WO2022222818A1 - 摄像头结构和电子设备 - Google Patents

摄像头结构和电子设备 Download PDF

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Publication number
WO2022222818A1
WO2022222818A1 PCT/CN2022/086562 CN2022086562W WO2022222818A1 WO 2022222818 A1 WO2022222818 A1 WO 2022222818A1 CN 2022086562 W CN2022086562 W CN 2022086562W WO 2022222818 A1 WO2022222818 A1 WO 2022222818A1
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WO
WIPO (PCT)
Prior art keywords
pan
tilt
axis
bracket
gimbal
Prior art date
Application number
PCT/CN2022/086562
Other languages
English (en)
French (fr)
Inventor
杨泽
李文珍
Original Assignee
维沃移动通信有限公司
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Filing date
Publication date
Application filed by 维沃移动通信有限公司 filed Critical 维沃移动通信有限公司
Publication of WO2022222818A1 publication Critical patent/WO2022222818A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/685—Vibration or motion blur correction performed by mechanical compensation

Definitions

  • the present application belongs to the technical field of cameras, and in particular relates to a camera structure and an electronic device.
  • micro-cloud platform on electronic equipment has greatly improved the experience of consumers when taking pictures by hand;
  • hand shake can be decomposed into three directions of space X, Y, and Z, with a total of 6 degrees of freedom (movement along the three axes of X/Y/Z and rotation around the three axes of X/Y/Z: Rx, Ry, Rz).
  • the jitter in the other 5 degrees of freedom has a great impact on handheld photography, especially when shooting at night and video, and ultimately affects the imaging effect and consumer experience.
  • the micro-gimbal camera used by the device is a two-axis gimbal, which can only prevent the jitter of 4 degrees of freedom, but cannot prevent the jitter (Rz) of rotation along the Z axis, so when there is jitter in the Rz direction, the The image quality of the PTZ camera is poor.
  • the purpose of the embodiments of the present application is to provide a camera structure and an electronic device, which can solve the problem of poor anti-shake effect of the micro-cloud platform camera in the related art.
  • the embodiments of the present application provide a camera structure, including: a universal shaft, an outer bracket of the gimbal, an inner bracket of the gimbal housed in the outer bracket of the gimbal, a gimbal carrier, a first drive mechanism, a second driving mechanism, a camera assembly and a first flexible circuit board;
  • the first flexible circuit board forms a bent elastic structure, and the camera assembly is elastically connected to the outer bracket of the gimbal through the first flexible circuit board, so that the camera assembly can be relative to the outside of the gimbal.
  • the bracket is movable, and the camera assembly is fixedly connected with the pan-tilt carrier;
  • the two supporting parts of the universal shaft axially distributed along the first shaft are respectively hinged with the outer bracket of the pan/tilt head, and the two supporting parts of the universal shaft axially distributed along the second shaft are respectively connected to the pan/tilt head an inner frame hinged, wherein the first axis intersects the second axis;
  • the first driving mechanism is respectively connected with the outer bracket of the pan-tilt and the inner bracket of the pan-tilt, so as to drive the inner bracket of the pan-tilt to rotate relative to the outer bracket of the pan-tilt along the first axis and/or along the first axis.
  • the second axis rotates;
  • pan-tilt carrier is slidably connected to the bottom of the pan-tilt inner bracket
  • the second driving mechanism is respectively connected with the pan-tilt inner bracket and the pan-tilt carrier to drive the pan-tilt carrier to rotate relative to the pan-tilt inner bracket along a third axis, wherein the third axis is respectively Perpendicular to the first axis and the second axis.
  • first accommodation space between the inner side wall of the outer bracket of the pan/tilt and the outer side wall of the inner bracket of the pan/tilt, and the first driving mechanism and the second driving mechanism are arranged in the first drive mechanism. in the containment space.
  • the first driving mechanism includes: a first magnetic yoke, a first driving coil group and a first magnet group;
  • the first magnetic yoke includes: a first side wall, and a second side wall and a third side wall connected to opposite sides of the first side wall and extending in the same direction;
  • the first drive coil group is fixed on the outer bracket of the pan/tilt head, the first magnetic yoke is fixed on the inner bracket of the pan/tilt head, and the inner bracket of the pan/tilt head is at least partially located on the outer bracket of the first magnetic yoke Between the second side wall and the third side wall; the first magnet group is distributed on the outside of the second side wall and the third side wall of the first yoke, and the first The drive coil set is adapted to the first magnet set;
  • the coils in the first drive coil group are arranged at intervals along a first direction, the first direction is perpendicular to the third axis, and the first drive coil group is distributed on the axis of symmetry of the bracket in the pan/tilt head.
  • the symmetry axis is in the same direction as the symmetry axis of the first yoke;
  • the first driving coil group when the first driving coil group is supplied with current, an interaction force is generated between the first driving coil group and the first magnet group, and the first magnet group is based on the interaction
  • the force drives the pan/tilt inner support to rotate relative to the pan/tilt outer support along the first axis and/or along the second axis.
  • the camera structure further includes:
  • the first position feedback element group is used to detect the rotation amount of the inner bracket of the gimbal relative to the outer bracket of the gimbal along the first axis or along the second axis, and the first position feedback element group is arranged at within the magnetic field range of the first magnet group and the first driving coil group.
  • the second driving mechanism includes: a second magnetic yoke, a second driving coil group and a second magnet group;
  • the second magnetic yoke includes: a fourth side wall, and a fifth side wall and a sixth side wall connected to opposite sides of the fourth side wall and extending in the same direction;
  • the second magnet group is fixed on the fourth side wall of the U-shaped groove of the second magnetic yoke, and the second magnetic yoke is fixed on the inner bracket of the gimbal, and the inner bracket of the gimbal is at least is located partially between the fifth sidewall and the sixth sidewall of the second yoke;
  • the second drive coil set is fixed on the pan/tilt carrier, the coils in the second drive coil set are arranged at intervals along the first direction, and the second drive coil set is adapted to the second magnet set , the first direction is perpendicular to the third axis, and the second drive coil set is distributed on opposite sides of the symmetry axis of the pan/tilt carrier, the symmetry axis and the second yoke are symmetrical axis in the same direction;
  • the camera structure further includes:
  • the second position feedback element group is used to detect the rotation amount of the pan/tilt carrier relative to the pan/tilt inner bracket along the third axis, and the second position feedback element group is arranged between the second magnet group and the within the magnetic field range of the second drive coil group.
  • the first flexible circuit board includes: a first sub-circuit board, at least two elastic structural circuit boards, a first elastic arm and a second elastic arm;
  • the elastic structure circuit board includes at least two layers of sub-circuit boards arranged in layers, and there is a gap between any two layers of the sub-circuit boards to form a curved elastic structure, so that the elastic structure circuit board can elastically deform;
  • the at least two elastic structure circuit boards are distributed around the first sub-circuit board, and the at least two elastic structure circuit boards are respectively connected to the first sub-circuit board through the first elastic arms;
  • the first sub-circuit board is attached to the bottom of the camera assembly, and the at least two elastic structure circuit boards are fixed to the outer bracket of the pan/tilt through the second elastic arm.
  • first through holes are respectively opened on the support parts, and the axial direction of the first through holes is perpendicular to the third axis;
  • the camera structure further includes: an adapter structure, the adapter structure includes a clamping part and a first ball;
  • the first ball is inserted through the first through hole and sandwiched between two side walls of the clamping portion;
  • clamping portion is used for fixed connection with the outer bracket of the pan/tilt or the inner bracket of the pan/tilt.
  • the transition structure further includes: a guide plate, the guide plate is fixedly connected with the first side wall of the clamping part and extends in a direction close to the second side wall of the clamping part , the first side wall of the clamping portion and the second side wall of the clamping portion are opposite side walls of the clamping portion;
  • the transfer structure further includes: a limiting plate, the limiting plate is fixed on the bottom of the groove of the clamping portion, so as to limit the movement of the supporting portion when the supporting portion rotates relative to the clamping portion.
  • the rotation angle is smaller than the preset angle.
  • the outer bracket of the gimbal and the inner bracket of the gimbal are provided with a card slot matching the clamping part, and the clamping part is clamped in the card slot, so that the support The part is hinged with the outer bracket of the pan/tilt or the inner bracket of the pan/tilt.
  • At least two first arc-shaped baffles are disposed at the bottom of the inner support of the pan/tilt head, and the ring where the at least two first arc-shaped baffles are located is coaxial with the third axis;
  • At least two second arc-shaped baffles corresponding to the at least two first arc-shaped baffles one-to-one are arranged on the pan-tilt carrier, one of the first arc-shaped baffles and one of the second arc-shaped baffles
  • the baffle is an arc baffle group
  • the camera structure further includes: a second ball
  • the second ball is clamped in any one of the arc baffle groups.
  • it also includes: a rolling support frame;
  • the rolling support frame is fixed on the inner bracket of the pan-tilt head, and abuts with the side of the pan-tilt carrier that faces away from the inner bracket of the pan-tilt head, so as to limit the movement of the pan-tilt carrier along the third axis. direction move.
  • an embodiment of the present application provides an electronic device, where the electronic device includes the camera structure described in the first aspect.
  • the camera structure includes: a universal shaft, an outer bracket of the gimbal, an inner bracket of the gimbal housed in the outer bracket of the gimbal, a gimbal carrier, a first driving mechanism, a second driving mechanism, A camera assembly and a first flexible circuit board; the first flexible circuit board forms a bent elastic structure, and the camera assembly is elastically connected to the outer bracket of the pan/tilt through the first flexible circuit board, so that the The camera assembly can move relative to the outer bracket of the gimbal, and the camera assembly is fixedly connected to the gimbal carrier; the two support parts of the universal shaft axially distributed along the first axis are respectively connected to the outside of the gimbal.
  • the bracket is hinged, and the two support parts of the universal shaft axially distributed along the second axis are respectively hinged with the inner bracket of the pan-tilt head, wherein the first axis intersects with the second axis;
  • the first drive The mechanism is respectively connected with the outer bracket of the gimbal and the inner bracket of the gimbal to drive the inner bracket of the gimbal to rotate relative to the outer bracket of the gimbal along the first axis and/or along the second axis ;
  • the pan-tilt carrier is slidably connected with the bottom of the pan-tilt inner bracket;
  • the second driving mechanism is respectively connected with the pan-tilt inner bracket and the pan-tilt carrier to drive the pan-tilt carrier relative to the pan-tilt carrier
  • the inner bracket of the PTZ rotates along a third axis, wherein the third axis is perpendicular to the first axis and the second axis respectively.
  • the camera module can be rotated along the first axis, the second axis and the third axis respectively relative to the outer bracket of the gimbal, so as to improve the degree of freedom of the camera module, thereby improving the anti-shake effect of the camera.
  • FIG. 1 is a side view of a camera structure provided by an embodiment of the present application.
  • FIG. 2 is a disassembled diagram of a camera structure provided by an embodiment of the present application.
  • 3a is a top view of a camera structure provided by an embodiment of the present application.
  • Figure 3b is a cross-sectional view along the direction A-A in Figure 3a;
  • Figure 3c is a cross-sectional view along the direction B-B in Figure 3a;
  • 3d is a bottom view of a camera structure provided by an embodiment of the present application.
  • Figure 4a is a structural diagram of a cardan shaft
  • Fig. 4b is the assembly structure diagram of the cardan shaft and the transfer structure
  • Figure 4c is a side view of the switching structure
  • Figure 4d is a front view of the switching structure
  • Figure 4e is a cross-sectional view along the C-C direction in Figure 4d;
  • Fig. 5 is the assembly structure diagram of the universal shaft, the inner bracket of the pan/tilt head, the transfer structure, the second magnetic yoke, the first magnet group and the second magnet group;
  • Fig. 6a is the assembly drawing of the universal shaft, the outer bracket of the gimbal and the inner bracket of the gimbal;
  • Figure 6b is a disassembled view of the first drive coil group
  • Figure 6c is a split view of the first magnet set, the yoke and the second magnet set
  • Fig. 7a is the assembly structure diagram of the pan/tilt carrier and the second drive coil group
  • Figure 7b is a bottom view of the bracket in the gimbal
  • Fig. 7c is the assembly structure diagram of the pan/tilt carrier and the pan/tilt inner bracket
  • Fig. 7d is the assembly structure diagram of the pan/tilt carrier, the pan/tilt inner bracket and the rotating carrier;
  • FIG. 8 is an assembly structure diagram of the first flexible circuit board and the camera assembly.
  • first, second and the like in the description and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances so that the embodiments of the present application can be practiced in sequences other than those illustrated or described herein, and distinguish between “first”, “second”, etc.
  • the objects are usually of one type, and the number of objects is not limited.
  • the first object may be one or more than one.
  • “and/or” in the description and claims indicates at least one of the connected objects, and the character “/" generally indicates that the associated objects are in an "or” relationship.
  • FIG. 1 is a structural diagram of a camera structure provided by an embodiment of the present application
  • FIG. 2 is a disassembled view of a camera structure provided by an embodiment of the present application
  • FIG. 3a is a schematic diagram of the present application A top view of a camera structure provided by the embodiment
  • Fig. 3b is a cross-sectional view along the A-A direction in Fig. 3a
  • Fig. 3c is a cross-sectional view along the B-B direction in Fig. 3a
  • Fig. 3d is a camera structure provided by an embodiment of the application bottom view.
  • the camera structure provided by the embodiment of the present application includes: a universal shaft 2, an outer bracket 9 of the gimbal, an inner bracket 5 of the gimbal housed in the outer bracket 9 of the gimbal, a gimbal carrier 10, a first driving mechanism (not numbered), The second driving mechanism (not numbered), the camera assembly 20 and the first flexible circuit board 23 .
  • the first flexible circuit board 23 forms a bent elastic structure, and the camera assembly 20 is elastically connected to the gimbal outer bracket 9 through the first flexible circuit board 3, so that the camera assembly 20 can move relative to the gimbal outer bracket 9, and
  • the camera assembly 20 is fixedly connected to the pan-tilt carrier 10;
  • the two support parts 25 of the universal shaft 2 distributed along the axial direction of the first axis are respectively hinged with the outer bracket 9 of the pan-tilt;
  • the supporting parts 25 are respectively hinged with the inner bracket 5 of the gimbal, wherein the first axis intersects the second axis;
  • the first driving mechanism is respectively connected with the outer bracket 9 of the gimbal and the inner bracket 5 of the gimbal to drive the cloud
  • the inner bracket 5 rotates along the first axis and/or along the second axis relative to the outer bracket 9 of the pan/tilt.
  • pan-tilt carrier 10 is slidably connected with the bottom of the pan-tilt inner bracket 5; the second driving mechanism is respectively connected with the pan-tilt inner bracket 5 and the pan-tilt carrier 10 to drive the pan-tilt carrier 10 relative to the pan-tilt carrier 10.
  • the inner support 5 of the PTZ rotates along a third axis, wherein the third axis is perpendicular to the first axis and the second axis, respectively.
  • the first axis may extend in the same direction as the H line as shown in FIG. 1
  • the second axis may extend in the same direction as the M line as shown in FIG. 1
  • the third axis may be as shown in FIG. Z axis shown in 1.
  • the four support parts 25 of the universal joint shaft 2 may be located on the four corners of the square, respectively. At this time, the first axis and the second axis are perpendicular.
  • the universal joint The structure of the axis 2 can be diversified, and the first axis and the second axis may not be perpendicular to each other, for example, the included angle between the first axis and the second axis is greater than 0° and less than 180°.
  • the above-mentioned driving the inner bracket 5 of the gimbal is rotated along the first axis and/or along the second axis relative to the outer bracket 9 of the gimbal, which can be understood as: driving the inner bracket 5 of the gimbal relative to the outer bracket of the gimbal 9 rotates along the X-axis or along the Y-axis, wherein the outer bracket 9 of the pan-tilt head can be in a rectangular structure, and the above-mentioned X-axis and Y-axis are respectively parallel to two mutually perpendicular rectangular sides on the outer bracket 9 of the pan-tilt head.
  • the inner bracket 5 of the gimbal rotates relative to the outer bracket 9 of the gimbal along the first axis, it has rotational components along the X-axis and the Y-axis; During the rotation of the pan/tilt outer bracket 9 along the second axis, it also has rotational components along the X-axis and the Y-axis. At this time, if it is only necessary to drive the inner bracket 5 of the gimbal to rotate relative to the outer bracket 9 of the gimbal along the X axis, then the inner bracket 5 of the gimbal can be rotated along the second axis relative to the outer bracket 9 of the gimbal along the Y axis.
  • the component of the direction and the component along the Y-axis direction during the rotation of the inner bracket 5 of the pan/tilt relative to the outer bracket 9 of the pan/tilt along the second axis cancel each other out, so as to realize the drive of the inner bracket 5 of the pan/tilt relative to the outer bracket 9 of the pan/tilt.
  • the X axis rotates.
  • the above-mentioned camera assembly 20 is fixedly connected to the pan-tilt carrier 10 , which can be understood as: the outer wall of the camera assembly 20 is attached to and fixedly connected to the inner wall of the pan-tilt carrier 10 .
  • the camera structure provided by the above embodiments of the present application may include: a casing 1 , and the casing 1 may include a top casing 1 a and a bottom casing 1 b.
  • the bottom case 1b is recessed in a direction away from the top case 1a to form a receiving space between the top case 1a and the bottom case 1b, and the universal shaft 2, the outer bracket 9 of the pan/tilt and the outer bracket 9 are accommodated in the outer bracket 9 of the pan/tilt head.
  • the PTZ inner bracket 5 , the PTZ carrier 10 , the first driving mechanism, the second driving mechanism, the camera assembly 20 and the first flexible circuit board 23 can be accommodated in the accommodation space of the housing 1 .
  • top shell 1a, the universal shaft 2, the outer bracket 9 of the gimbal, the inner bracket 5 of the gimbal, and the carrier 10 of the gimbal are all provided with light-passing holes, so that the camera assembly 20 below the camera can collect image information through the light-passing holes. , and even the head of the camera assembly 20 (ie, the top along the Z axis in FIG. 1 ) is exposed to the top case 1a through the light-passing hole.
  • the camera structure provided in the embodiment of the present application can be enclosed by the casing 1 to form an integral structure, and the casing 1 can also protect structures such as the first flexible circuit board 23 inside the casing 1 .
  • the above-mentioned first driving mechanism and the second driving mechanism may be a motor driving mechanism, an electromagnetic driving mechanism, etc., respectively.
  • the first driving mechanism and the second driving mechanism are electromagnetic driving mechanisms.
  • a mechanism is used as an example for description, and no specific limitation is construed here.
  • Rx, Ry, and Rz represent directions of rotation along the X-axis, the Y-axis, and the Z-axis, respectively.
  • the second drive mechanism is used to independently drive the pan/tilt carrier to rotate in the direction of the Rz axis, so as to realize the anti-shake of the Rz-axis, so that the anti-shake system of the Rz-axis is independent from the anti-shake systems of Rx and Ry, In this way, when the Rx and Ry axes perform the anti-shake function, the Rz position feedback system will not be affected, thereby effectively improving the anti-shake accuracy of the Rz axis, and then more effectively improving the night shooting and video shooting. , to further enhance the consumer experience.
  • the two support parts 25 of the universal joint shaft 2 distributed along the axial direction of the first axis are respectively hinged with the outer bracket 9 of the pan/tilt head, and the two support parts 25 of the universal joint shaft 2 distributed along the axial direction of the second axis are respectively connected to the pan/tilt head
  • the articulation of the inner bracket 5 can be understood as: the two supporting parts 25 of the universal joint shaft 2 axially distributed along the first axis constitute the first rotation axis, so that when the two supporting parts 25 are hinged on the outer bracket 9 of the pan/tilt head , the universal shaft 2 can be rotated along the first rotation axis relative to the outer bracket 9 of the pan/tilt head; and the two supporting parts 25 of the universal shaft 2 axially distributed along the second axis constitute the second rotation axis, so that when these two When the supporting parts 25 are hinged on the inner bracket 5 of the gimbal, the universal shaft 2 can rotate relative to the inner bracket 5 of the gimbal along the second rotation
  • the camera assembly 20 since the camera assembly 20 is elastically connected to the gimbal outer bracket 9 through the first flexible circuit board 23 and the camera assembly 20 is fixed to the gimbal carrier 10 , the camera assembly 20 can follow the gimbal carrier 10 relative to the inside of the gimbal.
  • the bracket 5 is rotated in the RZ axis direction. Therefore, the rotation of the camera module 103 in the directions of the Rx, Ry and Rz axes is realized.
  • the shaking parameters such as the shaking direction and shaking distance of the camera can be obtained, and accordingly, the camera structure provided in the embodiment of the present application can be controlled to rotate correspondingly in the directions of Rx, Ry, and Rz, so as to realize the rotation along the Rx, Ry directions. And anti-shake in the Rz axis direction.
  • a first accommodating space 905 is provided between the inner side wall of the pan-tilt outer bracket 9 and the outer side wall of the pan-tilt inner bracket 5 , and the first driving mechanism and the second driving mechanism are arranged in the first accommodating space.
  • the specific shape of the above-mentioned first receiving space 905 can be adjusted as required.
  • the first driving mechanism and the second driving mechanism need to be adjusted from the relative position of the bracket 5 in the pan/tilt head.
  • the first receiving space 905 can be in contact with at least the first outer side wall, the second outer side wall and the third outer side wall of the pan/tilt inner bracket 5, the first outer side wall and the third outer side wall.
  • the second outer side walls may be two opposite side walls of the inner support 5 of the pan/tilt head, and the third outer side walls are located between the first outer side walls and the second outer side walls.
  • the first accommodating space 905 can be set in the inner bracket 5 of the platform.
  • the space between the first outer side wall and the first inner side wall of the pan/tilt outer bracket 9 is not specifically limited here.
  • the head of the camera assembly 20 can protrude out of the outer bracket 9 of the gimbal through the light-through hole on the upper side of the outer bracket 9 of the gimbal, that is to say, the first driving mechanism and the second driving mechanism can be connected with
  • the tail of the camera module (that is, below the z-axis in Figure 2) is aligned, so that the electromagnetic drive modules in the first drive mechanism and the second drive
  • the head leaves more non-magnetic areas, so that the camera module mounted on the gimbal can choose more types of drive motors, for example, an Optical Image Stabilization (OIS) camera module can be selected.
  • OIS Optical Image Stabilization
  • the camera structure provided in the embodiments of the present application can be combined with the anti-shake functions along the Rx, Ry, and Rz directions to construct a 5-axis anti-shake camera system (that is, along the X, Y, Rx, Ry, and Rz directions, respectively).
  • Anti-shake can drive the camera system respectively to compensate or combine the 5 degrees of freedom jitter, to avoid the influence of time difference and the inability to switch the compensation state in the composite motion compensation, so that the picture and video quality can be better. , in particular, it can more effectively improve the picture quality of the camera in the case of hand shaking during night shooting, and improve the overall consumer experience.
  • the first driving mechanism includes: a first magnetic yoke 22 , a first driving coil group 7 and a first magnet group 21 ;
  • the first magnetic yoke includes: a first side wall, and a second side wall and a third side wall connected to opposite sides of the first side wall and extending in the same direction;
  • the first drive coil group 7 is fixed to the outer bracket 9 of the pan/tilt head, the first magnetic yoke 22 is fixed to the inner bracket 5 of the pan/tilt head, and the inner bracket 5 of the pan/tilt head is at least partially located on the second side wall and the rest of the first magnetic yoke 22. between the third side walls (that is, the inner bracket 5 of the pan/tilt head is at least partially located in the U-shaped groove formed by the first magnetic yoke 22 ); the first magnet group 21 is distributed on the second side wall of the first magnetic yoke 22 The outer side of the outer side and the outer side of the third side wall, and the first drive coil group 7 is matched with the first magnet group 21;
  • the coils in the first drive coil group 7 are arranged at intervals along a first direction, the first direction is perpendicular to the third axis, and the first drive coil group 7 is distributed on opposite sides of the symmetry axis of the bracket 5 in the pan/tilt head , the symmetry axis is in the same direction as the symmetry axis of the first yoke 22;
  • the first driving coil group 7 passes current, an interaction force is generated between the first driving coil group 7 and the first magnet group 21, and the first magnet group 21 drives the pan/tilt based on the interaction force
  • the inner bracket 5 rotates along the first axis and/or along the second axis relative to the outer bracket 9 of the pan/tilt head.
  • the first magnetic yoke 22 includes: a first side wall, and a second side wall and a third side wall that are connected to opposite sides of the first side wall and extend in the same direction. It is understood that the first yoke 22 has a U-shaped groove structure.
  • the matching arrangement of the first magnet group 21 and the first driving coil group 7 can be understood that the magnetic field generated by the first driving coil group 7 can act on the first magnet group 21 , and the first magnetic yoke 22 and the first magnet group 21 A magnetic circuit is generated between them, or the magnets in the first magnet group 21 and the coils in the first driving coil group 7 are arranged in a one-to-one correspondence, and the magnets and coils corresponding to each other are arranged facing each other.
  • a current whose magnitude and direction are respectively controllable can be passed into the first driving coil group 7 , so that the first magnet group 21 fixed on the first magnetic yoke 22 and the first magnet group 21 fixed on the outer bracket 9 of the pan/tilt head
  • the interaction force with controllable direction and size is generated between the first driving coil group 7, and then the first magnetic yoke 22 (the first magnet group 21) can be driven to generate direction-controlled Rx, Ry relative to the outer bracket 9 of the pan/tilt head
  • the axis rotates, and then can directly drive the inner bracket 5 (camera module 103 ) of the gimbal to generate the Rx and Ry axis rotation motions to stabilize the Rx and Ry axes.
  • the first magnet group 21 includes two first magnets (respectively 21A and 21B), and the first driving coil group 7 includes two first coils (respectively 7A and 7B) ), then the first coil 7A and the first magnet 21A are disposed opposite to each other, and the first coil 7B and the first magnet 21B are disposed opposite to each other.
  • the drive head inner bracket 5 is driven relative to the head outer bracket 9 along Ry
  • the force directions of the first magnets 21A and 21B are different, that is, one is in the same direction as the Z axis and the other is in the same direction as the -Z axis
  • the inner bracket 5 of the drive head is opposite to the outer bracket 9 of the head. Rotate in the direction of the Rx axis.
  • a second through hole 903 may be opened on the outer bracket 9 of the pan/tilt head, so that the coils in the first driving coil group 7 are respectively embedded in the second through hole 903, thereby The first driving coil group 7 is fixedly connected with the outer bracket 9 of the pan/tilt head.
  • first magnetic yoke 22 is fixed to the pan-tilt inner bracket 5, and the pan-tilt inner bracket 5 is at least partially located in the U-shaped groove of the first magnetic yoke 22, which can be understood as: the opening side of the first magnetic yoke 22 faces the pan-tilt head
  • the inner bracket 5 is fixed to the bottom of the U-shaped groove of the first magnetic yoke 22 .
  • a rolling support frame 18 fixed on the inner frame 5 of the pan/tilt head may be provided, so that the first magnetic yoke 22 is fixed on the inner frame 5 of the pan/tilt head through the rolling support frame 18 .
  • the driving coils in the first driving coil group 7 can be respectively connected to the first driving circuit board 6, the first driving circuit board. 6 can be attached to the outer side of the outer bracket 9 of the pan/tilt head, and make the driving coils in the first driving coil group 7 pass through the above-mentioned second through holes 903 and then be installed on the first driving circuit board 6 so as to pass through the first driving circuit board 6.
  • the drive circuit board 6 provides currents with controllable magnitude and direction to the drive coils in the first drive coil group 7, respectively.
  • the magnitude and direction of the current flowing into the first driving coil group 7 may be controlled by the controller in the electronic device equipped with the three-axis pan/tilt provided by the embodiment of the present application.
  • the first driving circuit The outer side of the board 6 can also be provided with a first interface 604, so as to realize the data communication connection with the controller in the electronic device through the first interface 604. Specifically, as shown in FIG.
  • the first driving circuit board 6 includes a first driving The sub-circuit board 601, the second driving sub-circuit board 603, the connecting board 602 and the first interface 604, the first interface 604 is connected to the second driving sub-circuit board 603, and the two driving sub-circuit boards 601 and 603 pass through
  • the connection boards 602 are connected to each other, and the coil 7A in the first driving coil group 7 is connected to the first driving sub-circuit board 601 , and the coil 7B in the first driving coil group 7 is connected to the second driving sub-circuit board 603 .
  • the first driving sub-circuit board 601 , the second driving sub-circuit board 603 , the connecting board 602 and the first interface 604 may be an integrally formed circuit board structure.
  • a first position feedback element group 8 (position feedback elements 8A and 8B) can also be assembled on the first driving circuit board 6, so as to pass the first position feedback element group 8
  • the rotation amount of the inner bracket 5 of the gimbal relative to the outer bracket 9 of the gimbal along the Rx axis and the Ry axis direction is detected, so as to facilitate the precise control of the lifting rotation amount.
  • the first position feedback element group 8 (position feedback elements 8A and 8B) can also be assembled on the first driving circuit boards (601 and 603) to pass the first position
  • the feedback element group 8 detects the rotation amount of the inner bracket 5 of the gimbal relative to the outer bracket 9 of the gimbal along the Rx axis and the Ry axis direction, so as to facilitate the precise control of the lifting rotation amount.
  • the above-mentioned first position feedback element group 8 can be a Hall element, and it can be arranged within the magnetic field range of the first magnet group 21 and the first driving coil group 7, so as to pass the induction
  • the change of the magnetic field determines the displacement of the first magnet group 21 relative to the first drive coil group 7 , thereby determining the rotation of the inner bracket 5 of the gimbal relative to the outer bracket 9 of the gimbal along the Rx axis and the Ry axis.
  • the first position feedback element group 8 may include at least two first position feedback elements to be distributed in the first magnetic field between 21A and 7A and in the second magnetic field between 21B and 7B.
  • the above-mentioned first position feedback element group 8 can also be a driving chip, which can not only control the input current of a controllable size and direction to the first driving coil group 7, but also feedback Rx The amount of rotation in the direction of the axis and Ry axis.
  • the second driving mechanism includes: a second magnetic yoke (in this embodiment, the second magnetic yoke and the first magnetic yoke are the same magnetic yoke, so use the same number: 22), the second driving coil group 15 and The second magnet group 17;
  • the second magnetic yoke 22 includes: a fourth side wall (same as the first side wall of the first magnetic yoke 22 ), and a fifth side connected to opposite sides of the fourth side wall and extending in the same direction wall (same as the second side wall of the first yoke 22) and sixth side wall (same as the third side wall of the first yoke 22);
  • the second magnet group 17 is fixed to the fourth side wall of the second magnetic yoke 22 (ie, the bottom of the U-shaped groove formed by the second magnetic yoke 22 ), and the second magnetic yoke 22 is fixed to the inner bracket 5 of the pan/tilt head , and the pan-tilt inner bracket 5 is at least partially located between the fifth side wall and the sixth side wall of the second yoke 22 (that is, the pan-tilt inner bracket 5 is at least partially located in the U formed by the second yoke 22 ). groove);
  • the second driving coil group 15 is fixed to the pan/tilt carrier 10 , the coils in the second driving coil group 15 are arranged at intervals along the first direction, and the second driving coil group 15 is adapted to the second magnet group 17 , the first The direction is perpendicular to the third axis, and the second drive coil group 15 is distributed on opposite sides of the symmetry axis of the pan/tilt carrier 10, and the symmetry axis is in the same direction as the symmetry axis of the second yoke 22;
  • the first magnetic yoke and the second magnetic yoke are the same magnetic yoke 22 , the first magnet group 21 is fixed to the outer side of the magnetic yoke 22 , and the second magnet group 17 is fixed to the outer side of the magnetic yoke 22 .
  • the inner side of the magnetic yoke 22 can reduce the number of magnetic yokes in the camera structure provided by the embodiment of the present application, so as to reduce its volume and cost.
  • the first magnetic yoke and the second magnetic yoke may be different magnetic yokes, which is not limited herein.
  • a third through hole 2201 may be opened on the bottom of the groove of the second magnetic yoke 22, so that the buckle structure 502 extending from the outer side wall of the inner bracket 5 of the pan/tilt can be connected with
  • the third through hole 2201 is clamped, that is, the third through hole 2201 can play the role of positioning and fixing the second magnetic yoke 22 .
  • the pan-tilt carrier 10 is movably connected to the bottom of the pan-tilt inner bracket 5 , so that the second driving coil group 15 fixed to the pan-tilt carrier 10 is located on the outer side wall of the pan-tilt inner bracket 5 and the bottom of the groove of the second yoke 22 between the second driving coil group 15 and the second magnet group 17 fixed in the groove bottom of the second magnetic yoke 22 when the current with controllable size and direction is passed through the second driving coil group 15 An interaction force is generated between them, so that based on the interaction force of the second magnet group 17 , the gimbal carrier 10 is driven to rotate relative to the bracket 5 in the gimbal along the third axis.
  • the second driving coil group 15 can be connected to the second driving circuit board 13, the second driving circuit The board 13 can be attached to the outer side wall of the pan/tilt carrier 10 , and the second driving coil group 15 is installed on the second driving circuit board 13 , and the second driving coil group is arranged on the second driving circuit board 13 .
  • 15 is connected to the second driving chip 16 to control the magnitude and direction of the current input to the second driving coil group 15 through the second driving chip 16 .
  • a second position feedback element group may also be assembled on the second driving circuit board 13 (in this embodiment, the second position feedback element group and the second driving chip 16 may be the same element), so as to The rotation amount of the gimbal carrier 10 relative to the gimbal inner bracket 5 along the third axis is obtained through the second driving chip 16 , so as to facilitate precise control of the rotation amount of the Rz axis.
  • the above-mentioned second position feedback element group may also be a different component from the second driving chip 16 , for example, the second position feedback element group includes a Hall element, which can be arranged on the second driving coil Within the range of the magnetic field of the group 15 and the second magnet group 17, the displacement of the second driving coil group 15 relative to the second magnetic yoke 22 can be determined by the change of the induced magnetic field, so as to determine the relative position of the gimbal carrier 10 relative to the gimbal inner bracket. 5 The amount of rotation in the direction of the Rz axis.
  • the above-mentioned first position feedback element group 8 may also be a driving chip, which can not only control the input of a current whose magnitude and direction are controllable to the second driving coil group 15, but also feedback The amount of rotation in the Rx and Ry directions.
  • the above-mentioned second driving circuit board 13 may be in a bent structure, so as to be attached to two adjacent side walls of the pan/tilt carrier 10 .
  • a circuit board reinforcement 12 matching the structure of the second driving circuit board 13 can also be provided, so that the second driving circuit board 13 can be lifted by attaching the second driving circuit board 13 to the circuit board reinforcement 12 structural strength.
  • the second driving mechanism 102 further includes: an inner magnetic yoke 14 ; the inner magnetic yoke 14 is fixed to the pan/tilt carrier 10 and forms a magnetic circuit with the second magnet group 17 .
  • the inner magnetic yoke 14 can be fixed on the side of the second driving circuit board 13 facing away from the second driving coil group 15 , for example, as shown in FIG.
  • the groove 1004 is formed so that the inner magnetic yoke 14 is embedded in the groove 1004 and sandwiched between the pan-tilt carrier 10 and the second driving circuit board 13 .
  • the function of the above-mentioned inner magnetic yoke 14 is to increase the driving force of the second driving mechanism 102, so as to improve the anti-shake effect of the camera structure provided in the embodiment of the present application along the Rz axis direction.
  • the support portion 25 is respectively provided with first through holes 251, and the axial direction of the first through holes 251 is perpendicular to the third axis;
  • the camera structure further includes: an adapter structure, the adapter structure includes a clamping part 3 (for example: a U-shaped arm) and a first ball 4;
  • the first ball 4 passes through the first through hole 251 and is sandwiched between two side walls of the clamping portion 3;
  • clamping portion 3 is used for fixed connection with the outer bracket 9 of the pan/tilt or the inner bracket 5 of the pan/tilt.
  • the four corners of the universal shaft 2 respectively extend in the opposite direction of the z-axis, so as to be respectively connected with a transition structure.
  • the first ball 4 can be clamped in the first through hole 251 first, and then inserted into the clamping portion 3 together.
  • the opposite side walls of the clamping portion 3 may be recessed in a direction away from each other, so that when the first ball 4 is clamped in the clamping portion 3 , it can be retained in the clamping portion 3 .
  • the position remains unchanged.
  • ball retaining structures 303 and 307 are respectively provided on the opposite side walls of the clamping portion 3, wherein 307 is located on the opposite side of 303, and the side walls where 303 and 307 are located are elastically connected to facilitate assembly.
  • An opening 306 is provided at the bottom of the first ball 4 and the supporting portion 25 and the clamping portion 3 to reduce the magnitude of the elastic force between the opposite two side walls of the clamping portion 3 .
  • the transition structure further includes: a guide plate 302 , the guide plate 302 is fixedly connected with the first side wall of the clamping part 3 , and faces the first side wall close to the clamping part 3 .
  • the direction of the two side walls extends, the first side wall of the clamping part 3 and the second side wall of the clamping part 3 are the opposite side walls of the clamping part 3;
  • the transfer structure further includes: a limit plate 304, the limit plate 304 is fixed on one end of the clamping part 3 away from the universal shaft 2 (for example: the bottom of the groove of the U-shaped arm), so as to be opposite to the support part 25.
  • the rotation angle of the limiting support part 25 is smaller than the preset angle.
  • the first side wall of the clamping portion 3 may be located on the side of the clamping portion 3 away from the center of the universal joint shaft 2 , and the number of the guide plates 302 is two, and the two guide plates 302 are located on the clamping portion 3 3, so as to align the support portion 25 between the two guide plates 302 during the assembly process, so as to play a guiding role.
  • the end of the limiting plate 304 that is not fixed to the clamping portion 3 can be inclined outwardly, so that when the supporting portion 25 rotates around the first ball 4 by a predetermined angle, the supporting portion 25 abuts against the limiting plate 304 . Thereby, further rotation of the support portion 25 is restricted.
  • the outer bracket 9 of the gimbal and the inner bracket 5 of the gimbal are provided with card slots (501, 901) matching the clamping part 3, and the clamping part 3 is clamped on the card. into the grooves ( 501 , 901 ), so that the support portion 25 is hinged with the outer bracket 9 of the gimbal or the inner bracket 5 of the gimbal.
  • the clamping parts 3 corresponding to the two supporting parts 25 located on the first axis of the universal shaft 2 are respectively clamped in the two clamping grooves 901 on the diagonal line of the outer bracket 9 of the pan/tilt head
  • the clamping parts 3 corresponding to the two supporting parts 25 located on the second axis of the universal shaft 2 are respectively clamped in the two clamping grooves 501 on the diagonal line of the bracket 5 in the pan/tilt head.
  • the gimbal outer bracket 9 and the gimbal inner bracket 5 can be lowered in the z-axis direction. Therefore, the overall size of the camera structure provided by the embodiments of the present application is reduced.
  • the first flexible circuit board 23 includes: a first sub-circuit board 2301, at least two elastic structure circuit boards 2302, a first elastic arm 2303 and a second elastic arm 2304;
  • the elastic structure circuit board 2302 includes at least two layers of sub-circuit boards arranged in layers, and there is a gap between any two layers of the sub-circuit boards to form a curved elastic structure, so that the elastic structure circuit board 2302 can elastically deform;
  • At least two elastic structure circuit boards 2302 are distributed around the first sub-circuit board 2301, and the at least two elastic structure circuit boards 2302 are respectively connected to the first sub-circuit board 2301 through the first elastic arms 2303;
  • the first sub-circuit board 2301 is attached to the bottom of the camera assembly 20 , and at least two elastic structure circuit boards 2302 are fixed to the outer bracket 9 of the gimbal through the second elastic arms 2304 .
  • the first elastic arm 2303 can extend outside the gimbal outer bracket 9 to connect with the elastic structure circuit board 2302 distributed outside the gimbal outer bracket 9 , and the second elastic arm The end of 2304 away from the elastic structure circuit board 2302 can be fixed on the inner wall of the outer bracket 9 of the pan/tilt head.
  • the above-mentioned first sub-circuit board 2301 is used for conducting with the camera assembly 20 to transmit the data signals and electrical signals of the camera assembly 20, and the data signals and electrical signals sequentially pass through the first elastic arm 2303, the elastic structure
  • the circuit board 2302 and the second elastic arm 2304 are transmitted to the external circuit.
  • the side of the second elastic arm 2304 away from the elastic structure circuit board 2302 is provided with a pad 24 for connecting with an external circuit, and the pad 24 extends to the casing through the opening at the bottom of the casing 1 1, so that the pad 24 is located outside the housing 1, so that the camera structure provided by the embodiment of the present application can be assembled into the electronic device through the pad 24.
  • the above-mentioned pads 24 can be designed as an integral structure with the first sub-circuit board 2301 , the at least two elastic structure circuit boards 2302 , the first elastic arm 2303 and the second elastic arm 2304 that can be expanded in a plane, so as to avoid the need for the first sub-circuit board 2301 , the at least two elastic structure circuit boards 2302 , the first elastic arm 2303 and the second elastic arm 2304 The problem of complicated process caused by the welding of a flexible circuit board.
  • the above-mentioned first flexible circuit board 23 includes two elastic structure circuit boards 2302 , which are distributed on opposite sides of the first sub-circuit board 2301 .
  • the camera assembly 20 rotates along the axial direction of the first axis; when the compression of the side of the two elastic structure circuit boards 2302 close to the first elastic arm 2303 is not equal to the compression of the side of the elastic structure circuit board 2302 close to the second elastic arm 2304
  • the camera assembly 20 rotates along the axial direction of the second axis; when the two elastic structure circuit boards 2302 are respectively displaced laterally, the camera assembly 20 rotates along the Z axis.
  • the first flexible circuit board 23 can be connected to the camera assembly 20 and maintain the posture of the camera assembly 20 while allowing the camera assembly 20 to be displaced or rotated in multiple directions, and the first flexible circuit board can be lowered 23 to the resistance in the driving process of the camera structure, thereby improving the flexibility of the camera assembly 20 .
  • the elastic structure circuit board 2302 in the first flexible circuit board 23 can also be arranged in other elastic structures, or arranged in other positions, which will not be described one by one here.
  • At least two first arc-shaped baffles 504 are disposed at the bottom of the bracket 5 in the pan-tilt head, and the at least two first arc-shaped baffles 504 are located in a ring with the third axis is coaxial;
  • At least two second arc-shaped baffles 1002 corresponding to at least two first arc-shaped baffles 504 are disposed on the pan-tilt carrier 10 , one first arc-shaped baffle 504 and one second arc-shaped baffle 1002 It is an arc baffle group;
  • the camera structure further includes: a second ball 11;
  • a second ball 11 is sandwiched in any one of the arc baffle groups.
  • the second ball 11 can only rotate around the z-axis under the limiting action of the arc baffle group, so that when the gimbal carrier is stressed, it can only rotate around the z-axis, thereby improving the anti-shake along the Rz-axis direction. accuracy of movement.
  • a rotation limiter 1003 may be provided at the end of the second arc baffle 1002 to limit the rotation amount of the pan/tilt carrier 10 relative to the pan/tilt inner bracket 5 along the Rz axis direction.
  • the camera structure further includes: a rolling support frame 18;
  • the rolling support frame 18 is fixed to the pan-tilt inner bracket 5 and abuts against the side of the pan-tilt carrier 10 facing away from the pan-tilt inner bracket 5 to restrict the pan-tilt carrier 10 from moving in the direction of the third axis.
  • pan-tilt carrier 10 is sandwiched between the rolling support frame 18 and the pan-tilt inner bracket 5 to limit the pan-tilt inner bracket 5 to drive the camera assembly 20 to move along the Z axis, thereby improving the accuracy of the camera structure Spend.
  • a limit groove may be provided on the bottom surface of the pan/tilt carrier 10 that is abutted with the rolling support frame 18, and a second ball 19 is provided in the limit groove, so that the second ball 19 is located in the limit groove.
  • the rolling support frame 18 is an integral structure, which specifically includes: a snap-fit structure 1801 for snap-fit with the snap-fit structure 502 on the inner bracket 5 of the gimbal, a snap-fit structure 1801 for supporting the second ball 19
  • the platform 1803 and the mounting plate 1805 for fixing the first magnetic yoke 22 the mounting plate 1805 is provided with a fourth through hole, so that the buckle structure 502 on the inner bracket 5 of the gimbal passes through the fourth through hole Then, it is fixedly connected to the mounting plate 1805 and the first magnetic yoke 22 respectively.
  • the first magnetic yoke 22 may be fixed to the inner bracket 5 of the pan/tilt by being sandwiched between the inner bracket 5 of the pan/tilt and the mounting plate 1805 .
  • the first magnet group 21 can also be fixed on the outer side wall of the first magnetic yoke 22 by being fixed on the rolling support frame 18.
  • limit baffles 1802 are respectively provided at both ends of the mounting plate 1805, so as to pass the limit plate 1805. The baffle 1802 abuts the first magnet group 21 against the outer side wall of the first magnetic yoke 22 .
  • the camera structure provided by the embodiments of the present application has the following beneficial effects: the camera module can be driven to rotate in the Rx, Ry, and Rz directions, and in addition to preventing the jitter in the Rx, Ry, and Rz directions, it can also be combined with corresponding Algorithm processing to realize translational shaking along the X-axis and Y-axis, therefore, the anti-shake effect can be achieved along the 5-axis direction in total; the electromagnetic drive module (the first drive mechanism and the second drive mechanism)
  • the tail of the camera structure is to retain more non-magnetic areas at the head of the camera structure, so as to carry various styles of camera modules; the first flexible circuit board 23 is folded along the "S" shape to lower the circuit board.
  • the first flexible circuit board 23 is designed to be an integral structure that can be expanded in a plane, so as to avoid the problem of complicated process caused by welding the first flexible circuit board 23;
  • the pan-tilt carrier structure and its driving structure that rotate in the Rz direction; and its motions with Rx and Ry are independent of each other, which can effectively reduce the crosstalk effect of three-axis synchronous driving;
  • the second driving coil group 15 and the corresponding driving elements It is arranged on the pan-tilt carrier 10 and can be led out through the first flexible circuit board 23 to connect with external circuits, while the first drive coil group 7 and the first position feedback element group 8 are arranged on one side of the camera structure and fixed on the camera head.
  • Adopting the support structure of the clamping part with double-sided clamping of the first ball 4 can reduce the influence of multi-degree-of-freedom serial motion jitter, thereby reducing the change of the external parameters of the camera, and providing strong support for the multi-camera fusion algorithm.
  • An embodiment of the present application further provides an electronic device, where the electronic device includes any camera structure as shown in FIG. 1 to FIG. 8 .
  • the electronic device in this embodiment of the present application may be a mobile electronic device or a non-mobile electronic device.
  • the mobile electronic device may be a mobile phone, a tablet computer, a notebook computer, a palmtop computer, an in-vehicle electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (personal digital assistant).
  • assistant, PDA personal digital assistant
  • the non-mobile electronic device may be a personal computer (personal computer, PC), a television (television, TV), a teller machine or a self-service machine, etc., which are not specifically limited in the embodiments of the present application.
  • the electronic device provided by the embodiment of the present application includes any camera structure as shown in FIG. 1 to FIG. 8 , and has the same beneficial effects as any of the camera structures shown in FIG. 1 to FIG. 8 . Repeat.

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Abstract

本申请公开了一种摄像头结构及电子设备，属于摄像头技术领域。摄像头结构包括：万向轴2、云台外支架9、云台内支架5、云台载体10、第一驱动机构、第二驱动机构、摄像头组件20和第一柔性电路板23；第一柔性电路板23构成弯折状的弹性结构，摄像头组件20通过第一柔性电路板23与云台外支架9弹性连接，摄像头组件20与云台载体10固定连接；万向轴2的两个支撑部25与云台外支架9铰接，万向轴2另外两个支撑部25分别与云台内支架5铰接；第一驱动机构用于驱动云台内支架5相对云台外支架9沿第一轴转动和/或沿第二轴转动；云台载体10与云台内支架5的底部滑动连接；第二驱动机构用于驱动云台载体10相对云台内支架5沿第三轴转动。

Description

摄像头结构和电子设备
相关申请的交叉引用
本申请主张在2021年04月19日在中国提交的中国专利申请No.202110417271.7的优先权，其全部内容通过引用包含于此。
技术领域
本申请属于摄像头技术领域，具体涉及一种摄像头结构和电子设备。
背景技术
随着电子设备的不断发展，人们对电子设备的拍性能的要求越来越高，微云台在电子设备上的应用，很大程度上提升了消费者手持拍照时提升拍照画质的体验；一般手抖可分解到空间X、Y、Z这3个方向上，共6个自由度(沿X/Y/Z三轴的移动和绕X/Y/Z三轴的旋转:Rx、Ry、Rz)。其中，除对焦方向(Z轴)的轴向抖动外，另外5个自由度的抖动均对手持拍照，尤其夜拍和视频拍摄时构成较大影响，最终影响成像效果和消费者体验，目前电子设备(例如：手机)使用的微云台摄像头为两轴云台，只能防止4个自由度的抖动，不能防止沿Z轴旋转的抖动(Rz)，从而在有Rz方向的抖动时，微云台摄像头的成像画质较差。
由此可知，相关技术中的微云台摄像头的防抖动效果较差。
发明内容
本申请实施例的目的是提供一种摄像头结构和电子设备，能够解决相关技术中的微云台摄像头存在的防抖动效果较差的问题。
为了解决上述技术问题，本申请是这样实现的：
第一方面，本申请实施例提供了一种摄像头结构，包括：万向轴、云台外支架和收容于所述云台外支架内的云台内支架、云台载体、第一驱动机构、第二驱动机构、摄像头组件和第一柔性电路板；
所述第一柔性电路板构成弯折状的弹性结构，所述摄像头组件通过所述第一柔性电路板与所述云台外支架弹性连接，以使所述摄像头组件能够相对所述云台外支架活动，且所述摄像头组件与所述云台载体固定连接；
所述万向轴沿第一轴轴向分布的两个支撑部分别与所述云台外支架铰接，所述万向轴沿第二轴轴向分布的两个支撑部分别与所述云台内支架铰接，其中，所述第一轴与所述第二轴相交；
所述第一驱动机构分别与所述云台外支架和所述云台内支架连接，以驱动所述云台内支架相对所述云台外支架沿所述第一轴转动和/或沿所述第二轴转动；
所述云台载体与所述云台内支架的底部滑动连接；
所述第二驱动机构分别与所述云台内支架和所述云台载体连接，以驱动所述云台载体相对所述云台内支架沿第三轴转动，其中，所述第三轴分别与所述第一轴和所述第二轴垂直。
可选的，所述云台外支架的内侧壁与所述云台内支架的外侧壁之间具有第一收容空间，所述第一驱动机构和所述第二驱动机构设置于所述第一收容空间内。
可选的，所述第一驱动机构包括：第一磁轭、第一驱动线圈组和第一磁石组；
所述第一磁轭包括：第一侧壁，以及连接于所述第一侧壁的相对两侧，且同向延伸设置的第二侧壁和第三侧壁；
所述第一驱动线圈组固定于所述云台外支架，所述第一磁轭固定于所述云台内支架，且所述云台内支架至少部分位于所述第一磁轭的所述第二侧壁和所述第三侧壁之间；所述第一磁石组分布于所述第一磁轭的所述第二侧壁和所述第三侧壁的外侧，且所述第一驱动线圈组与所述第一磁石组适配设置；
所述第一驱动线圈组中的线圈沿第一方向间隔设置，所述第一方向与所述第三轴垂直，且所述第一驱动线圈组分布于所述云台内支架的对称轴的相对两侧，所述对称轴与所述第一磁轭的对称轴同向；
其中，在所述第一驱动线圈组通入电流的情况下，在所述第一驱动线圈组与所述第一磁石组之间产生相互作用力，所述第一磁石组基于所述相互作用力驱动所述云台内支架相对所述云台外支架沿所述第一轴转动和/或沿所述第二轴转动。
可选的，所述摄像头结构还包括：
第一位置反馈元件组，用于检测所述云台内支架相对所述云台外支架沿所述第一轴或沿所述第二轴的旋转量，所述第一位置反馈元件组设置于所述第一磁石组与所述第一驱动线圈组的磁场范围内。
可选的，所述第二驱动机构包括：第二磁轭、第二驱动线圈组和第二磁石组；
所述第二磁轭包括：第四侧壁，以及连接于所述第四侧壁的相对两侧，且同向延伸设置的第五侧壁和第六侧壁；
所述第二磁石组固定于所述第二磁轭的U形槽的所述第四侧壁，且所述第二磁轭固定于所述云台内支架，且所述云台内支架至少部分位于所述第二磁轭的所述第五侧壁和所述第六侧壁之间；
所述第二驱动线圈组固定于所述云台载体，所述第二驱动线圈组中的线圈沿第一方向间隔设置，且所述第二驱动线圈组与所述第二磁石组适配设置，所述第一方向与所述第三轴垂直，且所述第二驱动线圈组分布于所述云台载体的对称轴的相对两侧，所述对称轴与所述第二磁轭的对称轴同向；
其中，在所述第二驱动线圈组通入电流的情况下，在所述第二驱动线圈组与所述第二磁石组之间产生相互作用力，所述第二磁石组基于所述相互作用力驱动所述云台载体相对所述云台内支架沿所述第三轴转动。
可选的，所述摄像头结构还包括：
第二位置反馈元件组，用于检测所述云台载体相对所述云台内支架沿所述第三轴的旋转量，所述第二位置反馈元件组设置于所述第二磁石组与所述第二驱动线圈组的磁场范围内。
可选的，所述第一柔性电路板，包括：第一子电路板、至少两个弹性结 构电路板、第一弹性臂和第二弹性臂；
所述弹性结构电路板包括至少两层层叠设置的子电路板，且任意两层子电路板之间具有间隙，以构成弯曲的弹性结构，以使所述弹性结构电路板能够发生弹性形变；
所述至少两个弹性结构电路板分布于所述第一子电路板的周围，且所述至少两个弹性结构电路板分别通过所述第一弹性臂与所述第一子电路板连接；
所述第一子电路板贴设于所述摄像头组件的底部，且所述至少两个弹性结构电路板通过所述第二弹性臂固定于所述云台外支架。
可选的，所述支撑部上分别开设有第一通孔，所述第一通孔的轴向与所述第三轴垂直；
所述摄像头结构，还包括：转接结构，所述转接结构包括夹持部和第一滚珠；
所述第一滚珠穿设于所述第一通孔内，且夹设于夹持部的两个侧壁之间；
其中，所述夹持部用于与所述云台外支架或所述云台内支架固定连接。
可选的，所述转接结构，还包括：导向板，所述导向板与所述夹持部的第一侧壁固定连接，并向靠近所述夹持部的第二侧壁的方向延伸，所述夹持部的第一侧壁和所述夹持部的第二侧壁为所述夹持部的相对两侧壁；
和/或，
所述转接结构，还包括：限位板，所述限位板固定于所述夹持部的槽底部，以在所述支撑部相对所述夹持部转动时，限制所述支撑部的旋转角度小于预设角度。
可选的，所述云台外支架和所述云台内支架上设置有与所述夹持部匹配的卡槽，所述夹持部卡设于所述卡槽内，以使所述支撑部与所述云台外支架或所述云台内支架铰接。
可选的，所述云台内支架的底部设置有至少两个第一弧形挡板，所述至少两个第一弧形挡板所在的圆环与所述第三轴同轴；
所述云台载体上设置有与所述至少两个第一弧形挡板一一对应的至少两 个第二弧形挡板，一个所述第一弧形挡板与一个所述第二弧形挡板为一个弧形挡板组；
所述摄像头结构还包括：第二滚珠；
任一个所述弧形挡板组内均夹设有所述第二滚珠。
可选的，还包括：滚动支撑架；
所述滚动支撑架固定于所述云台内支架，并与所述云台载体的背向所述云台内支架的一侧抵接，以限制所述云台载体沿所述第三轴的方向移动。
第二方面，本申请实施例提供了一种电子设备，该电子设备包括如第一方面所述的摄像头结构。
在本申请实施例中，摄像头结构，包括：万向轴、云台外支架和收容于所述云台外支架内的云台内支架、云台载体、第一驱动机构、第二驱动机构、摄像头组件和第一柔性电路板；所述第一柔性电路板构成弯折状的弹性结构，所述摄像头组件通过所述第一柔性电路板与所述云台外支架弹性连接，以使所述摄像头组件能够相对所述云台外支架活动，且所述摄像头组件与所述云台载体固定连接；所述万向轴沿第一轴轴向分布的两个支撑部分别与所述云台外支架铰接，所述万向轴沿第二轴轴向分布的两个支撑部分别与所述云台内支架铰接，其中，所述第一轴与所述第二轴相交；所述第一驱动机构分别与所述云台外支架和所述云台内支架连接，以驱动所述云台内支架相对所述云台外支架沿所述第一轴转动和/或沿所述第二轴转动；所述云台载体与所述云台内支架的底部滑动连接；所述第二驱动机构分别与所述云台内支架和所述云台载体连接，以驱动所述云台载体相对所述云台内支架沿第三轴转动，其中，所述第三轴分别与所述第一轴和所述第二轴垂直。这样，摄像头模组能够相对云台外支架分别沿第一轴、第二轴和第三轴转动，以提升摄像头模组的自由度，从而提升摄像头的防抖动效果。
附图说明
图1是本申请实施例提供的一种摄像头结构的侧视图；
图2是本申请实施例提供的一种摄像头结构的拆分图；
图3a是本申请实施例提供的一种摄像头结构的俯视图；
图3b是沿图3a中A-A方向的剖面图；
图3c是沿图3a中B-B方向的剖面图；
图3d是本申请实施例提供的一种摄像头结构的仰视图；
图4a是万向轴的结构图；
图4b是万向轴和转接结构的装配结构图；
图4c是转接结构的侧视图；
图4d是转接结构的主视图；
图4e是沿图4d中C-C方向的剖面图；
图5是万向轴、云台内支架、转接结构、第二磁轭、第一磁石组以及第二磁石组的装配结构图；
图6a是万向轴、云台外支架以及云台内支架的装配图；
图6b是第一驱动线圈组的拆分图；
图6c是第一磁石组、磁轭和第二磁石组的拆分图；
图7a是云台载体与第二驱动线圈组的装配结构图；
图7b是云台内支架的仰视图；
图7c是云台载体与云台内支架的装配结构图；
图7d是云台载体、云台内支架和旋转承载架的装配结构图；
图8是第一柔性电路板与摄像头组件的装配结构图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的数 据在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”等所区分的对象通常为一类，并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”，一般表示前后关联对象是一种“或”的关系。
下面结合附图，通过具体的实施例及其应用场景对本申请实施例提供的摄像头结构和电子设备进行详细地说明。
请参阅图1至图3d，其中，图1是本申请实施例提供的一种摄像头结构的结构图；图2是本申请实施例提供的一种摄像头结构的拆分图；图3a是本申请实施例提供的一种摄像头结构的俯视图；图3b是沿图3a中A-A方向的剖面图；图3c是沿图3a中B-B方向的剖面图；图3d是本申请实施例提供的一种摄像头结构的仰视图。本申请实施例提供的摄像头结构包括：万向轴2、云台外支架9和收容于云台外支架9内的云台内支架5、云台载体10、第一驱动机构(未标号)、第二驱动机构(未标号)、摄像头组件20和第一柔性电路板23。
其中，第一柔性电路板23构成弯折状的弹性结构，摄像头组件20通过第一柔性电路板3与云台外支架9弹性连接，以使摄像头组件20能够相对云台外支架9活动，且摄像头组件20与云台载体10固定连接；万向轴2沿第一轴轴向分布的两个支撑部25分别与云台外支架9铰接，万向轴2沿第二轴轴向分布的两个支撑部25分别与云台内支架5铰接，其中，所述第一轴与所述第二轴相交；第一驱动机构分别与云台外支架9和云台内支架5连接，以驱动云台内支架5相对云台外支架9沿所述第一轴转动和/或沿所述第二轴转动。
另外，云台载体10与云台内支架5的底部滑动连接；第二驱动机构分别与所述云台内支架5和所述云台载体10连接，以驱动所述云台载体10相对所述云台内支架5沿第三轴转动，其中，所述第三轴分别与所述第一轴和所述第二轴垂直。
在具体实施中，上述第一轴可以与如图1中所示H线同向延伸，上述第二轴可以与如图1中所示M线同向延伸，且上述第三轴可以是如图1中所示Z轴。本实施例中，上述万向轴2的4个支撑部25可以分别位于正方形的4个顶角上，此时，上述第一轴和第二轴垂直，当然，在实际应用中，上述万向轴2的结构可以多样化，且第一轴和第二轴也可以不相互垂直，例如：第一轴和第二轴之间的夹角大于0°且小于180°。
在实施中，上述驱动云台内支架5相对云台外支架9沿所述第一轴转动和/或沿所述第二轴转动，可以理解为：驱动云台内支架5相对云台外支架9沿X轴转动或者沿Y轴转动，其中，云台外支架9可以呈矩形结构，上述X轴和Y轴分别与云台外支架9上相互垂直的两条矩形边平行。
具体的，在云台内支架5相对云台外支架9沿所述第一轴转动的过程中，其具有沿X轴和Y轴方向上的旋转分量；同理，在云台内支架5相对云台外支架9沿所述第二轴转动的过程中，其也具有沿X轴和Y轴方向上的旋转分量。此时，若仅需要驱动云台内支架5相对云台外支架9沿X轴转动，则可以使云台内支架5相对云台外支架9沿所述第二轴转动的过程中沿Y轴方向的分量，与云台内支架5相对云台外支架9沿所述第二轴转动的过程中沿Y轴方向的分量相互抵消，从而实现驱动云台内支架5相对云台外支架9沿X轴转动。
上述摄像头组件20与云台载体10固定连接，可以理解为：摄像头组件20的外壁与云台载体10的内壁贴合并固定连接。
在实际应用中，如图1和图2所示，上述本申请实施例提供的摄像头结构可以包括：壳体1，该壳体1可以包括顶壳1a和底壳1b。其中，底壳1b向远离顶壳1a的方向凹陷，以在顶壳1a与底壳1b之间形成收容空间，而上述万向轴2、云台外支架9和收容于云台外支架9内的云台内支架5、云台载体10、第一驱动机构、第二驱动机构、摄像头组件20以及第一柔性电路板23可以收容于该壳体1的收容空间内。另外，顶壳1a、万向轴2、云台外支架9、云台内支架5以及云台载体10均开设有通光孔，以使其下方的摄像头 组件20通过该通光孔采集图像信息，甚至通过该通光孔使摄像头组件20的头部(即沿图1中Z轴的上方)外露于顶壳1a。
这样，可以通过壳体1将本申请实施例提供的摄像头结构封闭呈整体结构，且通过该壳体1还能够保护其内部的第一柔性电路板23等结构。
在具体实施中，上述第一驱动机构和第二驱动机构，分别可以是电机驱动机构、电磁驱动机构等，为便于说明，以下实施例中仅以第一驱动机构和第二驱动机构是电磁驱动机构为例进行说明，在此不构成具体限定。
另外，图2所示坐标轴中，Rx、Ry和Rz分别表示沿X轴、Y轴和Z轴旋转的方向。
本申请实施例中，通过第二驱动机构独立的驱动云台载体沿Rz轴方向旋转，以实现Rz轴防抖，以使Rz轴防抖系统相对于Rx和Ry的防抖系统是独立的，这样，当Rx、Ry轴执行防抖功能时，Rz的位置反馈系统不受影响，从而有效提高Rz轴的防抖精度，进而更有效提升夜拍，视频拍摄时手抖情况下的拍照画质，进一步提升消费者使用体验。
另外，上述万向轴2沿第一轴轴向分布的两个支撑部25分别与云台外支架9铰接，万向轴2沿第二轴轴向分布的两个支撑部25分别与云台内支架5铰接，可以理解为：万向轴2沿第一轴轴向分布的两个支撑部25构成第一旋转轴，这样，当这两个支撑部25铰接于云台外支架9上时，该万向轴2可以相对云台外支架9沿该第一旋转轴转动；且万向轴2沿第而轴轴向分布的两个支撑部25构成第二旋转轴，这样，当这两个支撑部25铰接于云台内支架5上时，该万向轴2可以相对云台内支架5沿该第二旋转轴转动，也就实现了云台内支架5能够相对云台外支架9分别沿第一旋转轴和第二旋转轴转动。
在此基础上，鉴于摄像头组件20通过第一柔性电路板23与云台外支架9弹性连接，且摄像头组件20固定于云台载体10，则摄像头组件20能够跟随云台载体10相对云台内支架5沿RZ轴方向转动。因此，实现了摄像头模组103分别沿Rx、Ry以及Rz轴方向上的转动。在实际拍摄中，可以获取摄像头的抖动方向以及抖动距离等抖动参数，并据此控制本申请实施例提供的 摄像头结构分别沿Rx、Ry以及Rz方向旋转对应的转动量，以实现沿Rx、Ry以及Rz轴方向上的防抖。
可选的，云台外支架9的内侧壁与云台内支架5的外侧壁之间具有第一收容空间905，第一驱动机构和第二驱动机构设置于第一收容空间内。
在具体实施中，上述第一收容空间905的具体形状可以根据需要进行调整，例如：如图5和图6a所示，在第一驱动机构和第二驱动机构需要从云台内支架5的相对两侧驱动云台内支架5运动的情况下，可以将第一收容空间905可以至少接触云台内支架5的第一外侧壁、第二外侧壁和第三外侧壁，上述第一外侧壁和第二外侧壁可以是云台内支架5的相对两侧壁，上述第三外侧壁位于第一外侧壁和第二外侧壁之间。
当然，当第一驱动机构和第二驱动机构仅需从云台内支架5的一个侧壁驱动云台内支架5运动的情况下，可以将第一收容空间905设置在云台内支架5的第一外侧壁与云台外支架9的第一内侧壁之间，在此不作具体限定。
在具体实施中，摄像头组件20的头部可以经云台外支架9上侧的通光孔伸出到云台外支架9外，也就是说，可以将第一驱动机构和第二驱动机构与摄像头模组的尾部(即沿图2中z轴的下方)对齐，这样，可以使第一驱动机构和第二驱动机构中的电磁驱动模块设置到远离云台头部的区域，以在云台头部让出更多的无磁区域，便于该云台搭载的摄像头模组能够选择更多类型的驱动马达，例如：可选择搭载光学防抖(Optical Image Stabilization，OIS)摄像头模组。这样，可以结合本申请实施例提供的摄像头结构沿Rx、Ry和Rz方向的防抖动功能与，以组合构建为5轴防抖摄像头系统(即分别沿X、Y、Rx、Ry和Rz方向的防抖)，进而可分别驱动摄像头系统对5个自由度的抖动进行分别补偿或组合补偿，避免合成运动补偿存在时差和补偿状态不能及时切换的影响，使得拍摄的图片和视频画质更好，尤其可更有效提升夜拍时手抖情况下的拍照画质，整体提升消费者使用体验。
可选的，如图2和图3b所示，第一驱动机构包括：第一磁轭22、第一驱动线圈组7和第一磁石组21；
所述第一磁轭包括：第一侧壁，以及连接于所述第一侧壁的相对两侧，且同向延伸设置的第二侧壁和第三侧壁；
第一驱动线圈组7固定于云台外支架9，第一磁轭22固定于云台内支架5，且云台内支架5至少部分位于第一磁轭22的所述第二侧壁和所述第三侧壁之间(即云台内支架5至少部分位于第一磁轭22所构成的U形槽内)；第一磁石组21分布于第一磁轭22的所述第二侧壁的外侧和所述第三侧壁的外侧，且第一驱动线圈组7与第一磁石组21适配设置；
第一驱动线圈组7中的线圈沿第一方向间隔设置，所述第一方向与所述第三轴垂直，且第一驱动线圈组7分布于云台内支架5的对称轴的相对两侧，所述对称轴与第一磁轭22的对称轴同向；
其中，在第一驱动线圈组7通入电流的情况下，在第一驱动线圈组7与第一磁石组21之间产生相互作用力，第一磁石组21基于所述相互作用力驱动云台内支架5相对云台外支架9沿所述第一轴转动和/或沿所述第二轴转动。
在具体实施中，上述第一磁轭22包括：第一侧壁，以及连接于所述第一侧壁的相对两侧，且同向延伸设置的第二侧壁和第三侧壁，又可以理解第一磁轭22呈U形槽结构。
另外，第一磁石组21与第一驱动线圈组7适配设置可以理解为第一驱动线圈组7产生的磁场能够作用于第一磁石组21，且第一磁轭22与第一磁石组21之间产生磁回路，或者第一磁石组21中的磁石与第一驱动线圈组7中的线圈一一对应设置，且相互对应的磁石和线圈正对设置。
在实施中，可以向第一驱动线圈组7中通入大小和方向分别可控的电流，以使固定在第一磁轭22上的第一磁石组21与固定在云台外支架9上的第一驱动线圈组7之间产生方向可控且大小可控的相互作用力，进而可驱动第一磁轭22(第一磁石组21)相对云台外支架9产生方向可控的Rx、Ry轴旋转运动，进而可直接带动云台内支架5(摄像头模组103)产生Rx、Ry轴的旋转运动进行Rx、Ry轴的防抖。
具体的，如6b和图6c所示，第一磁石组21包括两个第一磁石分别为(分 别为21A和21B)，第一驱动线圈组7包括两个第一线圈(分别为7A和7B)，则第一线圈7A与第一磁石21A正对设置，且第一线圈7B与第一磁石21B正对设置。此时，当第一磁石21A和21B的受力方向相同，且同为与Z轴同向或者与-Z轴同向的情况下，则驱动云台内支架5相对云台外支架9沿Ry方向转动；当第一磁石21A和21B的受力方向不同，即一个与Z轴同向，另一个与-Z轴同向，的情况下，则驱动云台内支架5相对云台外支架9沿Rx轴方向转动。
在具体实施中，如图6a所示，可以在云台外支架9上开设第二通孔903，以使第一驱动线圈组7中的线圈分别嵌设在该第二通孔903内，从而实现第一驱动线圈组7与云台外支架9固定连接。
另外，第一磁轭22固定于云台内支架5，且云台内支架5至少部分位于第一磁轭22的U形槽内，可以理解为：第一磁轭22的开口侧朝向云台内支架5，且云台内支架5的外侧壁固定于第一磁轭22的U形槽的槽底部。
例如：如图7d所示，可以设置固定于云台内支架5的滚动支撑架18，以使第一磁轭22通过该滚动支撑架18固定于云台内支架5上。
进一步的，为了实现向第一驱动线圈组7通入大小和方向可控的电流，可以将第一驱动线圈组7中的驱动线圈分别与第一驱动电路板6连接，该第一驱动电路板6可以贴设于云台外支架9的外侧，并使第一驱动线圈组7中的驱动线圈分别穿过上述第二通孔903后安装于第一驱动电路板6上，以通过该第一驱动电路板6向第一驱动线圈组7中的驱动线圈分别提供大小和方向可控的电流。
在实施中，可以通过装配有本申请实施例提供的三轴云台的电子设备中的控制器对通入第一驱动线圈组7的电流的大小和方向进行控制，此时，第一驱动电路板6的外侧还可以设置第一接口604，以通过该第一接口604实现与电子设备中控制器的数据通信连接，具体的，如图6b所示，第一驱动电路板6包括第一驱动子电路板601、第二驱动子电路板603、连接板602和第一接口604，该第一接口604连接于第二驱动子电路板603，且两个驱动子电 路板601和603之间通过连接板602相互连通，且第一驱动线圈组7中的线圈7A连接于第一驱动子电路板601上，第一驱动线圈组7中的线圈7B连接于第二驱动子电路板603上。其中，第一驱动子电路板601、第二驱动子电路板603、连接板602和第一接口604可以是一体成型的电路板结构。
另外，在实际应用中，如图6b所示，还可以在第一驱动电路板6上装配第一位置反馈元件组8(位置反馈元件8A和8B)，以通过该第一位置反馈元件组8检测云台内支架5相对云台外支架9沿Rx轴和Ry轴方向的转动量，从而便于提升转动量的精确控制。
另外，在实际应用中，如图6b所示，还可以在第一驱动电路板(601和603)上装配第一位置反馈元件组8(位置反馈元件8A和8B)，以通过该第一位置反馈元件组8检测云台内支架5相对云台外支架9沿Rx轴和Ry轴方向的转动量，从而便于提升转动量的精确控制。
在具体实施中，如图6b所示，上述第一位置反馈元件组8可以是霍尔元件，且其可以设置在第一磁石组21与第一驱动线圈组7的磁场范围内，以通过感应磁场的变化来确定第一磁石组21相对第一驱动线圈组7的位移量，从而据此确定云台内支架5相对云台外支架9沿Rx轴和Ry轴方向的转动量。
具体的，第一位置反馈元件组8可以包括至少两个第一位置反馈元件，以分布于21A与7A之间的第一磁场内，和21B与7B之间的第二磁场内。
当然，在具体实施中，上述第一位置反馈元件组8还可以是驱动芯片，该驱动芯片除了能够控制向第一驱动线圈组7输入大小和方向可控的电流之外，其还能够反馈Rx轴和Ry轴方向的旋转量。
可选的，第二驱动机构包括：第二磁轭(本实施方式中，第二磁轭与第一磁轭为同一磁轭，因此采用相同的编号：22)、第二驱动线圈组15和第二磁石组17；
所述第二磁轭22包括：第四侧壁(同第一磁轭22的第一侧壁)，以及连接于所述第四侧壁的相对两侧，且同向延伸设置的第五侧壁(同第一磁轭22的第二侧壁)和第六侧壁(同第一磁轭22的第三侧壁)；
第二磁石组17固定于第二磁轭22的所述第四侧壁(即第二磁轭22所构成的U形槽的槽底部)，且第二磁轭22固定于云台内支架5，且云台内支架5至少部分位于第二磁轭22的所述第五侧壁和所述第六侧壁之间(即云台内支架5至少部分位于第二磁轭22所构成的U形槽内)；
第二驱动线圈组15固定于云台载体10，第二驱动线圈组15中的线圈沿第一方向间隔设置，且第二驱动线圈组15与第二磁石组17适配设置，所述第一方向与所述第三轴垂直，且第二驱动线圈组15分布于云台载体10的对称轴的相对两侧，所述对称轴与第二磁轭22的对称轴同向；
其中，在第二驱动线圈组15通入电流的情况下，在第二驱动线圈组15与第二磁石组17之间产生相互作用力，第二磁石组17基于相互作用力驱动云台载体10相对云台内支架5沿所述第三轴转动。
需要说明的是，本申请实施例中，上述第一磁轭与第二磁轭为同一磁轭22，且第一磁石组21固定于该磁轭22的外侧，而第二磁石组17固定于该磁轭22的内侧，这样，可以减少本申请实施例提供的摄像头结构中磁轭的数量，以缩小其体积并降低成本。当然，在空间和成本允许的情况下，第一磁轭与第二磁轭可以是不同磁轭，在此不构成具体限定。
在实施中，如图6c和图7b所示，可以在第二磁轭22的槽底部上开设第三通孔2201，以使从云台内支架5的外侧壁延伸出来的卡扣结构502与该第三通孔2201卡接，即该第三通孔2201能够起到对第二磁轭22的定位和固定作用。同时，云台载体10活动连接于云台内支架5的底部，从而使固定于云台载体10的第二驱动线圈组15位于云台内支架5的外侧壁与第二磁轭22的槽底部之间，从而在该第二驱动线圈组15通入大小和方向可控的电流时，能够使第二驱动线圈组15与固定于第二磁轭22的槽底内的第二磁石组17之间产生相互作用力，从而基于第二磁石组17在该相互作用力驱动云台载体10相对云台内支架5沿所述第三轴转动。
进一步的，如图7a所示，为了实现向第二驱动线圈组15通入大小和方向可控的电流，可以将第二驱动线圈组15与第二驱动电路板13连接，该第 二驱动电路板13可以贴设于云台载体10的外侧壁上，并使第二驱动线圈组15安装于第二驱动电路板13上，且在该第二驱动电路板13上设置与第二驱动线圈组15连接的第二驱动芯片16，以通过该第二驱动芯片16控制输入第二驱动线圈组15的电流的大小和方向。
另外，在实际应用中，还可以在第二驱动电路板13上装配第二位置反馈元件组(本实施例中，第二位置反馈元件组与第二驱动芯片16可以是同一元器件)，以通过第二驱动芯片16获取云台载体10相对云台内支架5沿所述第三轴转动的转动量，从而便于提升Rz轴转动量的精确控制。
当然，在具体实施中，上述第二位置反馈元件组还可以是与第二驱动芯片16不同的元器件，例如：第二位置反馈元件组包括霍尔元件，且其可以设置在第二驱动线圈组15和第二磁石组17的磁场范围内，以通过感应磁场的变化来确定第二驱动线圈组15相对第二磁轭22的位移量，从而据此确定云台载体10相对云台内支架5沿Rz轴方向的转动量。
相应的，在具体实施中，上述第一位置反馈元件组8还可以是驱动芯片，该驱动芯片除了能够控制向第二驱动线圈组15输入大小和方向可控的电流之外，其还能够反馈Rx和Ry方向的旋转量。
进一步的，如图7c所示，上述第二驱动电路板13可以呈弯折结构，以贴设于云台载体10相邻两侧壁上。另外，还可以设置与第二驱动电路板13的结构匹配的电路板补强12，以通过使第二驱动电路板13贴设在该电路板补强12上，来提升第二驱动电路板13的结构强度。
可选的，如图2所示，第二驱动机构102还包括：内磁轭14；该内磁轭14固定于云台载体10，并与第二磁石组17构成磁回路。
在实施中，上述内磁轭14可以固定于第二驱动电路板13的背向第二驱动线圈组15的一侧，例如：如图7a所示，在云台载体10的外侧壁上设置凹槽1004，以使内磁轭14嵌设于该凹槽1004内，并夹设于云台载体10与第二驱动电路板13之间。
上述内磁轭14的作用是增加第二驱动机构102的驱动力，以提升本申请 实施例提供的摄像头结构沿Rz轴方向的防抖效果。
可选的，如图4a和图4b所示，支撑部25上分别开设有第一通孔251，所述第一通孔251的轴向与所述第三轴垂直；
所述摄像头结构还包括：转接结构，所述转接结构包括夹持部3(例如：U形臂)和第一滚珠4；
第一滚珠4穿设于第一通孔251内，且夹设于夹持部3的两个侧壁之间；
其中，夹持部3用于与云台外支架9或云台内支架5固定连接。
具体如图4a所示，万向轴2的4个角分别沿z轴的反方向延伸，以分别与一个转接结构连接。在装配过程中，可以先将第一滚珠4卡设于第一通孔251内，然后一同插入夹持部3内。
另外，如图4c所示，夹持部3的相对两侧壁上可以向相互远离的方向凹陷，以使第一滚珠4卡设于夹持部3内时，能够在夹持部3中保持位置不变，具体的，夹持部3的相对两侧壁上分别设置滚珠保持结构303和307，其中，307位于303的对侧，且303与307所在的侧壁进行弹性连接，以便于装配第一滚珠4和支撑部25，夹持部3的底部设置有开口306，以降低夹持部3的相对两侧壁之间的弹力大小。
进一步的，如图4c、图4d和图4e所示，转接结构还包括：导向板302，导向板302与夹持部3的第一侧壁固定连接，并向靠近夹持部3的第二侧壁的方向延伸，夹持部3的第一侧壁和夹持部3的第二侧壁为夹持部3的相对两侧壁；
和/或，
所述转接结构还包括：限位板304，限位板304固定于夹持部3的远离万向轴2的一端(例如：U形臂的槽底部)，以在支撑部25相对所述夹持部3转动时，限制支撑部25的旋转角度小于预设角度。
在实施中，上述夹持部3的第一侧壁可以位于夹持部3上远离万向轴2中心一侧，且该导向板302的数量为两个，两个导向板302位于夹持部3的第一侧壁的相对两侧，以在装配的过程中，使支撑部25对准两个导向板302 之间，从而起到导向的作用。
另外，上述限位板304的未与夹持部3固定的一端，可以向外倾斜，以使支撑部25绕第一滚珠4旋转预设角度时，支撑部25与限位板304抵接，从而限制支撑部25进一步旋转。
可选的，如图5和图6a所示，云台外支架9和云台内支架5上设置有与夹持部3匹配的卡槽(501、901)，夹持部3卡设于卡槽(501、901)内，以使支撑部25与云台外支架9或云台内支架5铰接。
具体的，位于万向轴2的第一轴轴向上的两个支撑部25所对应的夹持部3分别卡设于云台外支架9的对角线上的两个卡槽901内，位于万向轴2的第二轴轴向上的两个支撑部25所对应的夹持部3分别卡设于云台内支架5的对角线上的两个卡槽501内。
本实施方式，通过在云台外支架9和云台内支架5开设卡槽(501、901)的方式，能够降低万向轴2、云台外支架9和云台内支架5沿z轴方向上的高度，从而减小本申请实施例提供的摄像头结构的整体尺寸。
可选的，第一柔性电路板23，包括：第一子电路板2301、至少两个弹性结构电路板2302、第一弹性臂2303和第二弹性臂2304；
弹性结构电路板2302包括至少两层层叠设置的子电路板，且任意两层子电路板之间具有间隙，以构成弯曲的弹性结构，以使所述弹性结构电路板2302能够发生弹性形变；
至少两个弹性结构电路板2302分布于第一子电路板2301的周围，且至少两个弹性结构电路板2302分别通过第一弹性臂2303与第一子电路板2301连接；
第一子电路板2301贴设于摄像头组件20的底部，且至少两个弹性结构电路板2302通过第二弹性臂2304固定于云台外支架9。
具体的，如图3d和图8所示，第一弹性臂2303可以延伸至云台外支架9外，以与分布于云台外支架9外的弹性结构电路板2302连接，而第二弹性臂2304的远离弹性结构电路板2302的一端可以固定在云台外支架9的内壁 上。
在实际应用中，上述第一子电路板2301用于与摄像头组件20导通，以传输摄像头组件20的数据信号和电信号，且该数据信号和电信号依次通过第一弹性臂2303、弹性结构电路板2302和第二弹性臂2304传输至外部电路。例如：如图8所示的，第二弹性臂2304的远离弹性结构电路板2302的一侧设置有用于与外部电路连接的焊盘24，焊盘24通过壳体1底部的开口延伸至壳体1外，以使焊盘24位于壳体1外，以便于通过该焊盘24将本申请实施例提供的摄像头结构装配于电子设备中。在实施中，上述焊盘24可以与第一子电路板2301、至少两个弹性结构电路板2302、第一弹性臂2303和第二弹性臂2304设计成能够平面展开的一体结构，从而避免对第一柔性电路板进行焊接而造成的工艺复杂的问题。
另外，上述第一柔性电路板23包括两个弹性结构电路板2302，且对此分布于第一子电路板2301的相对两侧。在实际应用中，当位于第一子电路板2301一侧的弹性结构电路板2302的压缩量，不等于位于第一子电路板2301另一侧的弹性结构电路板2302的压缩量时，摄像头组件20沿第一轴的轴向转动；当两个弹性结构电路板2302的靠近第一弹性臂2303的一侧的压缩量不等于弹性结构电路板2302的靠近第二弹性臂2304的一侧的压缩量时，摄像头组件20沿第二轴的轴向转动；当两个弹性结构电路板2302分别发生横向位移时，摄像头组件20沿Z的轴向转动。
综上，第一柔性电路板23能够实现与摄像头组件20导通，并保持摄像头组件20的姿态的同时，还允许摄像头组件20沿多个方向的位移或者转动，并降低了第一柔性电路板23对摄像头结构驱动过程中的阻力，从而提升摄像头组件20的灵活性。
当然，在具体实施中，上述第一柔性电路板23中的弹性结构电路板2302还可以设置呈其他弹性结构，或者设置在其他位置，在此不做一一阐述。
可选的，如图7a和图7b所示，云台内支架5的底部设置有至少两个第一弧形挡板504，所述至少两个第一弧形挡板504所在的圆环与所述第三轴 同轴；
云台载体10上设置有与至少两个第一弧形挡板504一一对应的至少两个第二弧形挡板1002，一个第一弧形挡板504与一个第二弧形挡板1002为一个弧形挡板组；
所述摄像头结构还包括：第二滚珠11；
任一个所述弧形挡板组内均夹设有第二滚珠11。
其中，第二滚珠11在弧形挡板组的限位作用下，仅能够绕z轴转动，从而使云台载体受力时，仅能够绕z轴转动，从而提升沿Rz轴方向上防抖动的精确度。
进一步的，第二弧形挡板1002的端部可以设置旋转限位部1003，以限制云台载体10相对云台内支架5沿Rz轴方向的旋转量。
当然，在具体实施中，也可以通过在云台内支架5和云台载体10之间设置滑轨和滑块的方式来限制云台载体10相对云台内支架5绕z轴旋转，在此不再赘述。
可选的，如图7d所示，摄像头结构还包括：滚动支撑架18；
滚动支撑架18固定于云台内支架5，并与云台载体10的背向云台内支架5的一侧抵接，以限制云台载体10沿所述第三轴的方向移动。
本实施方式中，云台载体10夹设于滚动支撑架18与云台内支架5之间，以限制云台内支架5带动摄像头组件20沿Z轴的轴向移动，从而提升摄像头结构的精确度。
进一步的，如图7c所示，云台载体10的与滚动支撑架18贴合的底面上可以开设限位槽，并在该限位槽设置第二滚珠19，以使第二滚珠19在该限位槽内活动时，减少滚动支撑架18与云台载体10之间的摩擦力，从而提升第二驱动机构驱动云台载体10的灵敏度。
具体的，如图7d所示，滚动支撑架18呈一体结构，其具体包括：用于与云台内支架5上的卡扣结构502扣合的扣合结构1801、用于支撑第二滚珠19的平台1803、以及用于固定第一磁轭22的安装板1805，该安装板1805 上开设有第四通孔，以使云台内支架5上的卡扣结构502穿过该第四通孔后分别与安装板1805和第一磁轭22固定连接。具体的，第一磁轭22可以通过夹设于云台内支架5和安装板1805之间的方式固定于所述云台内支架5。
当然，第一磁石组21也可以通过固定于滚动支撑架18固定于第一磁轭22的外侧壁上，例如：在安装板1805的两端分别设置限位挡板1802，以通过该限位挡板1802将第一磁石组21抵接在第一磁轭22的外侧壁。
综上可知，本申请实施例提供的摄像头结构具有以下有益效果：能够驱动摄像头模组进行Rx、Ry、Rz方向的转动，其除了可以防Rx、Ry、Rz方向的抖动外，还可以结合相应的算法处理，来实现沿X轴和Y轴轴向的平移抖动，因此，总共可具有沿5轴方向上的防抖效果；将电磁驱动模块(第一驱动机构和第二驱动机构)设置在摄像头结构的尾部，以在摄像头结构的头部保留较多的无磁区域，以便于搭载多种样式的摄像头模组；使第一柔性电路板23沿:“S”形折叠，以降低电路板在多个方向的应力，且将第一柔性电路板23设计成能够平面展开的一体结构，从而避免对第一柔性电路板23进行焊接而造成的工艺复杂的问题；在摄像头结构的中部设置可进行Rz方向的旋转的云台载体结构及其驱动结构；且其与Rx、Ry的运动是相互独立的，可有效减少三轴同步驱动的串扰影响；第二驱动线圈组15和对应的驱动元件设置在云台载体10上，可以通过第一柔性电路板23引出，以与外部电路连接，而第一驱动线圈组7和第一位置反馈元件组8设置在摄像头结构的一侧，且固定在云台外支架9上，可以直接引出，以与外部电路连接。采用具有双面夹持第一滚珠4的夹持部支撑结构，可降低多自由度串动抖动的影响，从而降低摄像头外参的变化，为多摄融合算法提供有力支持。
本申请实施例还提供一种电子设备，该电子设备包括如图1至图8中任一种摄像头结构。
本申请实施例中的电子设备可以是移动电子设备，也可以为非移动电子设备。示例性的，移动电子设备可以为手机、平板电脑、笔记本电脑、掌上电脑、车载电子设备、可穿戴设备、超级移动个人计算机(ultra-mobile personal  computer，UMPC)、上网本或者个人数字助理(personal digital assistant，PDA)等，非移动电子设备可以为个人计算机(personal computer，PC)、电视机(television，TV)、柜员机或者自助机等，本申请实施例不作具体限定。
本申请实施例提供的电子设备包括如图1至图8中任一种摄像头结构，且具有与如图1至图8中任一种摄像头结构相同的有益效果，为避免重复，在此不再赘述。
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本申请的保护之内。

Claims (13)

  1. 一种摄像头结构，包括：万向轴、云台外支架和收容于所述云台外支架内的云台内支架、云台载体、第一驱动机构、第二驱动机构、摄像头组件和第一柔性电路板；
    所述第一柔性电路板构成弯折状的弹性结构，所述摄像头组件通过所述第一柔性电路板与所述云台外支架弹性连接，以使所述摄像头组件能够相对所述云台外支架活动，且所述摄像头组件与所述云台载体固定连接；
    所述万向轴沿第一轴轴向分布的两个支撑部分别与所述云台外支架铰接，所述万向轴沿第二轴轴向分布的两个支撑部分别与所述云台内支架铰接，其中，所述第一轴与所述第二轴相交；
    所述第一驱动机构分别与所述云台外支架和所述云台内支架连接，以驱动所述云台内支架相对所述云台外支架沿所述第一轴转动和/或沿所述第二轴转动；
    所述云台载体与所述云台内支架的底部滑动连接；
    所述第二驱动机构分别与所述云台内支架和所述云台载体连接，以驱动所述云台载体相对所述云台内支架沿第三轴转动，其中，所述第三轴分别与所述第一轴和所述第二轴垂直。
  2. 根据权利要求1所述的摄像头结构，其中，所述云台外支架的内侧壁与所述云台内支架的外侧壁之间具有第一收容空间，所述第一驱动机构和所述第二驱动机构设置于所述第一收容空间内。
  3. 根据权利要求2所述的摄像头结构，其中，所述第一驱动机构包括：第一磁轭、第一驱动线圈组和第一磁石组；
    所述第一磁轭包括：第一侧壁，以及连接于所述第一侧壁的相对两侧，且同向延伸设置的第二侧壁和第三侧壁；
    所述第一驱动线圈组固定于所述云台外支架，所述第一磁轭固定于所述云台内支架，且所述云台内支架至少部分位于所述第一磁轭的所述第二侧壁 和所述第三侧壁之间；所述第一磁石组分布于所述第一磁轭的所述第二侧壁和所述第三侧壁的外侧，且所述第一驱动线圈组与所述第一磁石组适配设置；
    所述第一驱动线圈组中的线圈沿第一方向间隔设置，所述第一方向与所述第三轴垂直，且所述第一驱动线圈组分布于所述云台内支架的对称轴的相对两侧，所述对称轴与所述第一磁轭的对称轴同向；
    其中，在所述第一驱动线圈组通入电流的情况下，在所述第一驱动线圈组与所述第一磁石组之间产生相互作用力，所述第一磁石组基于所述相互作用力驱动所述云台内支架相对所述云台外支架沿所述第一轴转动和/或沿所述第二轴转动。
  4. 根据权利要求3所述的摄像头结构，其中，还包括：
    第一位置反馈元件组，用于检测所述云台内支架相对所述云台外支架沿所述第一轴或沿所述第二轴的旋转量，所述第一位置反馈元件组设置于所述第一磁石组与所述第一驱动线圈组的磁场范围内。
  5. 根据权利要求2所述的摄像头结构，其中，所述第二驱动机构包括：第二磁轭、第二驱动线圈组和第二磁石组；
    所述第二磁轭包括：第四侧壁，以及连接于所述第四侧壁的相对两侧，且同向延伸设置的第五侧壁和第六侧壁；
    所述第二磁石组固定于所述第二磁轭的所述第四侧壁，且所述第二磁轭固定于所述云台内支架，且所述云台内支架至少部分位于所述第二磁轭的所述第五侧壁和所述第六侧壁之间；
    所述第二驱动线圈组固定于所述云台载体，所述第二驱动线圈组中的线圈沿第一方向间隔设置，且所述第二驱动线圈组与所述第二磁石组适配设置，所述第一方向与所述第三轴垂直，且所述第二驱动线圈组分布于所述云台载体的对称轴的相对两侧，所述对称轴与所述第二磁轭的对称轴同向；
    其中，在所述第二驱动线圈组通入电流的情况下，在所述第二驱动线圈组与所述第二磁石组之间产生相互作用力，所述第二磁石组基于所述相互作用力驱动所述云台载体相对所述云台内支架沿所述第三轴转动。
  6. 根据权利要求5所述的摄像头结构，其中，还包括：
    第二位置反馈元件组，用于检测所述云台载体相对所述云台内支架沿所述第三轴的旋转量，所述第二位置反馈元件组设置于所述第二磁石组与所述第二驱动线圈组的磁场范围内。
  7. 根据权利要求1所述的摄像头结构，其中，所述第一柔性电路板，包括：第一子电路板、至少两个弹性结构电路板、第一弹性臂和第二弹性臂；
    所述弹性结构电路板包括至少两层层叠设置的子电路板，且任意两层子电路板之间具有间隙，以构成弯曲的弹性结构，以使所述弹性结构电路板能够发生弹性形变；
    所述至少两个弹性结构电路板分布于所述第一子电路板的周围，且所述至少两个弹性结构电路板分别通过所述第一弹性臂与所述第一子电路板连接；
    所述第一子电路板贴设于所述摄像头组件的底部，且所述至少两个弹性结构电路板通过所述第二弹性臂固定于所述云台外支架。
  8. 根据权利要求1所述的摄像头结构，其中，所述支撑部上分别开设有第一通孔，所述第一通孔的轴向与所述第三轴垂直；
    所述摄像头结构，还包括：转接结构，所述转接结构包括夹持部和第一滚珠；
    所述第一滚珠穿设于所述第一通孔内，且夹设于夹持部的两个侧壁之间；
    其中，所述夹持部用于与所述云台外支架或所述云台内支架固定连接。
  9. 根据权利要求8所述的摄像头结构，其中，所述转接结构，还包括：导向板，所述导向板与所述夹持部的第一侧壁固定连接，并向靠近所述夹持部的第二侧壁的方向延伸，所述夹持部的第一侧壁和所述夹持部的第二侧壁为所述夹持部的相对两侧壁；
    和/或，
    所述转接结构，还包括：限位板，所述限位板固定于所述夹持部的远离所述万向轴的一端，以在所述支撑部相对所述夹持部转动时，限制所述支撑部的旋转角度小于预设角度。
  10. 根据权利要求8或9所述的摄像头结构，其中，所述云台外支架和所述云台内支架上设置有与所述夹持部匹配的卡槽，所述夹持部卡设于所述卡槽内，以使所述支撑部与所述云台外支架或所述云台内支架铰接。
  11. 根据权利要求1所述的摄像头结构，其中，所述云台内支架的底部设置有至少两个第一弧形挡板，所述至少两个第一弧形挡板所在的圆环与所述第三轴同轴；
    所述云台载体上设置有与所述至少两个第一弧形挡板一一对应的至少两个第二弧形挡板，一个所述第一弧形挡板与一个所述第二弧形挡板为一个弧形挡板组；
    所述摄像头结构还包括：第二滚珠；
    任一个所述弧形挡板组内均夹设有所述第二滚珠。
  12. 根据权利要求11所述的摄像头结构，其中，还包括：滚动支撑架；
    所述滚动支撑架固定于所述云台内支架，并与所述云台载体的背向所述云台内支架的一侧抵接，以限制所述云台载体沿所述第三轴的方向移动。
  13. 一种电子设备，其中，包括如权利要求1-12中任一项所述的摄像头结构。
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