is disposed between the fixed part and the balance connecting rod closest to the fixed part. The telescopic assembly further includes an angle sensor for measuring the angle between the balance link and the connecting rod in the folding telescopic frame that connects to the balance link. The lead screw motor and the reel motor are configured to compensate for the winding and unfolding of the flexible display module based on the angle sensed by the angle sensor.

2. The display device according to claim 1, wherein, The lead screw motor and the reel motor are configured to drive the flexible display module to wind up and unwind in a coordinated manner, such that the winding length of the flexible display module on the reel is equal to the extension length of the flexible display module.

3. The display device according to claim 1, wherein, One end of the lead screw motor is connected to the fixed part, and the other end is connected to the first hinge shaft, which is located in the first shaft hole of the balance link closest to the fixed part.

4. The display device according to any one of claims 1 to 3, wherein, The lead screw motor is equipped with an angle sensor, which is configured to calculate the actual sliding distance of the lead screw motor.

5. The display device according to any one of claims 1 to 4, wherein, Each of the folding telescopic frames includes n folding units connected sequentially along the telescopic direction. Each folding unit has the translation part, such that the telescopic length of the folding telescopic frame is n times the sliding stroke of the lead screw motor, where n is a positive integer greater than or equal to 2.

6. The display device according to claim 5, wherein, The slip compensation value of the lead screw motor is obtained by the following formula: Where D is the target value of the sliding stroke of the lead screw motor; L1 is the actual sliding distance of the lead screw motor; Li is the extension and retraction amount of the i-th folding unit, which is calculated based on the angle sensed by the angle sensor, where i≥2.

7. The display device according to any one of claims 1 to 6, wherein, The telescopic mechanism is also equipped with an angle sensor to measure the actual rotation angle and number of rotations of the reel.

8. The display device according to any one of claims 1 to 7, wherein, The telescopic mechanism further includes two telescopic slide rails, which are located on both sides of the telescopic component in a first direction, and the first direction is perpendicular to the telescopic direction. The telescopic slide rail includes a first fixed guide rail, a second fixed guide rail, and at least one intermediate guide rail. The at least one intermediate guide rail is sequentially connected between the first fixed guide rail and the second fixed guide rail. The first fixed guide rail is connected to the fixed part, and the second fixed guide rail is connected to the movable part.

9. The display device according to any one of claims 1 to 8, wherein, The telescopic mechanism also includes a rear housing, and the telescopic assembly is located within the rear housing. The rear shell includes a first fixed sub-shell, a second fixed sub-shell, and at least one intermediate sub-shell. The first fixed sub-shell is connected to the fixed part, the second fixed sub-shell is connected to the movable part, and the at least one intermediate sub-shell is sequentially connected between the first fixed sub-shell and the second fixed sub-shell.

10. The display device according to any one of claims 1 to 9, wherein, The flexible display module includes a flexible display panel and a support member. The flexible display panel is attached to the support member and is wound up by the roller.

11. The display device according to any one of claims 1 to 10, wherein, The telescopic assembly further includes a first connecting rod and a second connecting rod, both of which are connected to the middle of the balance link. The first connecting rod and the second connecting rod are located on both sides of the balance link in the telescopic direction, and are staggered from each other in a first direction, which is perpendicular to the telescopic direction.

12. The display device according to any one of claims 1 to 11, wherein, Except for the balance link connected to the lead screw motor, all other balance links are equipped with angle sensors, which are configured to measure the angle between the balance link and other links connected to the balance link.

13. A method for controlling the extension and retraction of a flexible display module in a display device, wherein, The display device includes: Flexible display module; The telescopic mechanism includes a fixed part, a movable part, and a telescopic assembly. The fixed part includes a scroll, one end of the flexible display module is connected to the scroll, and the other end is connected to the movable part. The telescopic assembly includes multiple folding telescopic frames, each folding telescopic frame includes multiple connecting rods connected in sequence, and the translation parts of any two adjacent folding telescopic frames are connected by the balance connecting rod. A reel motor, fixed to the fixed part and connected to the reel via a transmission gear set; and A lead screw motor is disposed between the fixed part and the balance connecting rod closest to the fixed part. The telescopic assembly further includes an angle sensor for measuring the angle between the balance link and the connecting rod in the folding telescopic frame that connects to the balance link. The method includes: Based on the angle sensed by the angle sensor, the lead screw motor and the reel motor are driven to compensate for the winding and unfolding of the flexible display module.

14. The method according to claim 13, wherein, The folding telescopic frame includes n folding units connected sequentially along the telescopic direction. Each folding unit has the translation part, such that the telescopic length of the folding telescopic frame is n times the sliding stroke of the lead screw motor, where n is a positive integer greater than or equal to 2. The slip compensation value of the lead screw motor is obtained by the following formula: Where D is the target value of the sliding stroke of the lead screw motor; L1 is the actual sliding distance of the lead screw motor; Li is the extension and retraction amount of the i-th folding unit, which is calculated based on the angle sensed by the angle sensor, where i≥2.

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