CN112770038B - Simplified rotary module - Google Patents

Abstract

The present invention relates to a simplified rotating module, the technical key points of which are: a housing; a bearing seat for bearing an optical path adjustment component; a base for containing and supporting the bearing seat; a supporting component, arranged between the bearing seat and the base, to satisfy and limit the bearing seat to rotate around the first and second rotation axes respectively; a clamping component, arranged between the bearing seat and the base, to provide a clamping force to keep the bearing seat, the base and the supporting component in stable contact; a driving component, to generate a driving force to rotate the bearing seat around the first rotation axis or the second rotation axis; a sensing component, which uses an electromagnetic sensing component or an optical sensing component, to measure the rotation angle of the bearing seat on the first and second rotation axes. The present invention uses a rotating fulcrum and an arc track to cooperate with the clamping force, and can achieve two-axis rotation of a bearing seat without the assistance of an additional kit, thereby meeting the requirements of the optical path adjustment angle, and cooperates with the driving component and the sensing component to achieve closed-loop control of the optical path adjustment.

Description

Simplified Rotary Module

Technical Field

The invention relates to a simplified rotating module, which is suitable for mounting an optical refraction module and can also be extended to mount an optical lens or other optical components.

Background Art

Generally, most voice coil motors commonly seen on the market are linear motion. Whether it is a focus motor (AF) or an anti-shake system motor (OIS), they are mostly used to carry optical components for translation to achieve the required optical effect. Limited by the volume and height requirements of digital products on the market, linear optical path products need to be turned to reduce the size of the original equipment or components, that is, the turning of the optical axis is achieved through the principle of refraction, thereby reducing the size of the original equipment or components. In this case, the translation movement of the optical component may not meet the needs of optical path adjustment or application, so there is a need to carry the optical component for angle adjustment.

At present, the periscope lens motor on the market adopts the refraction principle and prism motor. In order to realize the rotation of the prism motor along the X-axis and Z-axis to achieve the OIS function, two sets of kits are mainly used to meet the two-axis rotation requirements and limit the two-axis rotation. However, the use of two sets of kits has the following problems: 1. The kits occupy a large volume, making stack design difficult; 2. It is difficult to import electrical signals into multiple kits, and the sensing of the inner kit is easily disturbed by the rotation of the outer kit, resulting in signal crosstalk; 3. Multiple kits have many parts and high costs, and the assembly process is complicated.

Summary of the invention

The purpose of the present invention is to provide a simplified rotation module, which can achieve two-axis rotation of a support seat by means of a rotation fulcrum and an arc-shaped track with clamping force without the need for additional kit assistance, thereby meeting the requirements of optical path adjustment angle, and cooperating with a driving component and a sensing component to achieve closed-loop control of optical path adjustment.

In order to achieve the above object, the technical solution adopted by the present invention is:

A simplified rotating module, the technical main points of which are:

a housing;

A bearing seat, used to bear an optical path adjustment component for adjusting the angle of the optical path;

A base, used to contain and support the bearing seat;

A support assembly is disposed between the bearing seat and the base, and satisfies and restricts the bearing seat to rotate around a first rotation axis and a second rotation axis respectively, and the first rotation axis and the second rotation axis are perpendicular to each other;

A clamping assembly is disposed between the bearing seat and the base, and provides a clamping force to keep the bearing seat, the base and the supporting assembly in stable contact;

A driving assembly, used to generate a driving force to rotate the support seat around the first rotation axis or the second rotation axis;

A sensing component, which adopts an electromagnetic sensing component or an optical sensing component, is used to measure the rotation angle of the supporting base on the first rotation axis and the second rotation axis.

In the simplified rotating module mentioned above, the clamping component adopts an elastic component or a magnetic component.

The simplified rotating module mentioned above, the clamping assembly consists of a first clamping assembly and a second clamping assembly connected to both sides of the supporting seat, the clamping force of the first clamping assembly and the clamping force of the second clamping assembly are asymmetric clamping forces, to avoid the asymmetrically arranged supporting assembly from being separated due to the influence of torque force when subjected to external force impact or when the supporting assembly moves.

In the simplified rotating module, the bearing surface of the base corresponding to the clamping assembly is lower than the bearing surface of the support seat corresponding to the clamping assembly, and there is a step difference between the two to generate pre-pressure.

The simplified rotation module mentioned above, the first clamping assembly and the second clamping assembly are respectively composed of an outer connection area connected to the bearing surface of the base, an inner connection area connected to the bearing surface of the support seat, and an intermediate string area connected between the outer connection area and the inner connection area, the outer connection area and the inner connection area generate a reset force corresponding to the second rotation axis, and the intermediate string area generates a reset force corresponding to the first rotation axis.

The simplified rotation module mentioned above, the supporting assembly is two or more spherical or cylindrical or spherical-like moving parts, one of the base and the bearing seat is provided with a receiving point groove corresponding to each moving part, the other is provided with at least one arc track corresponding to the moving part, and the rest are receiving point grooves corresponding to the moving parts, the first rotation axis is perpendicular to the plane where the arc track is located and passes through the virtual center of the arc track, and the second rotation axis is a virtual connecting line of the centers of each moving part.

The simplified rotation module mentioned above, the driving component includes a first rotational axial driving component and a second rotational axial driving component, the first rotational axial driving component includes a magnetic component I fixed on a bearing seat or a base, and a coil component I fixed on the base or the bearing seat and corresponding to the magnetic component I, the second rotational axial driving component is fixed on a magnetic component II on the bearing seat or the base, and a coil component II fixed on the base or the bearing seat and corresponding to the magnetic component II, the magnetic component I and the magnetic component II are the same magnetic component or two independent magnetic components, and the coil component I and the coil component II are the same coil component or two independent coil components.

In the simplified rotation module, the magnetic component I and the magnetic component II are the same magnetic component, which is perpendicular to the first rotation axis. The coil component I and the coil component II are the same coil component, which consists of two parallel arranged bidirectional drive coils and are respectively perpendicular to the first rotation axis.

In the simplified rotation module mentioned above, the magnetic component I and the magnetic component II are two independent magnetic components, the magnetic component I is composed of two first axial driving magnets, which are parallel to the first rotation axis, and the magnetic component II adopts a second axial driving magnet, which is perpendicular to the first rotation axis; the coil component I and the coil component II are two independent coil components, the coil component I is composed of two first axial driving coils, which are parallel to the first rotation axis, and the coil component II adopts a second axial driving coil, which is perpendicular to the first rotation axis.

In the simplified rotation module mentioned above, the sensing component includes a first rotational axial sensing component and a second rotational axial sensing component, the first rotational axial sensing component and the second rotational axial sensing component are respectively located on their own axial rotation paths, the tangent direction of the position of the first rotational axial sensing component is perpendicular or nearly perpendicular to the second rotational axis, and the placement height of the first rotational axial sensing component is close to or equal to the extension axis height of the second rotational axis.

The beneficial effects of the present invention are:

The present invention uses the rotation fulcrum of the support component, the arc track and the clamping force of the clamping component to cooperate with each other to achieve the rotation function of the support seat along two axes without the assistance of additional kits, effectively adjust the angle of the optical path adjustment component, thereby achieving the purpose of adjusting the optical path. This architectural design can greatly reduce the complexity and difficulty of the internal design of the structure. With the placement optimization and application of the position sensing component, the angle change of the two axes can be accurately measured independently without being interfered by the signal of the two axes moving at the same time, realizing a simple and miniaturized multi-axis optical rotation device.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is an exploded view of a rotating module according to Embodiment 1 of the present invention;

FIG2 is a schematic diagram of a base and peripheral structures in Example 1 of the present invention;

FIG3 is a schematic diagram of a bearing seat and peripheral structures in Embodiment 1 of the present invention;

FIG4 is a schematic diagram of a bearing seat, a base and a clamping assembly in Embodiment 1 of the present invention;

FIG5 is a cross-sectional view of the bearing seat, the base and the clamping assembly in Embodiment 1 of the present invention;

FIG6 is a cross-sectional view of the bearing seat, the base and the supporting assembly in Embodiment 1 of the present invention;

FIG7 is a schematic diagram of a base and peripheral structures in Embodiment 2 of the present invention;

FIG8 is a schematic diagram of a supporting base and peripheral structures in Embodiment 2 of the present invention.

DETAILED DESCRIPTION

The rotation action principle of the present invention is to utilize the receiving point grooves or arc-shaped tracks for placing the various moving parts of the support assembly 5 to satisfy the two-axis rotation. If the moving parts are placed in the arc-shaped track, since the moving parts can move along the arc-shaped track, the virtual center of the arc-shaped track can be regarded as the first rotation axis, and the support seat 4 can rotate along the first rotation axis under the action of the rotating electromagnetic force. If all the moving parts are placed in the receiving point grooves, they cannot move due to the shape and size restrictions of the receiving point grooves, then each moving part can be regarded as a rotating fixed fulcrum, and the support seat 4 can rotate along the virtual line connecting the centers of each moving part under the action of the rotating electromagnetic force, which is regarded as the second rotation axis.

Example 1

As shown in FIG1 , the simplified rotation module comprises: a housing 1; a bearing seat 4 for bearing an optical path adjustment component 2 for adjusting the angle of the optical path. In this embodiment, the optical path adjustment component 2 is a prism, and a groove corresponding to the prism is provided on the upper surface of the bearing seat 4; a base 12, which forms a containing space with the housing 1, is used to contain and support the bearing seat 4, and has a rotation avoidance space for the bearing seat 4; a supporting component 5, which is arranged on the bearing seat 4 and the base 12, and satisfies and limits the bearing seat 4 to rotate around a first rotation axis and a second rotation axis respectively, and the first rotation axis and the second rotation axis are perpendicular to each other; a clamping component 3, which is arranged between the bearing seat 4 and the base 12, and provides a clamping force to keep the bearing seat 4, the base 12 and the supporting component 5 in stable contact; a driving component, which is used to generate a driving force to rotate the bearing seat 4 around the first rotation axis or the second rotation axis; a sensing component 11, which adopts an electromagnetic sensing component or an optical sensing component, and is used to measure the rotation angle of the bearing seat 4 on the first rotation axis and the second rotation axis.

In this embodiment, referring to Fig. 2 and Fig. 3, the support assembly 5 is two spherical balls 51 and 52. It can be cylindrical or spherical in other applications or design requirements. At the same time, the accommodation point grooves and arc-shaped arc tracks on the bearing seat and the base are improved to cooperate with the moving parts. The bottom surface of the bearing seat 4 is provided with accommodation point grooves 41a and 41b corresponding to the two balls 51 and 52, and the upper surface of the inner support structure of the base 12 is provided with an arc-shaped track 121a corresponding to one of the balls 51, and another accommodation point groove 121b corresponding to the other ball 52. The first rotation axis is perpendicular to the plane where the arc track 121a is located and passes through the virtual center of the arc track 121a. The virtual center is also the center of the ball 52 surrounded by the accommodating point groove 121b of the base 12 and the accommodating point groove 41b of the support seat 4, that is, the extended virtual center position of the arc track 121a overlaps with the accommodating point groove 121b of the ball 52; the second rotation axis is the virtual connecting line of the centers of the two balls 51 and 52.

The driving assembly includes a first rotating axial driving assembly and a second rotating axial driving assembly. The first rotating axial driving assembly includes a magnetic assembly I fixed on the base 12, and a coil assembly I9 fixed on the bearing seat 4 and corresponding to the magnetic assembly I. The second rotating axial driving assembly is fixed to the magnetic assembly II on the bearing seat 4, and the coil assembly II fixed on the base 12 and corresponding to the magnetic assembly II. The magnetic assembly I and the magnetic assembly II are two independent magnetic assemblies, and the magnetic assembly I is composed of two first axial driving magnets 10, which are parallel to the first rotating axis, and the magnetic assembly II adopts a second axial driving magnet 6, which is perpendicular to the first rotating axis. The coil assembly I9 and the coil assembly II are two independent coil assemblies, and the coil assembly I9 is composed of two first axial driving coils 91 and 92, which correspond to the two first axial driving magnets 10 one by one and are parallel to the first rotating axis; the coil assembly II adopts a second axial driving coil 8, which is perpendicular to the first rotating axis.

The sensing component 11 includes a first rotating axial sensing component and a second rotating axial sensing component, and the first rotating axial sensing component and the second rotating axial sensing component are respectively located on their respective axial rotation paths. The tangent direction of the position of the first rotating axial sensing component is perpendicular or nearly perpendicular to the second rotating axis, and the placement height of the first rotating axial sensing component is close to or equal to the extended axis height of the second rotating axis. The first rotating axial sensing component is a first rotating axis position sensor 112 installed on the base 12, and a first rotating axis position sensing magnet 7 corresponding to the first rotating axis position sensor 112 is provided on the bearing seat 4; the second rotating axial sensing component is a second rotating axis position sensor 111 installed on the base 12, which is located in the middle position of the second axial drive coil 8, and the second axial drive magnet 6 is also a second rotating axis position sensing magnet.

When the first axial driving coils 91, 92 on the supporting seat 4 receive the current signal and generate electromagnetic rotational force with the first axial driving magnet 10 on the base 12, the accommodating point groove 41b on the supporting seat 4 corresponding to the ball 52 and the accommodating point groove 121b on the base 12 will restrict the movement of the ball 52; the accommodating point groove 41a on the supporting seat corresponding to the ball 51 will restrict the movement of the ball 51 on the supporting seat 4, and the arc track 121a on the base 12 corresponding to the ball 51 has a moving space, so the ball 51 will move along the arc track, thereby forming the supporting seat 4 driving the optical path adjustment component 2 to rotate around the first rotation axis.

When the second axial drive coil 8 on the base 12 generates an electromagnetic rotational force by the current signal, since the second axial drive coil 8 is fixed on the base 12, the reaction force acts on the second axial drive magnet 6, and the reaction force is transmitted to the support seat 4. Therefore, the direction of the rotational force is perpendicular to the plane where the arc track 121a is located. Therefore, the ball 51 does not move in the arc track 121a, that is, it is similar to a fixed fulcrum state. Therefore, the balls 51 and 52 do not move on the arc track 121a and the accommodating point groove 121b on the base 12, and the support seat 4 is continuously subjected to the electromagnetic rotational force. Then, the support seat 4 regards the balls 51 and 52 as fulcrums and rotates around the second rotation axis formed by the balls 51 and 52.

In order to meet the closed-loop system control, the rotation angle sensing of the first rotation axis and the second rotation axis is required to be performed through the first rotation axis position sensor 112 and the second rotation axis position sensor 111. In this embodiment, Hall electromagnetic sensors are used for position detection, and optical system position sensors can be used in other designs or applications.

Referring to Fig. 2 and Fig. 3, in this embodiment, the first rotation axis position sensing magnet 7 is placed on the bearing seat 4, and the first rotation axis position sensing magnet 7 and the ball 51 are respectively arranged on both sides of the ball 52, providing a stable fixed magnetic field for the first rotation axis position sensor 112. The first rotation axis position sensor 112 is located on the rotation path of the first rotation axis, and its tangent direction is mutually or nearly perpendicular to the second rotation axis and away from the first rotation axis, and its position height is close to or equal to the center height of the balls 51 and 52. The advantage of this position configuration is that, since the Hall electromagnetic sensor can only judge the change in the magnitude of the magnetic force in the direction perpendicular to the sensor, when the second rotating axis moves, the first rotating axis position sensing magnet 7 will only rotate along the second rotating axis by itself, and will not form a swing arm motion due to the distance between it and the second rotating axis (in addition to its own rotation, the swing arm motion will additionally increase the distance component displacement between the sensing magnet and the sensor, and this displacement change will affect the magnitude of the magnetic field strength received by the sensor). The improved position sensor can only judge the sensing error caused by the intensity change caused by the component displacement of the sensing magnetic field or the sensing light intensity. The farther the first rotating axis sensing magnet is placed from the first rotating axis position, the smaller the sensing error it will receive.

The second axial driving magnet 6 provides a certain magnetic field to the second rotating shaft position sensor 111. The second rotating shaft position sensor 111 is on the rotation path of the second rotating shaft. In this embodiment, when the first rotating shaft moves, the distance between the second axial driving magnet 6 and the second rotating shaft position sensor 111 will not change, but a small component on the sensing distance will still be generated. Therefore, the closer the second rotating shaft position sensor 111 is to the first rotating shaft, the smaller the sensing error it will suffer.

Referring to Fig. 4-Fig. 6, in order to ensure that the supporting assembly 5 can stably contact with the bearing seat 4 and the base 12 without separation during the movement process or under the impact of external force, in this embodiment, a clamping assembly 3 is used to generate a clamping force so that the three can always maintain stable contact. The clamping assembly adopts an elastic assembly. The clamping assembly is composed of a first clamping assembly 31 and a second clamping assembly 32 connected to both sides of the bearing seat 4. The first clamping assembly 31 is composed of an outer connecting area 31a connected to the bearing surface 122 of the base 12, an inner connecting area 31b connected to the bearing surface 42 of the bearing seat 4, and an intermediate string area 31c connected between the outer connecting area 31a and the inner connecting area 31b. The second clamping assembly 32 is composed of an outer connecting area 32a connected to the bearing surface 122 of the base 12, an inner connecting area 32b connected to the bearing surface 42 of the bearing seat 4, and an intermediate string area 32c connected between the outer connecting area 32a and the inner connecting area 32b.

The supporting surface 122 of the clamping component 3 corresponding to the base 12 is lower than the supporting surface 42 of the clamping component 3 corresponding to the bearing seat 4, and there is a height difference between the two to generate pre-pressure. In the initial state, the outer connection area 31a and the inner connection area 31b of the first clamping component 31 and the second clamping component 32 are at the same height, and the outer connection area 32a and the inner connection area 32b are at the same height. After the assembly process, the outer connection area and the inner connection area are respectively tightly attached to the supporting surface 122 of the base 12 and the supporting surface 42 of the bearing seat 4. Because the bearing seat 4, the support component 5 and the base 12 are all made of low deformation materials, the height difference between the base supporting surface 122 and the bearing seat supporting surface 42 will not disappear. Through this height difference, the reset force generated by the first clamping component 31 and the second clamping component 32 according to the stretching amount of Hooke's law always generates a clamping force to make the bearing seat 4, the base 12 and the support component 5 stably contact.

The clamping force of the first clamping component 31 and the clamping force of the second clamping component 32 are asymmetric clamping forces, which prevent the asymmetrically arranged support component 5 from being separated due to the torque force when it is impacted by external force or when the support component moves. In this embodiment, the first clamping component 31 is placed on the side of the ball 51, and the second clamping component 32 is placed on the opposite side. The clamping force of the first clamping component 31 is greater than the clamping force of the second clamping component 32, which prevents the force applied to the second clamping component 32 under external force impact, causing the ball 52 to be used as a rotation fulcrum, and the torsion force generated by the force and the lever arm makes the force of the first clamping force ineffective, causing the ball 51 to be separated. Here, the clamping force on both sides can be changed by adjusting the shape of the middle string area 31c, 32c or the unequal clamping step difference.

In other applications or design requirements, the clamping force can be implemented using a force-at-a-distance method, using the mutual attraction or repulsion between magnets and paramagnetic materials or between magnets to achieve the clamping force.

Example 2

As shown in Fig. 7 and Fig. 8, the simplified rotating module is different from the embodiment 1 in that: the base 12 is provided with two arc-shaped tracks 1211a and 1211b corresponding to the balls 51 and 52, the virtual centers of the two arc-shaped tracks 1211a and 1211b overlap, and the bearing seat 4 is provided with accommodating point grooves 43a and 43b corresponding to the two balls 51 and 52. In this embodiment, the first rotating axis is perpendicular to the plane where the two arc-shaped tracks 1211a and 1211b are located and passes through the virtual centers of the arc-shaped tracks 1211a and 1211b, and the second rotating axis is a virtual line connecting the centers of the two balls 51 and 52. When the electromagnetic rotating driving force acts on the bearing seat 4, the balls 51 and 52 move clockwise or counterclockwise along the corresponding arc-shaped tracks 1211a and 1211b, and the bearing seat 4 rotates about the first rotating axis passing through the virtual center. When the electromagnetic rotational force perpendicular to the second rotation axis is applied to the support seat 4, the direction of the rotational force is perpendicular to the plane where the arc tracks 1211a and 1211b are located. Therefore, the balls 51 and 52 do not move in the arc tracks 1211a and 1211b, but are in a fixed fulcrum state. Therefore, the balls 51 and 52 do not move on the arc tracks 1211a and 1211b on the base 12, and the support seat 4 is continuously acted upon by the electromagnetic rotational force. Therefore, the support seat 4 rotates with the balls 51 and 52 as fulcrums. At this time, the support seat 4 rotates around the second rotation axis.

In this embodiment, the magnetic component I and the magnetic component II of the driving component are the same magnetic component, that is, the bidirectional driving magnet 61 fixed to the bottom surface of the bearing seat 4, which is perpendicular to the first rotation axis. The coil component I and the coil component II are the same coil component, which is composed of two bidirectional driving coils 81a arranged in parallel and are respectively perpendicular to the first rotation axis. The bidirectional driving magnet 61 corresponds to two bidirectional driving coils 81a, where the two bidirectional driving coils 81a are controlled independently of each other. When the two bidirectional driving coils 81a generate electromagnetic driving forces of the same direction and the same magnitude, the bearing seat 4 can move along the second rotation axis; when the two bidirectional driving coils 81a generate electromagnetic driving forces of different magnitudes or directions, a torque force can be generated to act on the bearing seat 4, so as to achieve the purpose of rotating around the first rotation axis.

The working principles of the remaining components are the same as those of Example 1. Such changes can reduce the number of driving magnets and driving coils, save costs and workstations, and achieve a lower-cost structural design.

The above description is only illustrative rather than restrictive of the present invention. Those skilled in the art should understand that many modifications, changes or equivalent substitutions may be made without departing from the spirit and scope defined by the claims, but all will fall within the scope of protection of the present invention.

Claims (8)

1. A simplified rotation module, characterized by comprising: a housing; A bearing seat, used to bear an optical path adjustment component for adjusting the angle of the optical path; A base, used for containing and supporting the bearing seat; A support assembly is disposed between the bearing seat and the base, and satisfies and restricts the bearing seat to rotate around a first rotation axis and a second rotation axis respectively, and the first rotation axis and the second rotation axis are perpendicular to each other; A clamping component is arranged between the bearing seat and the base, and provides a clamping force to keep the bearing seat, the base and the supporting component in stable contact; the clamping component is an elastic component or a magnetic component; A driving assembly, used to generate a driving force to rotate the support seat around the first rotation axis or the second rotation axis; A sensing component, which is an electromagnetic sensing component or an optical sensing component, is used to measure the rotation angle of the supporting base on the first rotation axis and the second rotation axis; The supporting assembly is two or more spherical, cylindrical or quasi-spherical moving parts, one of the base and the bearing seat is provided with a receiving point groove corresponding to each moving part, the other is provided with at least one arc track corresponding to the moving part, and the rest are receiving point grooves corresponding to the moving parts, the first rotation axis is perpendicular to the plane where the arc track is located and passes through the virtual center of the arc track, and the second rotation axis is a virtual connecting line of the centers of each moving part. 2. According to the simplified rotation module of claim 1, it is characterized in that: the clamping assembly is composed of a first clamping assembly and a second clamping assembly connected to both sides of the bearing seat, and the clamping force of the first clamping assembly and the clamping force of the second clamping assembly are asymmetric clamping forces, so as to avoid the asymmetrically arranged support assembly from being separated due to the influence of torque force when subjected to external force impact or when the support assembly moves. 3. The simplified rotating module according to claim 1 is characterized in that: the bearing surface of the base corresponding to the clamping assembly is lower than the bearing surface of the support seat corresponding to the clamping assembly, and there is a step difference between the two to generate pre-pressure. 4. The simplified rotation module according to claim 2 is characterized in that: the first clamping assembly and the second clamping assembly are respectively composed of an external connection area connected to the bearing surface of the base, an internal connection area connected to the bearing surface of the bearing seat, and an intermediate string area connected between the external connection area and the internal connection area. 5. The simplified rotation module according to claim 1 is characterized in that: the driving component includes a first rotational axial driving component and a second rotational axial driving component, the first rotational axial driving component includes a magnetic component I fixed on a bearing seat or a base, and a coil component I fixed on the base or the bearing seat and corresponding to the magnetic component I, the second rotational axial driving component is fixed on the bearing seat or the base, and a coil component II fixed on the base or the bearing seat and corresponding to the magnetic component II, the magnetic component I and the magnetic component II are the same magnetic component or two independent magnetic components, and the coil component I and the coil component II are the same coil component or two independent coil components. 6. The simplified rotation module according to claim 5 is characterized in that: the magnetic component I and the magnetic component II are the same magnetic component, which is perpendicular to the first rotation axis, and the coil component I and the coil component II are the same coil component, which is composed of two parallel arranged bidirectional drive coils and are respectively perpendicular to the first rotation axis. 7. The simplified rotation module according to claim 5 is characterized in that: the magnetic component I and the magnetic component II are two independent magnetic components, the magnetic component I is composed of two first axial driving magnets, which are parallel to the first rotation axis, and the magnetic component II adopts a second axial driving magnet, which is perpendicular to the first rotation axis; the coil component I and the coil component II are two independent coil components, the coil component I is composed of two first axial driving coils, which are parallel to the first rotation axis, and the coil component II adopts a second axial driving coil, which is perpendicular to the first rotation axis. 8. The simplified rotation module according to claim 1 is characterized in that: the sensing component includes a first rotational axial sensing component and a second rotational axial sensing component, the first rotational axial sensing component and the second rotational axial sensing component are respectively located on their own axial rotation paths, the tangent direction of the position of the first rotational axial sensing component is perpendicular or nearly perpendicular to the second rotational axis, and the placement height of the first rotational axial sensing component is close to or equal to the extension axis height of the second rotational axis.