1. A drive module, comprising:

a base;

the supporting component is rotatably connected with the base, and the rotating direction of the supporting component on the base is a first rotating direction;

the transmission component is arranged on the supporting component and is used for fixing a load; the supporting component is provided with a through hole, the transmission component is inserted in the through hole and can rotate in the through hole, the rotation direction of the transmission component is a second rotation direction, and the second rotation direction is different from the first rotation direction; and

the driving part is arranged on the base and connected with the transmission part and used for driving the transmission part and the supporting part to rotate simultaneously.

2. The drive module according to claim 1, wherein the drive member comprises a first drive unit and a second drive unit, the first drive unit and the second drive unit are both disposed on the base, and the first drive unit and the second drive unit are both connected to the transmission member to form a parallel drive mechanism to drive the transmission member to rotate.

3. The drive module of claim 2, wherein the drive member further comprises a resilient member, one end of the resilient member being disposed on the base and the other end of the resilient member being connected to the support member for urging the support member in a direction away from the base; the first driving unit and the second driving unit push the transmission part along the direction towards the base to drive the supporting part to rotate.

4. The drive module of claim 3, wherein the transmission member comprises:

the main rod is inserted into the through hole, and one end of the main rod is used for fixing a load;

the middle position of the transition plate is provided with a shaft hole, and the other end of the main rod is inserted into the shaft hole; and

the first connector and the second connector are respectively arranged at two ends of the transition plate; the first connector is connected with the first driving unit, and the second connector is connected with the second driving unit.

5. The drive module of claim 4, wherein the first and/or second drive unit comprises:

the driving motor is arranged on the base;

the transmission screw rod is butted with an output shaft of the driving motor;

the fixing rod is arranged on the base, and the axial extension direction of the fixing rod is parallel to the axial extension direction of the transmission screw rod; and

one end of the linkage plate is connected with the transmission screw rod, and the other end of the linkage plate is connected with the fixed rod; one side of the linkage plate, which faces the base, is in lap joint with the corresponding connector.

6. The drive module of claim 5, wherein the drive motor comprises at least one of a stepper motor and an ultrasonic motor.

7. The drive module of claim 5, wherein the linkage plate comprises:

the annular block is connected with the fixed rod in a sliding manner; and

one end of the flat plate is connected with the annular block, the other end of the flat plate is provided with a transmission hole, and the transmission screw rod is inserted into the transmission hole;

the side wall of the annular block is provided with a first contact surface, the first contact surface is positioned on one side, facing the transmission screw rod, of the annular block, and the first contact surface is positioned on one side, facing the base, of the flat plate block; the first contact surface is a plane or a concave curved surface, and the first connecting head is in contact with the first contact surface.

8. The drive module of claim 7, wherein the surface of the plate block that contacts the first coupling head is a second contact surface on a side of the plate block facing the base, the second contact surface being convexly curved.

9. A cloudlet stage comprising the drive module of any of claims 1-8.

10. A control method of a drive module according to any one of claims 1 to 8, comprising:

and controlling the driving part to simultaneously drive the supporting part and the transmission part, so that the transmission part drives the load to rotate along the second rotation direction and simultaneously rotates along the first rotation direction along with the supporting part.

Background

At present, various holder structures are widely applied to various aspects of daily life of people, including mobile phones, public transportation, airplanes, automobiles and the like. The pan-tilt is a supporting device for mounting and fixing the camera, and is used for controlling the camera to rotate, expanding the monitoring range of the camera, and even under the action of a control signal, the camera on the pan-tilt can automatically scan a monitoring area and can also track a monitored object under the control of an operator on duty in a monitoring center.

However, most existing holder structures in the market are in series connection, the movement of the holder is controlled in a multi-stage series connection mode, each stage of control structure can only control the movement of the holder in one direction, so that the holder needs to be adjusted step by step during adjustment, the control structure of the previous stage needs to be synchronously controlled together with the control structure of the next stage and a load, the energy consumption is high, the time consumption is long, the influence of limited driving force is also received, and the defects that the moving range of the driving structure is limited, the driving force is insufficient, and the control is not flexible are caused.

Accordingly, the prior art is yet to be improved and developed.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a driving module, a micro-cloud platform and a control method of the driving module, which aims to improve the driving force of the driving module and to make the control of the cloud platform more flexible.

The technical scheme of the invention is as follows:

a driving module comprises a base, a supporting component, a transmission component and a driving component, wherein the supporting component is rotatably connected with the base, and the rotating direction of the supporting component on the base is a first rotating direction; the transmission component is arranged on the supporting component and is used for fixing a load; the supporting component is provided with a through hole, the transmission component is inserted in the through hole and can rotate in the through hole, the rotation direction of the transmission component is a second rotation direction, and the second rotation direction is different from the first rotation direction; the driving part is arranged on the base and connected with the transmission part and used for driving the transmission part and the supporting part to rotate simultaneously.

The driving module, wherein, the driving part includes elastic component, first drive unit and second drive unit, first drive unit with the second drive unit all locates on the base, first drive unit with the second drive unit all with transmission part is connected for form parallelly connected actuating mechanism, in order to drive transmission part rotates.

The driving module, wherein the driving component further comprises an elastic element, one end of the elastic element is arranged on the base, and the other end of the elastic element is connected with the supporting component and used for pushing the supporting component along the direction departing from the base; the first driving unit and the second driving unit push the transmission part along the direction towards the base to drive the supporting part to rotate.

The driving module is characterized in that the transmission part comprises a main rod, a transition plate, a first connector and a second connector, the main rod is inserted into the through hole, and one end of the main rod is used for fixing a load; the middle position of the transition plate is provided with a shaft hole, and the other end of the main rod is inserted into the shaft hole; the first connector and the second connector are respectively arranged at two ends of the transition plate; the first connector is connected with the first driving unit, and the second connector is connected with the second driving unit.

The driving module is characterized in that the first and/or second driving unit comprises a driving motor, a transmission screw rod, a fixed rod and a linkage plate, and the driving motor is arranged on the base; the transmission screw rod is in butt joint with an output shaft of the driving motor; the fixed rod is arranged on the base, and the axial extension direction of the fixed rod is parallel to the axial extension direction of the transmission screw rod; one end of the linkage plate is connected with the transmission screw rod, and the other end of the linkage plate is connected with the fixed rod; one side of the linkage plate, which faces the base, is in lap joint with the corresponding connector.

The driving module, wherein the driving motor includes at least one of a stepping motor and an ultrasonic motor.

The linkage plate comprises an annular block and a flat plate block, and the annular block is connected with the fixed rod in a sliding manner; one end of the flat plate block is connected with the annular block, the other end of the flat plate block is provided with a transmission hole, and the transmission screw rod is inserted into the transmission hole; a first contact surface is arranged on the side wall of the annular block, the first contact surface is positioned on one side, facing the transmission screw rod, of the annular block, and the first contact surface is positioned on one side, facing the base, of the flat plate block; the first contact surface is a plane or a concave curved surface, and the first connecting head is in contact with the first contact surface.

The driving module is characterized in that the surface of the flat plate block, which is in contact with the first connecting joint, is a second contact surface, the second contact surface is positioned on one side of the flat plate block, which faces the base, and the second contact surface is a convex curved surface.

The application also discloses little cloud platform, wherein, including as above arbitrary the drive module.

The present application also discloses a control method of the driving module as described in any of the above, wherein the method includes:

and controlling the driving part to simultaneously drive the supporting part and the transmission part, so that the transmission part drives the load to rotate along the second rotation direction and simultaneously rotates along the first rotation direction along with the supporting part.

Compared with the prior art, the embodiment of the invention has the following advantages:

the driving module disclosed by the application is characterized in that a driving part is arranged on a base to regulate and control the pose of a transmission part, when a load (such as a mobile phone camera) is fixed on the transmission part to regulate the angle and the height of the load in the use process, the driving part drives the transmission part to rotate, the transmission part can drive the load to rotate along a second rotation direction, and the rotation is synchronous; in conclusion, the driving part drives the load to rotate in multiple directions at the same time, so that the flexibility of the driving module is improved; and can provide enough driving force for the load, and can drive the load to rotate in a larger range.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is an assembly view of a drive module and a load according to the present invention;

FIG. 2 is an exploded view of the driving module and the load according to the present invention;

FIG. 3 is an exploded view of another perspective of the drive module and load of the present invention;

FIG. 4 is an exploded view of the structure of the elastic member according to the present invention;

FIG. 5 is a schematic view of the structure of the transmission member of the present invention;

FIG. 6 is a schematic structural view of a linkage plate according to the present invention.

10, a base; 11. mounting holes; 12. hollowing out holes; 13. a protection block; 20. a support member; 21. a support; 211. a bump; 212. a via hole; 22. rotating the frame; 221. perforating; 222. a protruding shaft; 223. a boss portion; 30. a transmission member; 31. a main rod; 32. a transition plate; 321. a shaft hole; 33. a first connector; 34. a second connector; 35. a connecting plate; 40. a drive member; 41. an elastic member; 411. drilling; 412. an arc-shaped reinforcing section; 413. a bending section; 42. a first drive unit; 421. a drive motor; 422. a transmission screw rod; 4221. a drive screw; 423. fixing the rod; 424. a linkage plate; 4241. a ring block; 4241a, a first contact surface; 4242. a flat plate block; 4242a, a transmission hole; 4242b, a second contact surface; 4242c, a groove; 43. a second driving unit; 50. a connecting seat; 51. reinforcing ribs; 52. reinforcing the bumps; 60. a load; 70. a first direction of rotation; 80. a second rotational direction.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the load 60 disclosed in the embodiments of the present application includes, but is not limited to, a camera used on a mobile phone, a computer, an unmanned aerial vehicle, an airplane, an automobile, and other objects; the invention introduces the concrete structure and the working principle of the invention by taking the camera of the smart phone as an example, but the application of the invention is not limited by the camera, and the invention can also be applied to other structures which also need enough driving force to accurately control; for example, the driving module can be applied to the control of objects such as a scalpel and a suture line, and more flexible and accurate control effect can be obtained undoubtedly.

Referring to fig. 1 and 2, in an embodiment of the present application, a driving module is disclosed, wherein the driving module includes a base 10, a supporting member 20, a transmission member 30 and a driving member 40, the base 10 can be used to be installed and fixed on a corresponding device, the supporting member 20 is disposed on the base 10 and is rotatably connected to the base 10, and a direction of rotation of the supporting member 20 on the base 10 is a first rotation direction 70.

The transmission member 30 may be, but is not limited to, a rotary shaft provided on the support member 20 for fixing the load 60, the load 60 may be formed on a base module to be rotated together with the transmission member 30, and the load 60 may be, but is not limited to, a camera or a sensor, etc., and is oriented substantially in a direction normal to the plane of the base 10.

The support member 20 may be formed in a half frame structure, which is C-shaped or open-ended and has a through hole 221, as shown in fig. 2, the transmission member 30 is inserted into the through hole 221 (the transmission member 30 in fig. 2 is already mounted on the base plate of the load 60 prematurely, and actually passes through the through hole 221 and then is mounted on the base plate of the load 60), and the transmission member 30 can rotate in the through hole 221.

The rotation direction of the transmission member 30 is a second rotation direction 80, as shown in fig. 1, the second rotation direction 80 is different from the first rotation direction 70, and preferably, is perpendicular to each other at a certain initial state. The driving member 40 is disposed on the base 10 and at a side of the base 10, and the driving member 40 is connected to the transmission member 30 for simultaneously driving the transmission member 30 and the supporting member 20 to rotate, so as to drive the load 60 to perform a compound rotation in the first rotation direction 70 and the second rotation direction 80 in a parallel mechanical driving manner.

In particular, the driving member 40 can drive the supporting member 20 together with the load 60 and the transmission member 30 with a certain rotation angle in the first rotation direction 70, while at the same time, by the rotation of the transmission member 30, the orientation of the load 60 can be further achieved on the supporting member 20, and a deflection forming an angle with the normal direction can be formed in the normal direction of the base 10 in the initial state, and the direction of the deflection can be any direction under controlled conditions.

Moreover, due to the parallel mechanical driving arrangement of the present invention, the driving member 40 is simpler to realize and the assembly position is simpler. The maximum deflection angle can be realized within 5-8 degrees, and the deflection range is far wider than that realized by the implementation scheme in the prior art.

The driving module disclosed in the present application is provided with a driving member 40 on the base 10 to adjust the position of the transmission member 30, and in use, a load 60 (such as a camera of a mobile phone) is fixed on the transmission member 30 and can rotate coaxially with respect to the supporting member 20. When the angle and height of the load 60 are adjusted (i.e. the direction and angle deviated from the normal direction), the driving member 40 can drive the transmission member 30 to rotate and simultaneously counteract the linear displacement of the load 60 through the rotation lifting of the supporting member 20.

The driving member 30 is rotated by the driving member 40 to drive the load 60 to rotate in the second rotating direction 80, and synchronously, since the supporting member 20 is rotatably connected to the base 10 and is not fixed, the supporting member 20 is rotated in the first rotating direction 70 by the driving force transmitted when the driving member 30 rotates, and for the load 60, the supporting member is also driven to rotate in the first rotating direction 70. Therefore, the driving component 40 of the present application can drive the load 60 to finally realize deflection in any direction deviating from the normal direction, and the flexibility of the driving module is improved; and can provide sufficient driving force to the load 60 to drive the load 60 to rotate to a greater extent.

The driving module can realize the rotation of the micro-pan-tilt, particularly can well realize the control of the deflection angle of the camera in a micro space, such as the anti-shake of the camera of a mobile phone, and certainly, the calculation mode of the control needs to adopt a corresponding control algorithm which is known in the prior art and is actually a control algorithm aiming at the parallel mechanical drive.

In the preferred embodiment of the driving module of the present invention, the driving unit 40 is required to be two driving units on two sides, such as a motor, preferably an ultrasonic motor, which has a sufficient force, and is capable of controlling the rotation angle precisely, and the volume can be made very small, so that it is more suitable for driving and controlling high-end products.

The two driving units of the driving part 40 control the transmission part 30 from two sides, and the transmission part 30 is at least provided with a shifting fork structure which is at a certain distance from the central rotating shaft (the second rotating direction is 80 axle center direction), so that the driving units can conveniently drive and control the shifting fork from two sides.

Specifically, as an implementation manner of the present embodiment, it is disclosed that the first rotating direction 70 and the second rotating direction 80 are initially set to two directions perpendicular to each other.

Firstly, when the first rotation direction 70 is perpendicular to the second rotation direction 80, the operation process of the driving control by the two driving units of the driving part 40 is simpler, and at the same time, the disassembly is convenient to regulate, and the control algorithm of the control unit is actually equivalent to the problem (output) of the off-normal orientation and angle of the load 60 after the longitudinal displacement (input) of the two driving units and the transmission through the supporting part 20 and the transmission part 30, or the problem (output) of the longitudinal displacement value of the two driving units is calculated by the off-normal orientation and angle (input) of the load 60, and the process can be realized by the corresponding algorithm of the computer.

Secondly, the first rotation direction 70 and the second rotation direction 80 are combined to form a motion track of the transmission component 30, that is, the direction and angle of the load 60 deviating from the normal direction, when the first rotation direction 70 is perpendicular to the second rotation direction 80 in the initial state, any direction within a two-dimensional angle can be completely covered, calculation and control processing are convenient, the adjustable angle range of the load 60 is maximized, and the flexibility of the driving module is improved.

As shown in fig. 1, as another implementation manner of this embodiment, a further implementation manner of the driving component 40 is disclosed, which includes an elastic component 41, a first driving unit 42 and a second driving unit 43, where the first driving unit 42 and the second driving unit 43 are both disposed on the base 10, and both the first driving unit 42 and the second driving unit 43 are drivingly connected to the transmission component 30, so as to form a parallel driving mechanism, so as to drive the transmission component 30 and the supporting component 20 to rotate.

One end of the elastic part 41 is abutted against the base 10, and the other end of the elastic part is fixedly connected with the bottom side of the frame arm of the supporting part 20 and used for pushing the supporting part 20 to rotate along the direction departing from the base 10, and the elastic part 41 can adopt equivalent structures of a spring, an elastic sheet, a magnet with the same magnetism and the like during actual assembly, and only needs to have corresponding elastic force to keep the tendency of the supporting part 20 to deflect towards one side direction, so that the driving of the driving part 40 is convenient, and the supporting part 20 is always abutted against and driven by the driving part 40.

The first driving unit 42 and the second driving unit 43 are configured to control the rotation angle of the transmission member 30 and drive the support member 20 to rotate by driving the longitudinal displacement in the direction perpendicular to the base 10.

The first driving unit 42 and the second driving unit 43 cooperate with the elastic member 41, and the elastic member 41 always keeps elastic force to the supporting member 20 for driving the supporting member 20 to rotate.

In use, the load 60 is coaxially fixed to the transmission member 30, and the elastic member 41 itself provides an elastic force in a direction away from the base 10, so that the load 60 can be pushed against the support member 20, so that the load 60 is always positioned above the base 10, and the collision of the load 60 with the base 10 is avoided.

Then, when the offset angle and the orientation of the load 60 are to be adjusted, the first driving unit 42 and the second driving unit 43 are simultaneously connected with the transmission part 30 to form a parallel driving mechanism for composite driving, the parallel driving mechanism is a mechanism which is formed by connecting two or more driving units in parallel, so that mechanical movement is completed together, and by adopting the parallel mechanism, the rigidity of a mechanical system can be improved, the bearing capacity of a mechanical device is increased, and a series of advantages of high movement precision, good dynamic performance and the like are achieved.

The first driving unit 42 and the second driving unit 43 apply downward pressing force from different directions of the transmission member 30, and the transmission member 30 is transmitted to the supporting member 20, so that the supporting member 20 is also applied with force towards the base 10; that is, the elastic force of the elastic element 41 always departing from the direction of the base 10 is opposite to the direction of the acting force of the first driving unit 42 and the second driving unit 43, so as to form a pair of acting forces to the supporting member 20, through the previous test and control, the proper acting force can be adjusted to control the rotation amplitude of the supporting member 20, and through overcoming the elastic force of the elastic element 41, the transmission member 30 and the supporting member 20 rotate along the first rotation direction 70, and simultaneously the load 60 fixed on the transmission member 30 also rotates together.

When the first driving unit 42 and the second driving unit 43 perform different longitudinal displacement control on the transmission member 30 with different rotation angles, the transmission member 30 deflects along with the rotation of the supporting member 20, so that the transmission member 30 can drive the load 60 to rotate along the second rotation direction 80, thereby increasing the multi-dimensional control on the deviation angle and the orientation of the load 60.

In addition, the first driving unit 42 and the second driving unit 43 are directly contacted with the transmission part 30, so that power can be well transmitted, the loss of driving force in the transmission process is avoided, and the transmission error is reduced; in summary, in a parallel driving manner, the driving module disclosed in the present application reduces transmission levels, so that the load 60 can be driven to move by a larger driving force, the load 60 can be driven to rotate in a larger range, and the flexibility of the driving module is improved.

Referring to fig. 2, as another implementation manner of the present embodiment, it is disclosed that the supporting component 20 includes two supporting seats 21 and two rotating frames 22, where the two supporting seats 21 are disposed on the base 10; the rotating frame 22 is rotatably mounted on the support 21, the transmission member 30 is mounted in the through hole 221 of the rotating frame 22, and the elastic member 41 is mounted between the transmission member 30 and the base 10.

The base 10 is provided with a support 21 as an axis and is provided with a through hole 212, and then the rotating frame 22 is mounted on the support 21, so that the rotating frame 22 can rotate freely around the support 21, and then the transmission member 30 mounted on the rotating frame 22 can approach or depart from the surface of the base 10 along with the rotating frame 22, so as to achieve the purpose of rotating along the first rotating direction 70.

Referring to fig. 3, in another implementation manner of the present embodiment, it is disclosed that the mounting hole 11 is formed in the base 10, and the adaptive protrusion 211 is formed on the support 21, so that the support 21 can be stably mounted on the base 10, and the stability of the support 21 can be enhanced by clamping, bonding, welding, interference fit, or bolt fastening. Of course, the support 21 and the base 10 can be integrally formed to form a stable and firm structure, so that the overall structural strength can be ensured, the sliding or displacement of the support 21 can be avoided, and the service life of the driving module can be prolonged.

As shown in fig. 2 and fig. 3, in another implementation manner of the present embodiment, in order to make the rotation frame 22 more stable when rotating, two supports 21 are disclosed, which are oppositely disposed on two sides of the base 10, the rotation frame 22 is disposed between the two supports 21, a through hole 212 is disposed on each support 21, a protruding shaft 222 is disposed on the rotation frame 22 at a position corresponding to the through hole 212, and the protruding shaft 222 is inserted into the through hole 212 to implement the assembly of the rotation frame 22 and the supports 21, while keeping the rotation frame 22 rotatable. The structures of the rotating frame 22, the base 10, the support 21, and the like disclosed in the present embodiment can be made of plastic or metal in consideration of material properties and cost.

Specifically, in another implementation manner of this embodiment, it is disclosed that the rotating frame 22 is a U-shaped frame, the U-shaped frame includes two parallel side edges and a bottom edge perpendicular to the side edges, ends of the two side edges departing from the bottom edge are respectively connected to the two supporting bases 21, and the bottom edge is provided with the transmission component 30. In the present industrial equipment, the functions are various, but the space occupied by the machine is limited, so that the space is saved, and the rotating frame 22 is designed to be a U-shaped frame, so that the load 60 fixed by the transmission component 30 can be positioned in the middle of the U-shaped frame, thereby saving the space, and meanwhile, the U-shaped frame surrounds the periphery of the load 60, protecting the load 60 and reducing the collision damage of the load 60. In order to prevent the load 60 from colliding with the U-shaped frame during rotation and movement, the transmission member 30 may be installed at a middle position of the bottom side and connected to a middle position of the load 60, so that the load 60 does not generate lateral deviation during rotation, and as long as the design is made such that the width of the U-shaped frame is greater than that of the load 60, the load 60 may rotate only in the U-shaped frame during use, thereby preventing collision.

As shown in fig. 3 and 4, in another implementation manner of the present embodiment, in order to make the acting force conduction between the elastic member 41 and the rotating frame 22 more stable, it is disclosed that the elastic member 41 is an elastic sheet formed by a metal plate, which may be a metal elastic sheet, or a plastic elastic sheet, or an elastic sheet made of other materials; a section of the elastic sheet facing the rotating frame 22 is provided with a plurality of drill holes 411, a matched protruding portion 223 (or bolt) is arranged at a position on the rotating frame 22 corresponding to the drill holes 411, and the protruding portion 223 and the drill holes 411 are assembled to prevent the elastic member 41 from sliding relative to the rotating frame 22 on the surface of the base 10, so that the stability of connection with the elastic member 41 in the rotating process of the rotating frame 22 is improved.

Referring to fig. 4, in another implementation manner of the present embodiment, in order to make the acting force transmission between the elastic element 41 and the rotating frame 22 more stable, it is further disclosed that a section of the elastic element 41 close to the base 10 is obliquely disposed, and an arc-shaped reinforcing section 412 is disposed at an end away from the base 10 to prevent the elastic element 41 from being broken during repeated pressing; and a bending part 413 is disposed at one end contacting with the base 10, so that the contact surface between the elastic element 41 and the base 10 is a curved surface, thereby preventing the base 10 from being damaged due to the elastic element 41 pressing the base 10. The elastic members 41 of the present invention are provided in two, but not limited to this number, and one or more may be provided as necessary.

As shown in fig. 2 and 5, as another implementation manner of the embodiment, it is disclosed that the transmission component 30 further includes a main rod 31, a transition plate 32, a first connector 33 and a second connector 34, the main rod 31 is inserted into the through hole 221 to be pivotally matched, and one end of the main rod 31 is used for fixing a load 60, for example, fixedly connected through a connecting plate 35.

A shaft hole 321 is formed in the middle of the transition plate 32, and the other end of the main rod 31 is inserted into the shaft hole 321 and is assembled to the transition plate 32; the first connector 33 and the second connector 34 are respectively arranged at two ends of the transition plate 32 to form a deflector rod structure; the first connector 33 is connected to the first driving unit 42, and the second connector 34 is connected to the second driving unit 43.

The first driving unit 42 and the second driving unit 43 apply forces from both sides of the main rod 31 by the connection of the first connecting head 33 and the second connecting head 34 with the first driving unit 42 and the second driving unit 43, respectively, and the forces are both directed toward the base 10, which is opposite to the force of the elastic member 41, and the deflection angle and orientation of the load 60 can be controlled by regulating the magnitude of the three forces and the longitudinal displacement of the other driving unit.

At the same time, the two drive units are controlled by the control unit, and by the different longitudinal displacements of the drives, the deflection of the main rod 31 and the deflection of the support element 20 can be realized, and the deflection angle and orientation of a load 60 can be uniquely determined, which corresponds mathematically to the solution and uniqueness of the control algorithm.

As shown in fig. 5, as another implementation manner of the present embodiment, it is disclosed that a connecting plate 35 is disposed on a side of the main rod 31 facing the load 60, and a contact area can be increased by connecting the connecting plate 35 with the load 60, so that the connection is more stable, and of course, a clamping structure, an adhesive structure, a magnetic coupling structure, and the like can be disposed on the connecting plate 35, so that the connection between the load 60 and the connecting plate 35 is more secure. In addition, a clamp may be further disposed on a side of the main rod 31 facing the load 60, so that the load 60 is stably fixed and is easily disassembled and assembled by clamping the load 60.

Specifically, as another implementation manner of the present embodiment, an integrated structure of the main rod 31, the transition plate 32, the first connector 33, and the second connector 34 is disclosed. The integrated into one piece's structure is more firm stable, reduces the assembly gap, reduces the condition that produces stress concentration in the use, prevents that drive assembly 30 from breaking increase of service life.

As shown in fig. 2, as another implementation manner of this embodiment, it is disclosed that the first and/or second driving unit includes a driving motor 421, a driving screw 422, a fixing rod 423 and a linkage plate 424, the driving motor 421 is disposed on the base 10, in this embodiment, the driving motor 421 may use at least one of a stepping motor and an ultrasonic motor, the stepping motor may convert an electric pulse signal into a corresponding angular displacement or linear displacement, each time a pulse signal is input, the rotor rotates one angle or one step ahead, the angular displacement or linear displacement of the output is in direct proportion to the input pulse number, the rotating speed is in direct proportion to the pulse frequency, therefore, the height of the linkage plate 424 can be controlled by the driving, that is, the longitudinal displacement of each driving unit, thereby realizing the rotation and displacement drive of the transmission part 30 through the linkage drive of the linkage plate 424 and the corresponding connector 33 or 34.

In a preferred embodiment of the present invention, the driving motor 421 preferably uses an ultrasonic motor, which has high precision, can reach one ten-thousandth of precision, is not interfered by a magnetic field, can rotate at a large angle, has a smaller volume, and has a size at least 2 mm smaller than that of other motors in the current market; the driving force of the ultrasonic motor is larger, and the load 60 can be driven to realize a deflection angle of +/-8 degrees or even higher.

In addition, the ultrasonic motor does not need a Flexible Printed Circuit (FPC for short) flat cable, and the process is simple, so that the motor can be made smaller and can be directly driven or driven by a screw rod. The transmission screw 422 is in butt joint with an output shaft of the driving motor 421, the fixing rod 423 is arranged on the base 10, and an axial direction of the fixing rod 423 is parallel to an axial direction of the transmission screw 422, and is preferably perpendicular to a plane where the base 10 is located.

One end of the linkage plate 424 is connected with the transmission screw rod 422, and the other end of the linkage plate is slidably matched and connected with the fixing rod 423; the first connector 33 or the second connector 34 is correspondingly overlapped with one side of the corresponding linkage plate 424 facing the base 10 (only the first connector 33 is taken as an example for description, and the same symmetrical structure is also applied to the second connector 34).

The driving motor 421 of this embodiment drives the transmission screw 422 to rotate when driving, and the transmission screw 422 is provided with a transmission thread 4221, as shown in fig. 3, the transmission thread 4221 may be a full thread or a half thread, and the half-thread transmission screw 422 has an advantage of facilitating installation of the linkage plate 424. The linkage plate 424 is in threaded connection with the transmission screw rod 422, and when the transmission screw rod 422 rotates, the linkage plate 424 changes the corresponding height value, so that the adjustment sensitivity of the driving module is high, and the adjustment and control of a small angle are more accurate.

The axial extension direction of the fixing rod 423 and the axial extension direction of the transmission screw rod 422 are both perpendicular to the plane of the base 10, so that the axial direction of the fixing rod 423 is parallel to the axial direction of the transmission screw rod 422, the linkage plate 424 crossing the fixing rod 423 and the transmission screw rod 422 is limited during movement and can only move up and down parallel to the plane of the base 10 without inclination, the situation that one end of the linkage plate 424 close to the transmission screw rod 422 rises or falls while the other end of the linkage plate is not moved is avoided, the linkage plate 424 can move integrally when the transmission screw rod 422 rotates, the acting force of the driving motor 421 can be better transmitted to the first connecting head 33, and the moving distance of the first connecting head 33 is enabled to be higher in matching precision with the driving motor 421.

Specifically, during the driving process, the driving member 40 presses the first connecting portion 33, and when the first connecting portion 33 is fixed on the supporting member 20, the supporting member 20 is pressed to rotate on the base 10, and not only moves perpendicular to the surface on which the base 10 is located, but also moves parallel to the surface on which the base 10 is located, the transmission component 30 is driven by the elastic component 41 to move transversely parallel to the plane of the base 10, if the first connector 33 is fixedly connected to the linkage plate 424, the linkage plate 424 is further pulled, but the linkage plate 424 is sleeved on the fixing rod 423, especially, when the axial direction of the fixing rod 423 and the axial direction of the driving screw 422 are both perpendicular to the surface of the base 10, the linkage plate 424 cannot move along the surface parallel to the base 10, therefore, it is not suitable to fixedly connect the linkage plate 424 with the first connection head 33 for a specific operation process.

In the embodiment, the first connecting head 33 is selected to be overlapped on the linkage plate 424, the first connecting head 33 is always kept to be in contact with the linkage plate 424 through the elastic member 41, transmission of driving acting force can be kept, but the linkage plate 424 does not limit the movement of the first connecting head 33 along the surface parallel to the base 10, so that flexible matching of the first connecting head 33 and the linkage plate 424 is realized.

As shown in fig. 2 and fig. 6, as another implementation manner of this embodiment, it is disclosed that the linkage plate 424 includes a ring block 4241 and a flat plate block 4242, and the ring block 4241 is slidably connected with the fixing rod 423 to form positioning and limiting; one end of the flat plate 4242 is connected with the annular block 4241, the other end of the flat plate is provided with a transmission hole 4242a, and the transmission screw rod 422 is inserted into the transmission hole 4242a and is in threaded connection with the transmission hole 4242a for driving adaptation.

A first contact surface 4241a is arranged on the side wall of the ring block 4241, the first contact surface 4241a is located on one side of the ring block 4241 facing the transmission screw 422, and the first contact surface 4241a is located on one side of the flat plate 4242 facing the base 10. The first contact surface 4241a is a plane or a concave curved surface, and the first connector 33 is in contact with the first contact surface 4241 a.

In an implementation manner of this embodiment, the transmission hole 4242a is a threaded hole, threads of the threaded hole are matched with threads on the transmission screw 422, and when the transmission screw 422 rotates, because the other end of the flat plate 4242 is fixed on the ring block 4241, and the ring block 4241 is sleeved on the fixing rod 423, the linkage plate 424 cannot rotate as a whole, and thus can only move in a direction towards or away from the base 10, so that a torque force of the first driving component 40 is converted into a pressing force in a linear direction, and the first connection head 33 moves in the linear direction towards or away from the base 10. In a specific implementation, the flat plate 4242 may also be provided with a half-threaded hole at the transmission hole 4242a, that is, the transmission hole 4242a forms an opening and only has partial threads to be matched with the transmission screw 422.

The ring-shaped block 4241 is integrally cylindrical, the plate block 4242 vertically protrudes from the upper half part of the outer side wall of the ring-shaped block 4241, so that the linkage plate 424 integrally forms a corner, which is beneficial to moving up and down along the axial direction of the fixing rod 423 more stably, but the side wall of the ring-shaped block 4241 is curved, and the contact area is small and not stable enough when the side wall of the ring-shaped block 4241 is in contact with a straight rod, so that a first contact surface 4241a can be arranged on the ring-shaped block 4241 and is a concave curved surface, and because the side wall of the ring-shaped block 4241 is originally a convex side wall, both sides of the concave curved surface can be in contact with the first connecting head 33, the connection stability of the first connecting head 33 and the linkage plate 424 is improved, power can be better transmitted, and the movement of the transmission part 30 can be controlled more accurately; the first contact surface 4241a may be a plane parallel to the axial direction of the first connector 33, and the first connector 33 may be better attached to the surface of the ring block 4241 without lateral movement.

As shown in fig. 2 and 6, as another implementation manner of the present embodiment, it is disclosed that a surface of the plate block 4242, which is in contact with the first connection joint 33, is a second contact surface 4242b, the second contact surface 4242b is located on a side of the plate block 4242 facing the base 10, and the second contact surface 4242b is a convex curved surface. The first contact surface 4241a and the second contact surface 4242b limit the first connector 33 from two different directions, so that the first connector 33 is stably controlled, and the second contact surface 4242b is arranged to be a convex curved surface, so that the contact surface area between the flat plate block 4242 and the first connector 33 can be reduced, the friction resistance between the first connector 33 and the second contact surface 4242b is reduced when the flat plate block 4242 presses down the first connector 33, the first connector 33 is more sensitive to move along the surface parallel to the base 10, and the situation of jamming caused by regulating the height and the angle of the load 60 is avoided.

Specifically, as another implementation manner of this embodiment, it is disclosed that a groove 4242c is further disposed on one side of the plate 4242 facing the base 10, and the transmission hole 4242a is located in a middle position of the groove 4242 c. The groove 4242c is provided for more stable assembly with the transmission screw 422, the transmission screw 422 firstly passes through the groove 4242c and then is inserted into the transmission hole 4242a, and meanwhile, the groove 4242c can avoid the transmission screw 422, so that the flat plate 4242 is prevented from colliding with the transmission screw 422 in the moving process.

Referring to fig. 1, fig. 2 and fig. 3, as another implementation manner of this embodiment, it is disclosed that the second driving unit 43 and the first driving unit 42 have the same structure, and the first driving unit 42 and the second driving unit 43 are disposed on the base 10 oppositely.

First, the two identical structures can save the variety of parts and facilitate the manufacture.

Secondly, the first driving unit 42 and the second driving unit 43 have the same structure, and the driving force, the stroke and the minimum adjustable unit are the same, so that the first driving unit 42 and the second driving unit 43 in practical application are more convenient to match, and the angle and the height of the transmission part 30 are adjusted and controlled together.

Thirdly, the first driving unit 42 and the second driving unit 43 have the same structure, the first connector 33 and the second connector 34 can also have the same structure, and the first connector 33 and the second connector 34 are respectively connected with the first driving unit 42 and the second driving unit 43 in the same way, which is convenient for assembly, and the first connector 33 and the second connector 34 are respectively arranged at two ends of the transition plate 32, and the structure is the same, the weight distribution on the transition plate 32 is uniform, the center of gravity is located at the middle part, namely the part connected with the main rod 31, so that the main rod 31 is more stable when rotating, the transmission part 30 can be kept stable and does not deflect in a natural state, and the driving force output by the first driving unit 42 and the second driving unit 43 does not tend during regulation, which is convenient for regulation.

Fourthly, in the embodiment, the plane where the main rod 31 is located and perpendicular to the base 10 is taken as an axial plane, when the first driving unit 42 and the second driving unit 43 are oppositely arranged, the transverse distance from the assembly position of the first connector 33 and the first driving unit 42 to the main rod 31 is equal to the transverse distance from the assembly position of the second connector 34 and the second driving unit 43 to the main rod 31, and the lengths of the two sides of the transition plate 32 are equal, so that the balance can be better maintained, and unnecessary deflection can be reduced.

As shown in fig. 2, in another implementation manner of this embodiment, it is further disclosed that the driving module further includes a connecting base 50, one end of the connecting base 50 is connected to the transmission screw 422 of the first driving unit 42, and the other end is connected to the transmission screw 422 of the second driving unit 43; the fixing lever 423 of the first driving unit 42 and the fixing lever 423 of the second driving unit 43 are disposed in parallel on the coupling holder 50.

When the first driving unit 42 and the second driving unit 43 have the same structure, the first driving unit 42 and the second driving unit 43 are connected together through the connecting seat 50, so that the assembly can be carried out simultaneously during assembly, the assembly process is simplified, the assembly efficiency is increased, and the stability of the first driving unit 42 and the stability of the second driving unit 43 are improved during the use process.

Secondly, the connecting base 50 may further be provided with a reinforcing rib 51, and the reinforcing rib 51 is arranged among the driving screw 422 of the first driving unit 42, the driving screw 422 of the second driving unit 43, the fixing rod 423 of the first driving unit 42 and the fixing rod 423 of the second driving unit 43, so as to increase structural stability.

Furthermore, as shown in fig. 3, a plurality of reinforcing protrusions 52 may be further disposed on one side of the connecting seat 50 facing the base 10, hollow holes 12 are disposed at positions on the base 10 opposite to the reinforcing protrusions 52, and the inserting connection between the reinforcing protrusions 52 and the hollow holes 12 enables the connecting seat 50 and the base 10 to be assembled, so as to improve the stability of the overall structure and prevent the first driving unit 42 or the second driving unit 43 from swaying or shifting during the use process.

As shown in fig. 2, in another implementation manner of this embodiment, it is further disclosed that a protection block 13 is disposed at an edge position of the base 10. For example, when the base 10 is rectangular, the protection blocks 13 are arranged at four corners of the base 10; the protection block 13 reduces the impact during use and transportation, and protects the elastic member 41, the transmission member 30, the first driving unit 42, the second driving unit 43, the load 60, and the like on the base 10. The protection block 13 may be integrally formed with the base 10 to form a more stable and firm integrated structure.

As another embodiment of the present application, a micro-pan-tilt is disclosed, wherein the micro-pan-tilt comprises the driving module as described above. The micro cloud platform is driven by the motors with the parallel structures, can be driven by two or more ultrasonic motors to obtain larger driving force, and can drive and regulate the rotation angle of the load 60 in a limited space, for example, when the micro cloud platform is applied to a mobile phone camera, the camera can be driven to rotate by +/-8 degrees or even higher to the maximum extent; different from the voice coil motor that uses on the conventional cloud platform, the drive module that this embodiment is disclosed can provide bigger drive power in limited space, and the rotatable scope of camera is wider moreover, for example can keep the focus state after the object of shooing is aimed at to the camera lens, moves bigger scope along with the object of shooing, shakes at the cell-phone and makes the relative steady that keeps the camera lens, meets the not high people of height when face identification in addition, like child, can sweep wider scope.

As another embodiment of the present application, there is disclosed a method of controlling a drive module according to any one of the above, including:

s100, controlling the driving component 40 to drive the supporting component 20 and the transmission component 30 at the same time, so that the transmission component 30 drives the load 60 to rotate along the second rotation direction 80 and simultaneously follows the supporting component 20 to rotate along the first rotation direction 70.

The micro cloud platform disclosed in this embodiment can synchronously control two motors to cooperate with each other by setting a forward calculation table and a reverse calculation table on an electronic device or a main control device and by a control method preset on a processor, so that the output powers of the two motors can be converted into the rotation and movement angles of the load 60, and the movement of the load 60 can be sensitively controlled; the power of the motors can also be reversely adjusted by converting the required rotation or movement angle of the load 60 into the output power requirements of the two motors; finally, the flexible control of the load 60 by the driving module is formed.

In summary, the driving module includes a base 10, a supporting member 20, a transmission member 30 and a driving member 40, wherein the supporting member 20 is rotatably connected to the base 10, and a direction of rotation of the supporting member 20 on the base 10 is a first rotation direction 70; the transmission part 30 is arranged on the supporting part 20 and is used for fixing a load 60; a through hole 221 is formed in the support member 20, the transmission member 30 is inserted into the through hole 221, the transmission member 30 can rotate in the through hole 221, the rotation direction of the transmission member 30 is a second rotation direction 80, and the second rotation direction 80 is different from the first rotation direction 70; the driving component 40 is disposed on the base 10, and the driving component 40 is connected to the transmission component 30 and is configured to drive the transmission component 30 and the support component 20 to rotate simultaneously.

In the driving module disclosed in the present application, the driving member 40 is disposed on the base 10 to adjust the position of the transmission member 30, and in the using process, when the load 60 (for example, a camera of a mobile phone) is fixed on the transmission member 30 and the angle and height of the load 60 are to be adjusted, the driving member 40 drives the transmission member 30 to rotate, and the transmission member 30 rotates to drive the load 60 to rotate along the second rotating direction 80, synchronously, because the supporting member 20 is rotatably connected to the base 10 and is not fixed, the supporting member 20 can rotate along the first rotating direction 70 by the driving force transmitted when the transmission member 30 rotates, and for the load 60, the supporting member is also driven to rotate along the first rotating direction 70.

In conclusion, the driving component 40 of the present application drives the load 60 to rotate in multiple directions, so as to improve the flexibility of the driving module; and can provide sufficient driving force to the load 60 to drive the load 60 to rotate to a greater extent.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.