CN114531006A

CN114531006A - Linear rotating motor and vehicle-mounted anti-shake camera device

Info

Publication number: CN114531006A
Application number: CN202210348567.2A
Authority: CN
Inventors: 江兴智; 张扣文; 岳金鑫; 周君宇; 刘丞
Original assignee: Zhejiang Sunyu Zhiling Technology Co ltd
Current assignee: Zhejiang Sunyu Zhiling Technology Co ltd
Priority date: 2022-04-01
Filing date: 2022-04-01
Publication date: 2022-05-24
Anticipated expiration: 2042-04-01
Also published as: CN114531006B

Abstract

A linear rotating motor and a vehicle-mounted anti-shake camera device are provided, the linear rotating motor comprises a stator and a rotor, the stator comprises an electromagnetic driving part and a stator base body, the electromagnetic driving part at least comprises a first stator driving group and a second stator driving group which are arranged at intervals along the axial direction of the stator; the rotor comprises a rotor base body and a permanent magnet driving part, and the permanent magnet driving part at least comprises a first rotor driving group and a second rotor driving group. The driving controller drives at least one stator driving set to generate a rotary driving magnetic field and drives the rotor to rotate, and the driving controller drives at least two stator driving sets to generate a linear driving magnetic field and drives the rotor to linearly move along the axial direction. The linear rotating motor is lower in manufacturing cost, and the size in the radial direction can be reduced. The vehicle-mounted anti-shake camera device is provided with the linear rotating motor, can offset the axial moving direction of the linear rotating motor and the acceleration around the axial direction of the linear rotating motor, and has an anti-shake function.

Description

Linear rotating motor and vehicle-mounted anti-shake camera device

Technical Field

The invention relates to the technical field of camera anti-shake, in particular to a linear rotating motor for camera anti-shake and a vehicle-mounted anti-shake camera device.

Background

When the camera is operated in a jittering environment, the problem of motion blur of the shot pictures or videos exists, and the quality of the obtained shot materials is reduced. Therefore, during shooting, it is desirable that the shooting environment be stable and that the camera position and attitude be free from shake, but the actual shooting environment often fails to satisfy the conditions for camera stabilization. For example, after the vehicle is started or during driving, the camera is in a vibrating complex environment due to road jolt and vibration of the vehicle, so that the quality of the shot image is difficult to meet the requirement.

In order to solve the problem of blurring caused by shaking when a camera shoots, schemes such as an OIS optical lens anti-shaking technology, an OIS optical chip anti-shaking technology, a three-axis anti-shaking holder and the like have been developed, and the schemes have advantages and disadvantages. The OIS optical anti-shake scheme requires a motor to control the movement of the lens or sensor plate, and is more suitable for a mobile phone camera module with a lighter lens or sensor plate. The lens of on-vehicle module is heavier, and the camera lens anti-shake technique on traditional cell-phone is unsuitable to be used in on-vehicle module of making a video recording. The camera is fixed on the cloud platform to triaxial anti-shake cloud platform scheme, because camera lens and sensor position are fixed, at the in-process of anti-shake, do not change the inside light path of camera, so do not influence the definition of focusing, compare optical anti-shake scheme and have the advantage in the aspect of anti-shake performance. However, the three-axis anti-shake pan-tilt has a large volume and high cost, and is difficult to be widely used on the vehicle-mounted anti-shake camera. In order to reduce the influence of vehicle shake on image formation, the influence of shake is mainly reduced by shortening the exposure time, but shortening the exposure time causes a reduction in image quality. Especially at night, longer exposure times are required to obtain better image quality, and there is a conflict between anti-shake and exposure times.

The anti-shake camera device needs to counteract acceleration generated by shaking in multiple directions, needs to be provided with a driving device in multiple directions, is in conflict with the size of a small camera device expected by people, and needs to design a mechanical anti-shake camera device with a compact structure so as to meet the installation and use requirements of a vehicle. It is a development direction to meet the above-mentioned need to provide a motor capable of at least two-directional driving. Patent document 1 discloses a linear rotating electrical machine in which a first magnet member is provided on a surface of a motor mover and a second magnet member is embedded in a wall body of the motor mover; the motor comprises an inner stator arranged inside the motor rotor and an outer stator arranged outside the motor rotor, the outer stator coil winding and the first magnet part act together to drive the motor rotor to drive the output shaft to do linear motion, and the inner stator coil winding and the second magnet part act together to drive the electronic rotor to drive the output shaft to do rotary motion. This linear rotating electrical machines is the direct mechanical combination of linear electric machines and rotating electrical machines structurally in fact, and not only the consumption of material leads to the cost to fail to reduce, makes the more complicated size that can't guarantee the radial direction of motor structure moreover, and above-mentioned linear rotating electrical machines is difficult to in on-vehicle anti-shake camera wide application.

Reference to the literature

Patent document

Patent document 1: CN113556017A

Disclosure of Invention

A first object of the present invention is to provide a linear rotating electric machine, comprising a stator and a rotor,

the stator comprises an electromagnetic driving part and a stator base body, and the electromagnetic driving part is mounted on the stator base body; the electromagnetic driving component at least comprises a first stator driving group and a second stator driving group, the first stator driving group and the second stator driving group are arranged at intervals along the axial direction of the stator, and the first stator driving group and the second stator driving group respectively comprise electromagnetic driving units annularly arranged around the stator base body;

the rotor comprises a rotor base body and a permanent magnet driving part, and the permanent magnet driving part is arranged on the rotor base body; the permanent magnet driving component comprises rotor driving groups with the same number as the stator driving groups, at least comprises a first rotor driving group and a second rotor driving group, the first rotor driving group and the second rotor driving group are arranged at intervals along the axial direction of the rotor, and the first rotor driving group and the second rotor driving group respectively comprise permanent magnets annularly arranged around the rotor.

In addition, it is preferable that the air-conditioning agent,

the stator base body is of a cylindrical structure, the electromagnetic driving component is installed on the inner wall of the stator base body, a first installation space used for accommodating the rotor to rotate is formed around the inner side of the electromagnetic driving component, and the rotor is arranged in the first installation space.

In addition, it is preferable that the air-conditioning agent,

the rotor base body is of a cylindrical structure, the permanent magnet driving part is installed on the inner wall of the rotor base body, the inner side of the permanent magnet driving part surrounds to form a second installation space used for containing the stator, and the stator is arranged in the second installation space.

In addition, it is preferable that the air-conditioning agent,

the first rotor driving group and the second rotor driving group comprise even number of permanent magnets, the arrangement directions of adjacent permanent magnet magnetic poles in the first rotor driving group are opposite, the arrangement directions of adjacent permanent magnet magnetic poles in the second rotor driving group are opposite, and the arrangement directions of adjacent permanent magnet magnetic poles in the same rotor axis direction are opposite.

In addition, it is preferable that the air conditioner is,

the driving controller is electrically connected with the electromagnetic driving part, drives at least one stator driving set to generate a rotary driving magnetic field and drives the rotor to rotate, and drives at least two stator driving sets to generate a linear driving magnetic field and drive the rotor to linearly move along the axial direction.

The linear rotating motor has the beneficial effects that: the linear rotating motor can meet the requirements of the rotor on rotation and linear action driving by means of one set of electromagnetic driving part and the corresponding permanent magnet driving part, reduces the use of electromagnetic driving units and permanent magnets from the manufacturing cost, and greatly reduces the production cost of the motor. In addition, the structure of the motor is simpler in structure, and the problem of size increase of the linear rotating motor in the radial direction is solved.

The second object of the invention is to provide a vehicle-mounted anti-shake camera device, which comprises a vehicle connecting frame, a camera mounting frame, a driving motor and a camera, wherein the driving motor is arranged between the vehicle connecting frame and the camera mounting frame, the camera is mounted on the camera mounting frame, and the driving motor is any one of the linear rotating motors described above.

In addition, it is preferable that the air-conditioning agent,

the driving motor comprises a first driving motor, a second driving motor and a third driving motor, and the vehicle-mounted anti-shake camera device further comprises a middle mounting frame; the first driving motor is arranged between the vehicle connecting frame and the middle mounting frame and drives the middle mounting frame to move or/and rotate along a first linear direction; the second driving motor is arranged between the middle mounting frame and the camera mounting frame and drives the camera mounting frame to move or/and rotate along a second linear direction, and the second linear direction is perpendicular to the first linear direction; the third driving motor is installed between camera installation frame and camera, the third driving motor drive camera moves or/and rotates along third rectilinear direction, third rectilinear direction is perpendicular to first rectilinear direction and second rectilinear direction respectively.

In addition, it is preferable that the air-conditioning agent,

the first straight line direction is a vertical direction, and the second straight line direction is a horizontal direction.

In addition, it is preferable that the air-conditioning agent,

the second linear direction is a vertical direction, and the third linear direction is a horizontal direction.

In addition, it is preferable that the air-conditioning agent,

the device comprises a linear rotating motor, and is characterized by further comprising an acceleration sensor and a control unit, wherein the acceleration sensor at least collects certain acceleration information in a first linear direction, a second linear direction, a third linear direction, a rotating direction around the first linear direction, a rotating direction around the second linear direction and a rotating direction around the third linear direction, and the control unit receives the acceleration information from the acceleration sensor, generates control information and transmits the control information to the linear rotating motor.

The vehicle-mounted anti-shake camera device has the beneficial effects that: because the vehicle-mounted anti-shake camera device is provided with the linear rotating motor, the linear and rotary anti-shake in a certain direction can be realized by using one motor, and meanwhile, the lower production cost can be obtained and the space in the radial direction of the motor can be saved.

Drawings

In order to more clearly illustrate the present invention, the following description and drawings of the present invention will be described and illustrated. It should be apparent that the drawings in the following description illustrate only certain aspects of some exemplary embodiments of the invention, and that other drawings may be derived therefrom by those skilled in the art without the exercise of inventive faculty.

Fig. 1 is a schematic axial sectional view of a linear electric rotating machine according to a first embodiment of the present invention;

fig. 2 is a schematic radial sectional view of a linear electric rotating machine according to a first embodiment of the present invention;

fig. 3 is a schematic radial cross-sectional view of a linear electric rotating machine according to a second embodiment of the present invention;

FIG. 4 is a schematic view of the vehicle-mounted anti-shake camera device according to the present invention;

FIG. 5 is a schematic view of a vehicle-mounted anti-shake camera device according to a first embodiment of the present invention;

FIG. 6 is a schematic view of a vehicle-mounted anti-shake camera device according to a second embodiment of the present invention;

FIG. 7 is a schematic view of a vehicle-mounted anti-shake camera device according to a third embodiment of the present invention;

fig. 8 is a schematic view illustrating the installation of a second driving motor of the vehicle-mounted anti-shake camera device according to the first embodiment of the invention;

FIG. 9 is a schematic diagram illustrating the rotation of the rotor according to the first embodiment of the present invention;

FIG. 10 is a schematic diagram illustrating the axial linear motion of the rotor according to the first embodiment of the present invention;

fig. 11 is a schematic diagram of the rotor rotating and linear direction simultaneous operation according to the first embodiment of the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

1. a first driving motor for driving the motor to rotate,

11. a stator 111, a stator base body 112, a first stator driving group 113, a second stator driving group 114, an electromagnetic driving unit,

12. a rotor 121, a rotor base body 122, a first rotor driving group 123, a second rotor driving group 124, a permanent magnet 125, a driving shaft 13, a driving controller,

2. a second driving motor for driving the motor to rotate,

3. a third driving motor for driving the motor to rotate,

4. a vehicle-connecting frame, which is provided with a plurality of connecting members,

5. the middle part of the frame is provided with a mounting frame,

6. a camera head mounting frame is arranged on the frame,

7. camera 71, camera shell, 72, imaging lens.

Detailed Description

Various exemplary embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that: unless otherwise indicated, the relative arrangement of components and steps, numerical expressions and numerical values, etc., set forth in these embodiments should be construed as merely illustrative, and not a limitation.

The use of "including" or "comprising" and the like in this disclosure is intended to mean that the elements preceding the word encompass the elements listed after the word and does not exclude the possibility that other elements may also be encompassed.

All terms (including technical or scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

For components, specific models of components, and like parameters, interrelationships between components, and control circuitry not described in detail in this section, can be considered techniques, methods, and apparatus known to those of ordinary skill in the relevant art, but where appropriate, should be considered as part of the specification.

A specific embodiment of the linear rotating electric machine will be described below with reference to fig. 1 to 3.

Fig. 1 is a schematic axial sectional view of a linear electric motor according to a first embodiment of the present invention, and fig. 2 is a schematic radial sectional view of the linear electric motor; the linear rotating electric machine 1 includes a stator 11 and a rotor 12;

the stator 11 includes an electromagnetic driving part and a stator base 111, the electromagnetic driving part being mounted on the stator base 111; the electromagnetic driving component at least comprises a first stator driving group 112 and a second stator driving group 113, the first stator driving group 112 and the second stator driving group 113 are arranged at intervals along the axial direction of the stator 11, and the first stator driving group 112 and the second stator driving group 113 both comprise electromagnetic driving units 114 annularly arranged around the stator base 111; in the present invention, the term electromagnetic driving unit is an electromagnet comprising an iron core and a winding, and preferably, after the electromagnetic driving unit is installed on the stator base body, one magnetic pole of the electromagnetic driving unit faces the axial center direction of the stator, so that a larger driving magnetic field is provided for the rotor.

The rotor 12 includes a rotor base 121 and a permanent magnet driving part installed on the rotor base 121; the permanent magnet driving component includes rotor driving groups equal to the number of stator driving groups (first stator driving group 112 and second stator driving group 113) of the stator 11, and at least includes a first rotor driving group 122 and a second rotor driving group 123, the first rotor driving group 122 and the second rotor driving group 123 are arranged at intervals along the axial direction of the rotor 12, and the first rotor driving group 122 and the second rotor driving group 123 each include a permanent magnet 124 annularly arranged around the rotor base 121. The permanent magnet used in the invention is preferably neodymium iron boron permanent magnet, samarium cobalt permanent magnet or alnico permanent magnet.

In the embodiment of fig. 1, the first stator drive group 112 and the second stator drive group 113 are labeled D1 and D2, respectively, and the nth stator drive group is labeled Dn, respectively. For the nth stator drive group, the electromagnetic drive units constituting the drive group are respectively labeled as Dn _1, Dn _2, … … Dn _ k. In the embodiment shown in fig. 2, the electromagnetic drive units of the nth stator drive group are shown, and the schematic diagram includes 6 electromagnetic drive units, which are sequentially recorded as Dn _1 to Dn _ 6. In fact, the person skilled in the art can also select other natural numbers with k ≧ 3 as the number of electromagnetic drive units of the nth stator drive group, and as k increases, the control accuracy of the rotation angle can increase, and the rotation action of the linear rotating electrical machine can be made smoother. In the embodiment shown in fig. 2, the number n of stator drive groups may be increased according to actual needs. As the number n increases, the range of horizontal movement that can be controlled also increases.

The principle of the motor 1 performing the rotation operation and the linear operation will be specifically described below with reference to fig. 1.

As shown in fig. 1, when the rotor 12 of the linear rotating electrical machine 1 needs to perform a rotating motion, the current in the electromagnetic driving unit of at least one stator driving group (e.g., the first stator driving group 112 and/or the second stator driving group 113) is controlled to form a driving magnetic field in a rotating direction, so as to generate a rotating thrust to the rotor 12. Fig. 9 is a schematic diagram of a rotor rotation operation according to a first embodiment of the present invention, in which each block represents an electromagnetic driving unit; the circle represents a permanent magnet, wherein the magnetic pole of the permanent magnet towards the electromagnetic driving unit marked by the solid circle is the N pole, and the magnetic pole of the permanent magnet towards the electromagnetic driving unit marked by the hollow circle is the S pole. The permanent magnet on the rotor is subjected to magnetic thrust in the direction shown in fig. 9 by the electromagnetic driving unit to realize the rotation of the rotor. When all the stator driving groups generate rotary thrust to the rotor, the maximum rotary thrust can be obtained, and the larger rotary acceleration of the camera in a certain rotary direction can be better balanced. When the number of the stator driving groups is larger than three groups, when the rotating torque needs to be controlled, the number of the stator driving groups can be controlled, that is, the linear rotating motor 1 can rotate through 1 stator driving group, and also can rotate through a plurality of stator driving groups, so that the electric energy saving target can be better realized. Another way to achieve rotational torque is: the number of the electromagnetic driving units of the stator driving group is more than that of the permanent magnets of the rotor driving group, and when the rotating torque needs to be controlled, the electromagnetic driving units can be controlled to be actually used by the stator driving group, so that the electric energy saving target can be better achieved. Furthermore, the rotation torque may also be controlled by controlling the magnitude of the current in the electromagnetic drive unit in one stator drive group.

On the other hand, when the rotor 12 of the linear rotating electrical machine 1 needs to perform a linear motion in the axial direction, the current in the electromagnetic driving units of at least two stator driving groups (for example, the first stator driving group 112 and the second stator driving group 113) is controlled to form a driving magnetic field in the linear direction, so as to generate a linear thrust to the rotor 12. FIG. 10 is a schematic diagram of the first embodiment of the present invention showing the linear motion of the rotor in the axial direction, wherein each block represents an electromagnetic driving unit; the circle represents a permanent magnet, wherein the magnetic pole of the permanent magnet towards the electromagnetic driving unit marked by the solid circle is the N pole, and the magnetic pole of the permanent magnet towards the electromagnetic driving unit marked by the hollow circle is the S pole. The permanent magnets on the rotor are subjected to magnetic thrust in the direction shown in fig. 10 by the electromagnetic driving unit to realize linear motion of the rotor along the axial direction. When the number of the stator driving groups is three or more, two or more adjacent stator driving groups can be controlled to form a driving magnetic field in a linear direction, and two or more stator driving groups which are spaced can also be controlled to form a driving magnetic field in a linear direction. That is, when the number of the stator driving groups is greater than three groups, and when the linear direction thrust needs to be controlled, the number of the stator driving groups can be controlled, the current of the electromagnetic driving unit in the stator driving group can be controlled, and the current can be controlled by combining the two modes, so that the electric energy saving target can be better realized by more combinations.

When the linear rotating electrical machine 1 is linearly operated, the rotor 12 is displaced to some extent in the axial direction by the driving magnetic field in the axial direction generated by the at least two stator driving groups. Therefore, the stator 11 and the rotor 12 will be offset to some extent in the axial direction. This displacement (or misalignment) is used to compensate for the jitter in the axial direction, i.e. the acceleration in the axial direction. After the shake in the axial direction, that is, the acceleration disappears, the stator 11 does not generate the driving magnetic field in the axial direction any more, and the rotor position remains unchanged and moves again when the next shake is made. Specifically, if the acceleration direction during the second shake is the same as the acceleration direction during the first shake, the rotor 12 is displaced in the axial direction to some extent to compensate for the shake in the axial direction. If the acceleration direction is opposite to the acceleration direction during the first shaking and the acceleration direction is equal during the second shaking, the rotor 12 generates a certain degree of displacement in the axial direction to compensate the shaking in the axial direction, and the rotor is reset at the moment because the distance between the second displacement direction and the first displacement direction is equal.

On the other hand, the plurality of

stator driving groups

112, 113 and the like can simultaneously generate the driving magnetic field in the rotational direction and the driving magnetic field in the linear direction. Specifically, when the rotor 12 of the linear rotating electric machine 1 is displaced, although the stator 11 and the rotor 12 are displaced to some extent, the peak of the driving magnetic field in the linear direction can be positioned at any position in the axial direction, for example, between several driving groups, by the phase control of the driving current, and therefore, the rotational driving and the linear driving can be performed simultaneously. FIG. 11 is a schematic view of the rotor of the first embodiment of the present invention showing a solenoid driving unit for each block; the circle represents a permanent magnet, wherein the magnetic pole of the permanent magnet towards the electromagnetic driving unit marked by the solid circle is the N pole, and the magnetic pole of the permanent magnet towards the electromagnetic driving unit marked by the hollow circle is the S pole. When the rotor is displaced to the above position, the stator coil generates a required magnetic field pattern distribution as shown in fig. 11, and the rotor can be pushed to simultaneously generate a rotational motion and a translational motion. The magnetic field pattern generated by the electromagnetic drive unit is determined according to the position of the rotor permanent magnet and the direction and magnitude of the required thrust force. The magnetic pole direction and the magnetic field intensity generated by the electromagnetic driving unit are controlled by the control unit.

The linear rotating motor is provided with the stator and the rotor, the driving requirements of the rotation action and the linear action of the rotor can be met only by one set of electromagnetic driving part and the corresponding permanent magnet driving part, the use of electromagnetic driving units and permanent magnets is reduced from the manufacturing cost, and the production cost of the motor is greatly reduced. In addition, the structure of the motor is simpler in structure, and the problem that the size of the linear rotating motor in the radial direction is increased due to the direct structural combination of the linear motor and the rotating motor in the prior art is solved. Further, since the linear rotating electrical machine 1 of the present invention can perform the rotation driving and the linear driving at the same time, it can be realized by 3 linear rotating electrical machines 1 in the case where 6-axis anti-shake (3 translation axes and 3 rotation axes) is required at the maximum. Compared with the prior art that 1 motor is arranged for each shaft anti-shake, the motor anti-shake control device greatly reduces the use number of the motors, reduces the cost and is beneficial to realizing the miniaturization of the whole device. Of course, the number of the linear rotating electric machines 1 may be appropriately adjusted according to the usage scenario. For example, in the case of anti-shake requiring only rotation and translation in two directions, 2 linear rotating electric machines 1 may be used.

In one embodiment, the linear rotary electric machine does not include the drive controller 13, and the drive controller 13 is separately provided and equipped as a separate functional component, and in another embodiment, the linear rotary electric machine includes the drive controller 13. The driving controller can be fixedly arranged in a proper space in the shell of the linear rotating motor, so that the structural design of the linear rotating motor is compact; or the driving controller is installed and fixed outside the linear rotating motor shell, so that a better heat dissipation effect can be obtained, and overheating of the driving controller is avoided. The driving controller 13 is electrically connected to the electromagnetic driving component, and when the linear rotating motor performs a rotating motion, the driving controller 13 drives at least one stator 11 driving set to generate a rotating driving magnetic field and drives the rotor 12 to rotate. When the linear rotating motor needs to perform linear motion, the driving controller 13 drives at least two stator 11 driving sets to generate a linear driving magnetic field and drives the rotor 12 to linearly move along the axial direction. It should be understood that the drive controller can realize independent control of each electromagnetic drive unit, and when the independent rotation, the independent linear translation and the simultaneous rotation and translation of the rotor are realized, the drive controller drives the required electromagnetic drive units to operate so as to form an electromagnetic drive array (such as fig. 9, 10 and 11) required for driving the rotor to act.

The linear rotating electrical machine shown in fig. 2 is a rotor built-in type, the stator base 111 is a cylindrical structure, the electromagnetic driving component is installed on the inner wall of the stator base 111, the inner side of the electromagnetic driving component surrounds and forms a first installation space for accommodating the rotor 12 to rotate, and the rotor 12 is arranged in the first installation space. The linear rotating motor with the structure can obtain larger rotational inertia. Also shown in fig. 1 is a driving shaft 125, which is inserted into the cylindrical installation space in the middle of the stator base, or the stator base and the driving shaft are integrated, and through the arrangement of the driving shaft, the rotor and the external device can be connected more conveniently, so as to realize power output. As shown in fig. 3, the linear rotating electrical machine is an external rotor, the rotor base 121 is a cylindrical structure, the permanent magnet driving component is installed on the inner wall of the rotor base 121, a second installation space for accommodating the stator 11 is formed around the inner side of the permanent magnet driving component, and the stator 11 is disposed in the second installation space. The linear rotating motor permanent magnet driving component with the structure rotates on the outer side, heat generated by the stator can be rapidly transmitted to the outside to be dissipated, and the permanent magnet is prevented from being attenuated or damaged by magnetic force due to high temperature.

With reference to the linear rotating electrical machine shown in fig. 1 and 2, the first rotor driving group 122 and the second rotor driving group 123 include an even number (6 in this embodiment) of permanent magnets 124, the magnetic poles of adjacent permanent magnets 124 in the first rotor driving group 122 are arranged in opposite directions, i.e., N-S-N-S, the magnetic poles of adjacent permanent magnets 124 in the second rotor driving group 123 are arranged in opposite directions, i.e., S-N-S-N, and the magnetic poles of adjacent permanent magnets 124 in the same rotor 12 in the axial direction are arranged in opposite directions. As another alternative magnetic pole arrangement manner, the first rotor driving group 122 and the second rotor driving group 123 include an even number (8 in this embodiment) of permanent magnets 124, the magnetic pole arrangement directions of adjacent permanent magnets 124 in the first rotor driving group 122 are opposite, that is, N-S-N-S, the magnetic pole arrangement directions of adjacent permanent magnets 124 in the second rotor driving group 123 are opposite, that is, S-N-S-N, and the magnetic pole arrangement directions of adjacent permanent magnets 124 in the same rotor 12 axial direction are opposite.

The following describes an embodiment of the vehicle-mounted anti-shake imaging apparatus with reference to fig. 4 to 7.

The vehicle-mounted anti-shake camera device of one embodiment comprises a vehicle connecting frame 4, a camera mounting frame 6, a driving motor and a camera 7, wherein the vehicle connecting frame 4 is used for mounting the camera device to a camera position of a vehicle, such as a head position, a roof position, a tail position, a vehicle recorder mounting position in the vehicle and the like, and the vehicle connecting frame can be in any shape of a rectangle, a ring, a semi-circle or a cylinder. The driving motor is arranged between the vehicle connecting frame 4 and the camera mounting frame 6, the camera 7 is mounted on the camera mounting frame 6, and the driving motor is a linear rotating motor structured according to the above-described embodiment of the present invention. The vehicle-mounted anti-shake imaging device has at least an anti-shake function along the axial movement direction of the linear rotating motor and around the axial direction of the linear rotating motor. In a preferred embodiment, the camera further comprises an acceleration sensor and a control unit, wherein the acceleration sensor is mounted on the camera mounting frame or the camera housing, at least one of the linear direction and the rotation direction around the linear direction is acquired by the acceleration sensor, and the control unit receives the acceleration information from the acceleration sensor and generates control information to be transmitted to the linear rotating motor.

The vehicle-mounted anti-shake camera device of the invention is described with reference to fig. 4, and comprises a vehicle connecting frame 4, a middle mounting frame 5, a camera mounting frame 6, a driving motor and a camera 7, wherein the driving motor comprises a first driving motor 1, a second driving motor 2 and a third driving motor 3, the first driving motor 1 is mounted between the vehicle connecting frame 4 and the middle mounting frame 5, and the first driving motor 1 drives the middle mounting frame 5 to move or/and rotate along a first linear direction; the second driving motor 2 is arranged between the middle mounting frame 5 and the camera mounting frame 6, the second driving motor 2 drives the camera mounting frame to move or/and rotate along a second linear direction, and the second linear direction is perpendicular to the first linear direction; the third driving motor 3 is installed between the camera mounting frame and the camera 7, and the third driving motor 3 drives the camera 7 to move or/and rotate along a third linear direction, wherein the third linear direction is respectively perpendicular to the first linear direction and the second linear direction. The vehicle-mounted anti-shake imaging device has an anti-shake function along the axial movement direction of the linear rotating motor and around the axial direction of the linear rotating motor. In a preferred embodiment, the camera further comprises an acceleration sensor and a control unit, wherein the acceleration sensor is mounted on the camera mounting frame or the camera housing, at least one of the linear direction and the rotation direction around the linear direction is acquired by the acceleration sensor, and the control unit receives the acceleration information from the acceleration sensor and generates control information to be transmitted to the linear rotating motor.

FIG. 5 is a schematic view of a vehicle-mounted anti-shake camera device according to a first embodiment of the present invention; in this embodiment, the first linear direction is a vertical direction and the second linear direction is a horizontal direction. If the vehicle width direction is taken as the second straight line direction, the third straight line direction is the vehicle length direction.

FIG. 6 is a schematic view of a vehicle-mounted anti-shake camera device according to a second embodiment of the present invention; in this embodiment, the second linear direction is a vertical direction, the third linear direction is a horizontal direction, and the first linear direction is perpendicular to the second linear direction and the third linear direction.

The following describes the implementation process of the anti-shake function of the vehicle-mounted anti-shake imaging apparatus shown in fig. 4 and 6. When the vehicle width direction is the third linear direction, the first linear direction is the vehicle length direction. When the vehicle is accelerated and started forwards, the camera is subjected to forward traction force to generate forward acceleration, the acceleration sensor acquires linear direction acceleration information in a first linear direction, the control unit receives the acceleration information from the acceleration sensor and generates control information to be transmitted to the third linear rotating motor, namely, a rotor of the linear rotating motor needs to do linear motion in an axial direction, current in the electromagnetic driving units of at least two stator driving groups is controlled to form a driving magnetic field in the linear direction, linear thrust is generated on the rotor, the camera moves in the opposite direction of the acceleration to offset shake, the imaging quality of the camera is improved, and offset principles of other linear direction and rotation direction accelerations (shake) are the same as those of the camera.

In one embodiment, as shown in fig. 6, the vehicle connecting frame, the middle mounting frame, the camera mounting frame and the camera after being mounted are all in a split structure, and adjacent connecting parts are kept in non-contact during the anti-shake process. As another alternative, of at least two adjacent members among the vehicle attachment frame, the center mounting frame, the camera mounting frame, and the camera, the member located on the outer side is in contact with the adjacent inner member and serves as a guide rail for the inner member. For example, a cylindrical hollow structure is arranged inside the vehicle connecting frame, the outer contour of the middle mounting frame 5 is matched with the hollow structure, the middle mounting frame 5 is mounted in the hollow structure of the vehicle connecting frame, the middle mounting frame can realize linear movement and rotation, and meanwhile, the structure between the vehicle connecting frame and the middle mounting frame is more compact. In the same way, it is also possible to use the middle mounting frame as a moving guide for the camera mounting frame, which serves as a moving guide for the camera.

Fig. 7 is a schematic view of a vehicle-mounted anti-shake camera device according to a third embodiment of the present invention, in which a vehicle connecting frame, a middle mounting frame, and a camera mounting frame are separate structures and are not in contact with each other; the vehicle connecting frame is connected with the middle mounting frame through a first driving motor; the middle mounting frame is connected with the camera mounting frame through a second driving motor. The interior of the camera mounting frame is arranged to be a cylindrical structure; the outer wall of the camera shell 71 is set to be a cylindrical structure, and is matched with the inside of the camera installation frame in size, for example, the distance between the camera installation frame and the outer wall of the camera shell is 5-20 micrometers, and lubricating oil and lubricating grease can be filled in the gap for providing lubrication. The imaging lens 72 is mounted in the camera housing 71. In this embodiment, camera installation frame is as the removal guide rail of camera, realizes the rectilinear motion and the rotary motion of camera in camera installation frame, makes the structure between camera installation frame and the camera more compact through this design, is favorable to realizing the miniaturization of camera.

The installation manner of the second driving motor 2 between the middle installation frame 5 and the camera installation frame 6 is described with reference to fig. 8, the stator of the second driving motor is fixed on the inner side wall of the middle installation frame, the rotor of the second driving motor comprises a driving shaft, one end of the driving shaft is fixedly connected with the camera installation frame 6, the other end of the driving shaft is inserted into the shaft hole arranged on the middle installation frame, and the axial stability of the rotor is realized through the installation manner of the driving shaft and the shaft hole. In the embodiment shown in fig. 8, the second driving motors 2 are respectively installed at opposite positions on two sides of the camera mounting frame 6, and those skilled in the art can understand that one of the second driving motors can be omitted, and a connecting shaft is used instead, one end of the connecting shaft is fixedly connected with the camera mounting frame, and the other end of the connecting shaft is inserted into a shaft hole formed in the middle mounting frame.

Because the vehicle-mounted anti-shake camera device is provided with the linear rotating motor, the linear and rotary anti-shake in a certain direction can be realized by using one motor, and meanwhile, the lower production cost can be obtained and the space in the radial direction of the motor can be saved.

It should be understood that the above-mentioned embodiments are only illustrative and not restrictive, and that any changes, substitutions and combinations of the technical solutions and the inventive concepts thereof described in the present disclosure by those skilled in the art are intended to be included within the scope of the present disclosure.

Claims

1. Linear rotary electric machine comprising a stator (11) and a rotor (12),

the stator (11) comprises an electromagnetic driving part and a stator base body (111), and the electromagnetic driving part is mounted on the stator base body (111); the electromagnetic driving component at least comprises a first stator driving group (112) and a second stator driving group (113), the first stator driving group (112) and the second stator driving group (113) are arranged at intervals along the axial direction of the stator (11), and the first stator driving group (112) and the second stator driving group (113) both comprise electromagnetic driving units (114) annularly arranged around a stator base body (111);

the rotor (12) comprises a rotor base body (121) and a permanent magnet driving part, wherein the permanent magnet driving part is arranged on the rotor base body (121); the permanent magnet driving component comprises rotor driving groups with the number equal to that of the stator (11) driving groups, at least comprises a first rotor driving group (122) and a second rotor driving group (123), the first rotor driving group (122) and the second rotor driving group (123) are arranged at intervals along the axial direction of the rotor (12), and the first rotor driving group (122) and the second rotor driving group (123) both comprise permanent magnets (124) annularly arranged around a rotor base body (121).

2. Linear rotary electric machine according to claim 1,

the stator base body (111) is of a cylindrical structure, the electromagnetic driving component is mounted on the inner wall of the stator base body (111), a first mounting space for accommodating the rotor (12) to rotate is formed around the inner side of the electromagnetic driving component, and the rotor (12) is arranged in the first mounting space.

3. Linear rotary electric machine according to claim 1,

the rotor base body (121) is of a cylindrical structure, the permanent magnet driving part is installed on the inner wall of the rotor base body (121), the inner side of the permanent magnet driving part surrounds and forms a second installation space used for accommodating the stator (11), and the stator (11) is arranged in the second installation space.

4. Linear rotary electric machine according to any one of claims 1 to 3,

the number of the permanent magnets (124) in the first rotor driving group (122) and the second rotor driving group (123) is even, the magnetic poles of the adjacent permanent magnets (124) in the first rotor driving group (122) are arranged in opposite directions, the magnetic poles of the adjacent permanent magnets (124) in the second rotor driving group (123) are arranged in opposite directions, and the magnetic poles of the adjacent permanent magnets (124) in the same rotor (12) in the axial direction are arranged in opposite directions.

5. Linear rotary electric machine according to any one of claims 1 to 3,

the electromagnetic driving device is characterized by further comprising a driving controller (13), wherein the driving controller (13) is electrically connected with the electromagnetic driving part, the driving controller (13) drives at least one stator (11) driving set to generate a rotary driving magnetic field and drive the rotor (12) to rotate, and the driving controller (13) drives at least two stator (11) driving sets to generate a linear driving magnetic field and drive the rotor (12) to linearly move along the axial direction.

6. An on-vehicle anti-shake camera device, including vehicle connection frame (4), camera installation frame (6), driving motor and camera (7), characterized in that, driving motor sets up between vehicle connection frame (4) and camera installation frame (6), and camera (7) are installed on camera installation frame (6), driving motor is the linear rotation motor of any one of claims 1-5.

7. The vehicle-mounted anti-shake imaging apparatus according to claim 6,

the driving motors comprise a first driving motor (1), a second driving motor (2) and a third driving motor (3), and the vehicle-mounted anti-shake camera device further comprises a middle mounting frame (5); the first driving motor (1) is arranged between the vehicle connecting frame (4) and the middle mounting frame (5), and the middle mounting frame (5) is driven by the first driving motor (1) to move or/and rotate along a first linear direction; the second driving motor (2) is arranged between the middle mounting frame (5) and the camera mounting frame (6), the second driving motor (2) drives the camera (7) mounting frame to move or/and rotate along a second linear direction, and the second linear direction is perpendicular to the first linear direction; the third driving motor (3) is installed between the camera (7) installation frame and the camera (7), the third driving motor (3) drives the camera (7) to move or/and rotate along a third linear direction, and the third linear direction is perpendicular to the first linear direction and the second linear direction respectively.

8. The vehicle-mounted anti-shake imaging apparatus according to claim 7,

9. The on-vehicle anti-shake imaging apparatus according to claim 7,

10. The on-vehicle anti-shake imaging apparatus according to claim 7,