actuator assembly

Abstract

Shape memory alloy actuator assemblies are disclosed. An actuator assembly comprises a first part (2002), a first support means (2003) and a platform (2004). The first support means supports the platform on the first part. The platform is tiltable about a first axis and / or a second axis (2011, 2012) that are non-parallel and perpendicular to a main axis (2009) through the actuator assembly. The actuator assembly further comprises a second support means (2005) and a second part (2006). The second support means supports the second part on the platform such that the second part tilts with the platform. The actuator assembly further comprises a drive means (2007; Fig. 22) comprising four segments of shape memory alloy wire (20101, 20102, 20103, 20104). The four segments of shape memory alloy wire are connected between the second part and the first part of the actuator assembly. The first support means is configured to guide tilting of the platform about the first axis and / or the second axis and to constrain rotation of the platform about the main axis. The platform defines a first plane (2500; Fig. 25) that is tiltable and has a normal (2501; Fig. 25) such that tilting the platform tilts the normal away from the main axis. The second support means is configured to constrain tilting of the second part relative to the platform, to constrain lateral movement of the second part perpendicular to the normal, and to guide axial movement of the second part relative to the platform along the normal.

Description

[0001] field

[0002] This application relates to an actuator assembly, and more particularly to an actuator assembly comprising multiple segments of shape memory alloy (SMA) wire. background

[0003] Such actuator components can be used, for example, in cameras to move lens assemblies in a direction perpendicular to the optical axis to provide optical image stabilization (OIS). Miniaturization may be important when such cameras are to be integrated into portable electronic devices such as mobile phones.

[0004] WO 2013 / 175197A1 describes an SMA actuation device that uses a total of four SMA actuator lines to move a movable element relative to a support structure in two orthogonal directions. Each SMA actuator line is connected at both ends between the movable element and the support structure and extends perpendicular to the main axis. The SMA actuator lines are not collinear, but are arranged such that they can be selectively driven to move the movable element relative to the support structure to any position within the range of motion without applying any net torque to the movable element in the two orthogonal directions around the main axis.

[0005] WO2019 / 243849A1 describes a shape memory alloy actuation device including a support structure and a movable element. A helical support device supporting the movable element on the support structure guides the movable element to helical movement about a helical axis relative to the support structure. At least one shape memory alloy actuator wire is connected between the support structure and the movable element in a plane orthogonal to the helical axis or at an acute angle to the plane to drive the movable element to rotate about the helical axis, and the helical support device converts this rotation into the helical movement.

[0006] WO2019 / 086855A1 describes a camera with an actuator assembly including a support platform, a movable platform supporting a lens assembly, an SMA cable connecting the support platform and the movable platform, a support member supporting the movable platform on the support platform, and two arms extending between the support platform and the movable platform.

[0007] Overview

[0008] According to a first aspect of the invention, an actuator assembly is provided. The actuator assembly includes a first portion, a first support device, and a platform. The first support device supports the platform on the first portion. The platform is tiltable about a first axis and / or a second axis, the first and / or second axes being non-parallel and perpendicular to a main axis passing through the actuator assembly. The actuator assembly also includes a second support device and a second portion. The second support device supports the second portion on the platform such that the second portion tilts together with the platform. The actuator assembly also includes a drive device comprising four segments of shape memory alloy wire. The four segments of shape memory alloy wire are connected (or “joined”) between the second portion and the first portion of the actuator assembly. The first support device is configured to guide the tilting of the platform about the first and / or second axes and constrain rotation of the platform about the main axis. The platform defines a first plane that is tiltable and has a normal, such that tilting the platform tilts the normal away from the main axis. The second support device is configured to constrain the tilting of the second portion relative to the platform, constrain lateral movement of the second portion perpendicular to the normal, and guide axial movement of the second portion relative to the platform along the normal.

[0009] Therefore, the actuator assembly can be used to provide OIS and AF by using module tilting with four segments of shape memory alloy wire.

[0010] The second support device can be configured to allow the second part to rotate about the normal.

[0011] The drive unit can consist of four segments of shape memory alloy wire. These four segments of shape memory alloy wire can directly connect the second part or connect it to the first part.

[0012] The four-segment shape memory alloy wire can be configured to generate a first force parallel to a first axis, a second force parallel to a second axis, and / or a torque around a normal in response to an applied input signal.

[0013] Each shape memory alloy wire segment corresponds to a section of the shape memory alloy wire, on which the driving current can be independently controlled. For example, a pair of shape memory alloy wire segments can be provided by a single physical wire having a first current source connected to one end, a second current source connected to the other end, and a current return connection at a point between the two ends.

[0014] Each segment of shape memory alloy wire can be arranged to apply force to a portion having a component that is not parallel to (e.g., substantially perpendicular to) the principal axis.

[0015] The normal can pass through the pivot point. The pivot point is not necessarily a physical point (such as a point on the surface of an object), but can be located in space. For example, the pivot point can move in response to the movement and / or deformation of the first support device.

[0016] The platform can be defined by a first plane, and the second part can be defined by a second plane.

[0017] The first axis and the second axis can be perpendicular to the main axis. The first axis can be perpendicular to the second axis.

[0018] The first support device may include a flexure device. The flexure device may include a first pair of flexures extending from the platform, the first pair of flexures constraining movement of the platform along a first axis; and a second pair of flexures extending from the platform, the second pair of flexures constraining movement of the platform along a second axis.

[0019] The platform can be flat. It can be roughly circular (i.e., a disk), elliptical (i.e., an elliptical disk or plate), or polygonal (i.e., a polygonal plate), such as rectangular (i.e., a rectangular plate), and especially square (i.e., a square plate). The platform can be rigid or more rigid than a flexural element.

[0020] One or more, or all, of the flexural elements may be flat. One or more, or all, of the flexural elements may include at least one bend (or “turn” or “elbow”). One or more, or all, of the flexural elements may include a corresponding arm, which may include at least one bend. One or more, or all, of the arms may include a first section extending away from the platform and a second section extending along a corresponding side of the platform. The first and second sections may be straight.

[0021] When the flexural element is not flexed, the platform and the flexural device can be coplanar. The platform and the flexural device can be a single component.

[0022] The first pair of flexible members may extend from the midpoint of the opposite sides of the second part. The second pair of flexible members may extend from the midpoint of the opposite sides of the second part.

[0023] The flexure device may also include four elongated members, each flexure having a corresponding distal end connected to the respective elongated member, extending transversely (e.g., perpendicularly) to the elongated member between its first and second ends (e.g., at the midpoint). Thus, the flexure and the corresponding elongated member can form a "T" shape with a short shank (flexure) and a long top bar (elongated member). The elongated member can be longer and thinner than the flexure. For example, the length of the elongated member can reach the length of the side of the second part. The flexure and the elongated member can be coplanar.

[0024] The first support device may include a pivot support. The pivot support may include a base and a pivot erected from the substrate or the first portion, the pivot having a distal end arranged to contact a platform. Conversely, the pivot may be suspended on the second portion. The pivot may include silicone or another flexible material. For example, the pivot may be surrounded by a coating of a flexible material such as silicone or embedded in a block of a flexible material such as silicone.

[0025] The first support member may include a heat-conducting connecting rod.

[0026] The pivot can be conical. The pivot can be cylindrical. The pivot can stand upright from the center of the base. The base can be flat. The base plate can be a plate. The base can be a frame. For example, the frame can include a web, such as an annular peripheral frame, a central pad, and a member connecting the peripheral frame and the central pad. The base can be annular. For example, the pivot can include an annular base and a cone or pyramid extending from the annular base (e.g., forming a cone or pyramid with a flange surrounding its base).

[0027] The platform can be shaped to provide support to the distal end of the pivot. For example, the platform may include a blind hole (or "recess"), through hole, or notch for accommodating the distal end of the pivot. The platform may include an annular protrusion defining the blind hole or notch. If the pivot is suspended on the second portion, then the first portion may be shaped to provide support to the distal end of the pivot.

[0028] The first support device may include a gimbal. The gimbal may include a thin mesh. The thin mesh may be flat. The mesh (or “grid”) may include an outer ring, an inner ring located within the outer ring, and a first collinear member and a second collinear member (or “link”) connecting the outer ring and the inner ring to allow the inner ring to rotate relative to the outer ring about a given axis. The mesh may include a central portion and a third collinear member and a fourth collinear member, which are not collinear with the first and second members, and connect the inner ring and the central portion to allow the central portion to rotate relative to the inner ring about another different axis. The given axis may be one of the first axis and the second axis, and the other axis may be the other of the first axis and the second axis.

[0029] The outer ring can be circular, elliptical, or polygonal, such as a rectangle or a square. The inner ring can be circular, elliptical, or polygonal, such as a rectangle or a square. The central part can be circular, elliptical, or polygonal, such as a rectangle or a square.

[0030] The second support device can be configured to convert the torque applied by the drive device around the normal into a second portion of the movement relative to the platform along the normal.

[0031] The second support device may include a helical flexure.

[0032] A helical flexure may include at least three flexure arms. There may be four, five, or more flexure arms. The flexure arms may extend in a direction parallel to the normal and around the normal in the same direction. The helical flexure may include a loop, and at least three flexure elements (e.g., five or more flexure elements) may extend from the loop. The flexure arms may be positioned at equally spaced angles around the normal. The loop and the flexure arms may be single elements.

[0033] The second support device may include a helical support.

[0034] The helical support may include a support surface defining a helical path. The helical support may include a sliding surface configured to engage with and be guided by the support surface. The helical support may include rolling support elements arranged to be guided by the support surface.

[0035] The helical support may include an outer cylinder or outer ring with internal threads and an inner cylinder or inner ring with external threads, wherein the outer cylinder or outer ring and the inner cylinder or inner ring are threaded together. The outer cylinder may be fixedly supported by a platform, allowing the inner cylinder to move relative to the platform. The helical support may also include a first arm and a second arm projecting outwardly beyond the outer cylinder or outer ring from the inner cylinder or inner ring. The first arm and the second arm may extend from diametrically opposed sides of the cylinder or ring. The first arm and the second arm may extend radially. The arms may take the form of rods or bars. The first arm and the second arm, as well as the inner cylinder or inner ring, may be integrally formed, for example, by structurally integrating separate components (i.e., the arms and the inner cylinder) or by forming them as a single piece. The outer cylinder or outer ring may include a first circumferential fan-shaped groove (or “slit”) and a second circumferential fan-shaped groove (or “slit”), through which the first arm and the second arm pass, respectively. To facilitate the assembly of the helical support, the outer cylinder or outer ring can be formed from more than one component (e.g., two components) and assembled around the inner cylinder. For example, the outer cylinder or outer ring may include two sections (or "segments") joined at one end of each section. One or both ends may be provided with (corresponding) notches such that a groove is formed when the ends are joined. A first arm and a second arm may extend from or near the end of the inner cylinder outside the outer cylinder (in other words, beyond the end of the outer cylinder). The inner cylinder may be fixedly supported by a platform, allowing the outer cylinder to move relative to the platform. Thus, the first arm and the second arm may extend outward from the outer cylinder. The first arm and the second arm may each have a corresponding distal end, and a first shape memory alloy wire and a second shape memory alloy wire of four shape memory alloy wires are connected to the distal end of the first arm, and a third shape memory alloy wire and a fourth shape memory alloy wire of four shape memory alloy wires are connected to the distal end of the second arm. The shape memory alloy wires may be connected to the arms via crimping.

[0036] A pair of shape memory alloy wires can be provided by a single shape memory alloy wire anchored at a point (e.g., midpoint) between its ends and having three electrical connections, one at each end and one between the ends, to provide two segments of shape memory alloy wires, wherein the current is independently controllable.

[0037] Each of the four shape memory lines can be coplanar with the first axis and the second axis.

[0038] None of the four shape memory lines are coplanar with the first and second axes.

[0039] Therefore, the four shape memory lines can be located in a third plane that is parallel to the first plane and deviates from the first plane along the main axis.

[0040] Using four coplanar shape memory lines can help reduce the height of the actuator assembly (or “lower” the “profile” of the actuator assembly). Offsetting the plane of the shape memory lines allows forces to be applied to the first plane in different planes, thus allowing the shape memory lines to cause the platform to tilt.

[0041] The four-segment shape memory alloy wire can be configured to generate a first force parallel to a first axis, a second force parallel to a second axis, and / or a torque around a normal in response to an applied input signal.

[0042] The four shape memory lines can be tilted relative to a first plane perpendicular to the principal axis z. For example, the four shape memory lines can be tilted relative to the first plane at an angle between 10° and 25°.

[0043] This can help achieve a higher stroke, but may result in less power.

[0044] The second support device can be configured to constrain the rotation of the second part about the normal. The second support device may include a linear support element.

[0045] A linear support may include a set of one or more support surfaces extending parallel to the normal, and a set of one or more sliding surfaces configured to be guided by the set of one or more support elements, wherein one or more support surfaces and one or more sliding surfaces allow movement only parallel to the normal. The linear support may be laterally offset from the normal. For example, a linear support may be supported at a corner of a platform.

[0046] The second support device may include a first flexure device and a second flexure device. The first flexure device may include a first pair of flexure arms extending from the first central portion platform and a second pair of flexure arms extending from the first central portion. The first pair of flexure arms constrains movement of the platform along a third axis perpendicular to the normal, and the second pair of flexure arms constrains movement of the platform along a fourth axis perpendicular to the normal. The second flexure device may include a third pair of flexure arms extending from the second central portion platform and a fourth pair of flexure arms extending from the second central portion. The third pair of flexure arms constrains movement of the platform along a fifth axis perpendicular to the normal, and the fourth pair of flexure arms constrains movement of the platform along a sixth axis perpendicular to the normal, wherein the first and second central portions are offset along the normal and rigidly connected to move together.

[0047] Each of the four shape memory lines can be tilted relative to the main axis.

[0048] The four shape memory lines are configured such that rotation about a first axis and movement along the first axis are coupled, rotation about a second axis and movement along the second axis are coupled, and rotation about a main axis and movement along the main axis are coupled.

[0049] The actuator assembly may also include an image sensor and a lens. The image sensor may be supported on or mounted to the platform, and the lens may be supported on or mounted to the second part. Alternatively, the lens may be supported on or mounted to the platform, and the image sensor may be supported on or mounted to the second part.

[0050] According to a second aspect of the invention, a system is provided, comprising an actuator assembly of the first aspect, a supply rail for delivering a drive voltage, a set of switching devices for applying a drive signal to a corresponding shape memory alloy wire or a corresponding pair of shape memory alloy wires under the drive voltage, and a controller for individually controlling the switching devices.

[0051] The controller can be configured to compensate for the platform’s rotation about the first and second axes by applying an anti-rotation in response to movement along the second and first axes, respectively.

[0052] According to a third aspect of the invention, an optical device is provided. The optical device includes a body, a first optical element, a second optical element, and an actuator assembly of the first aspect or a system of the second aspect. The first and second optical elements are aligned generally along an optical axis. A first portion of the actuator element is fixed relative to the body, and the first optical element, the second optical element, and the second portion are supported by the actuator assembly.

[0053] According to a fourth aspect of the invention, a method is provided comprising using an actuator assembly of the first aspect for optical image stabilization and / or autofocus.

[0054] According to a fifth aspect of the invention, an actuator assembly is provided. The actuator assembly includes a first portion, a platform tiltable relative to the first portion, a second portion arranged to tilt together with the platform and reciprocate (or translate) relative to the tiltable portion along an axis (or "tilted axis"), and four segments of shape memory alloy wire arranged to cause tilting of the platform and the second portion relative to the first portion and / or cause reciprocating motion of the second portion relative to the tiltable portion in response to a drive signal.

[0055] The second part can rotate around its axis during its reciprocating motion.

[0056] According to a sixth aspect of the invention, a camera system is provided, comprising an actuator assembly, an image sensor, and a lens system as described in the fifth aspect. The image sensor is supported by or mounted to one of a platform and a second part, and the lens system is supported by or mounted to the other of the platform and the second part. Therefore, the image sensor and the lens system are movable relative to each other.

[0057] According to a seventh aspect of the invention, an electronic device, such as a handheld communication device, is provided, comprising an actuator assembly of the first aspect, a system of the second aspect, an optical device of the third aspect, an actuator assembly of the fifth aspect, and / or a camera system of the sixth aspect.

[0058] The term "shape memory alloy (SMA) wire" (or "SMA segment") can refer to any element that includes an SMA. An SMA wire can have any shape suitable for the purposes described herein. An SMA wire can be elongated and can have a rounded cross-section or any other shaped cross-section. The cross-section can vary along the length of the SMA wire. It is also possible that the length of the SMA wire (however defined) can be similar to one or more of its other dimensions. An SMA wire can be compliant, or in other words, flexible. In some examples, when connected in a straight line between two elements, the SMA wire can only exert a tensile force that pushes the two elements together. In other examples, the SMA wire can bend around the element and can apply a force to the element as the SMA wire tends to straighten under tension. An SMA wire can be beam-like or rigid and is capable of applying different (e.g., non-tensile) forces to the element. An SMA wire may or may not include non-SMA materials and / or components. For example, an SMA wire may include an SMA core and a coating of non-SMA materials. Unless the context otherwise requires, the term "SMA line" can refer to any configuration of an SMA line that acts as a single actuating element, such as an actuating element that can be individually controlled to generate force on an element. For example, an SMA line can comprise two or more SMA line sections arranged mechanically in parallel and / or in series. In some arrangements, an SMA line can be part of a larger SMA line. This larger SMA line can comprise two or more individually controllable sections, thereby forming two or more SMA lines. Brief description of the attached diagram

[0059] Some embodiments of the invention will now be described by way of example only with reference to the accompanying drawings, in which:

[0060] Figure 1 This is a schematic diagram of a camera that includes a shape memory alloy (SMA) actuator assembly;

[0061] Figure 2 The possible degrees of freedom that can be provided by the SMA actuator assembly are schematically shown;

[0062] Figure 3 This is a schematic plan view of a first type of drive device that can be used in an SMA actuator assembly;

[0063] Figure 4 Is adopted Figure 3 A perspective view of the first SMA actuator assembly of the first type of drive device shown;

[0064] Figure 5A This is a schematic plan view of a second type of drive device that can be used in SMA actuator assemblies;

[0065] Figure 5Band 5C yes Figure 5A Schematic side and end views of the second type of drive unit shown;

[0066] Figure 6 This is a schematic side view of a two-bar linkage support;

[0067] Figure 7A It is a plan view of the first parallel two-by-two linkage support (or "single flexure");

[0068] Figure 7B Is Figure 7A The side view of a single flexural element is shown in the figure;

[0069] Figure 8 This is a plan view of the second single flexural element;

[0070] Figure 9 It is the decomposed projection of the Z-shaped flexure;

[0071] Figure 10 It is the projection of the first pivot support;

[0072] Figure 11A Is Figure 10 The side view of the first pivot support shown in the figure;

[0073] Figure 11B This is a side view of the second pivot support;

[0074] Figure 11C This is a side view of the third pivot support;

[0075] Figure 11D This is a side view of the fourth pivot support.

[0076] Figure 12A This is a side view of the first planar support member;

[0077] Figure 12B yes Figure 12A The exploded projection view of the first planar support member shown;

[0078] Figure 13 This is a side view of the second plane support member;

[0079] Figure 14 This is a plan view of the first universal joint support component;

[0080] Figure 15 This is a plan view of the second universal joint support component;

[0081] Figure 16A It is the exploded projection of the Z-shaped translational support component;

[0082] Figure 16B yes Figure 16A Cross-sectional view of the block and support shown;

[0083] Figure 17 This is a perspective view of the helical flexural support;

[0084] Figure 18A It is the exploded projection of the helical support component;

[0085] Figure 18B yes Figure 18A The projection of the spiral support shown;

[0086] Figure 19 It is a schematic exploded projection of the first actuator assembly;

[0087] Figure 20 yes Figure 19 A schematic plan view of the first actuator assembly shown;

[0088] Figure 21 yes Figure 20 A schematic cross-sectional view of the first actuator assembly taken along line A-A';

[0089] Figure 22 yes Figure 19 A schematic block diagram of the first actuator assembly shown;

[0090] Figure 23 This is a schematic block diagram of the second actuator assembly;

[0091] Figure 24 The inclination of the first plane where the platform is located and the inclination of the second plane where the second part is located are schematically shown;

[0092] Figure 25 The illustration shows what happens when tilted. Figure 24 The second plane is shown moving along the normal to the first plane;

[0093] Figure 26 This is a schematic exploded projection of the third actuator assembly;

[0094] Figure 27 yes Figure 24 A schematic side view of the third actuator assembly shown;

[0095] Figure 28 yes Figure 24 A schematic block diagram of the third actuator assembly shown; and

[0096] Figure 29 This is a schematic exploded projection of the fourth actuator assembly. Detailed description

[0097] camera

[0098] Reference Figure 1 The image shows a camera 1 incorporating an SMA actuator assembly 2 (also referred to herein as the “SMA actuator” or simply the “actuator”).

[0099] Camera 1 consists of a first part 3 and a second part 4.

[0100] The first part 3 of the camera takes the form of a support structure and includes a base 5. The second part 4 of the camera takes the form of a lens assembly suspended on the first part 3 of the camera 1 by an SMA actuator assembly 2.

[0101] The image sensor 6 is positioned in front of the front side of the base 5, that is, the image sensor 6 is located between the lens assembly 4 and the base 5.

[0102] SMA actuator assembly 2 supports lens assembly 4 and image sensor 6 in a manner that allows lens assembly 4 one or more degrees of freedom relative to support structure 3. Lens assembly 4 has an optical axis O.

[0103] The camera 1 includes an integrated circuit (IC) 7 that implements control circuitry, and also includes a gyroscope sensor (not shown). The support structure 3 also includes a can 8 that projects forward from the base 5 to enclose and protect the other components of the camera 1.

[0104] The lens assembly 4 includes a lens holder 9 in the form of a cylindrical body supporting two lenses 10 arranged along the optical axis O. It can typically include any number of one or more lenses 10. Preferably, each lens 10 has a diameter of up to about 20 mm. Therefore, the camera 1 can be referred to as a miniature camera.

[0105] Lens assembly 4 is arranged to focus an image onto image sensor 6. Image sensor 6 captures images and can be any suitable type, such as a charge-coupled device (CCD) or complementary metal-oxide-semiconductor (CMOS) device.

[0106] Lens 10 is supported on lens holder 9, and lens holder 9 is supported by SMA actuator assembly 2, such that lens assembly 4 is movable relative to support structure 3 along optical axis O, for example to provide focusing or zooming. Although all lenses 10 are fixed to lens holder 9 in this example, typically one or more lenses 10 can be mounted to components other than lens holder 9 and can be fixed in place relative to image sensor 6, such that at least one of lenses 10 is attached to lens holder and movable relative to image sensor 6 along optical axis O.

[0107] Typically, in use, the lens assembly 4 can be moved orthogonally to the optical axis O relative to the image sensor 6, effectively shifting the image on the image sensor 6. For example, if a set of right-handed orthogonal axes x, y, z are arranged such that the third axis z is oriented substantially parallel to the optical axis O, the lens assembly 4 can be moved in a direction parallel to the first axis x and / or parallel to the second axis y. This is used to provide optical image stabilization (OIS), compensating for movement of the camera 1 that may be caused by hand shake, etc. The movement for providing OIS does not need to be limited to the xy plane. Alternatively or additionally, OIS functionality can be provided by tilting the lens assembly 4, or both the lens assembly 4 and the image sensor 6, about an axis parallel to the first axis x and / or about an axis parallel to the second axis y. Furthermore, the lens assembly 4, or at least one of its lenses 10, can be moved parallel to the optical axis O (parallel to the third axis z) to provide focus on the image formed on the image sensor 6, for example, as part of an autofocus (AF) function.

[0108] This specification relates to an example of an SMA actuator assembly 2, which provides a combination of autofocus (AF) and optical image stabilization (OIS) based on a lens assembly 4 tilted relative to a support structure 3 and an image sensor 6.

[0109] Degrees of freedom

[0110] Also refer to Figure 2 This illustrates the possible types of movement (or degrees of freedom) that can be provided by the SMA actuator component 2.

[0111] The first degree of freedom (DOF) Tx corresponds to a movement parallel to the first axis x. The second DOF Ty corresponds to a movement parallel to the second axis y. The third DOF Tz corresponds to a movement parallel to the third axis z, which is generally parallel to the optical axis O. The third DOF Tz corresponds to the movement of the lens assembly 3 toward or away from the image sensor 6. The first axis x, the second axis y, and the third axis z form a right-handed Cartesian coordinate system. The fourth DOF Rx corresponds to a rotation about an axis parallel to the first axis x. The fifth DOF Ry corresponds to a rotation about an axis parallel to the second axis y. The sixth DOF Rz corresponds to a rotation about an axis parallel to the third axis z. In some examples, one or more axes may be attached to the first part, the second part, or any other element of the SMA actuator assembly 2 or the camera 1 (and move and / or rotate / tilt together with the first part, the second part, or any other element of the SMA actuator assembly 2 or the camera 1). For example, the origin may be an element of the camera 1, such as the image sensor 6 or the lens 10 of the lens assembly 4.

[0112] The motion of the lens assembly 4 relative to the support structure 3 can be decomposed into any one or all of the first to sixth degrees of freedom (DOFs): Tx, Ty, Tz, Rx, Ry, Rz. Although described as degrees of freedom, translation and rotation can be associated in some cases. For example, a given translation Tz along the third axis z can be associated with a corresponding rotation Rz, making the motion of the lens assembly 4 helical. Such associated motions can be referred to using a pair enclosed in square brackets to avoid confusion with more independent motions; for example, [Tz, Rz] would represent the helical motion described below.

[0113] This specification relates to SMA actuator assembly 2, which provides motion corresponding to the fourth DOF Rx and the fifth DOF Ry, and associated helical motions [Tz, Rz]. The fourth DOF Rx and the fifth DOF Ry provide OIS functionality herein, while the motion [Tz, Rz] parallel to the third axis z provides AF functionality. Other motions are constrained by the SMA actuator assembly 2 described herein.

[0114] Shape memory alloy drive components

[0115] Also refer to Figure 3 The diagram schematically illustrates a first type of drive device 11 that may be included in the SMA actuator assembly 2.

[0116] The first drive unit 11 includes a first structure 12 and a second structure 13. The second structure 13 is typically supported within the boundary defined by the first structure 12, for example using one or more support members as described below. The second structure 13 typically does not need to provide a complete or uninterrupted boundary. The first structure 12 and the second structure 13 may take the form of correspondingly patterned metal sheets (e.g., etched or machined stainless steel) and may be coated with an electrically insulating dielectric material.

[0117] Four SMA lines 141, 142, 143, and 144 (shown as dashed lines for better visibility) form a circle around the second structure 13. The first SMA line 141 and the third SMA line 143 extend generally parallel to the first axis x and are spaced apart in a direction parallel to the second axis y. A contraction of the first SMA line 141 will exert a force on the second structure 13 in the negative -x direction, while a contraction of the third SMA line 143 will exert a force on the second structure 13 in the positive +x direction. The second SMA line 142 and the fourth SMA line 144 extend generally parallel to the second axis y and are spaced apart in a direction parallel to the first axis x. A contraction of the second SMA line 142 will exert a force on the second structure 13 in the negative -y direction, while a contraction of the fourth SMA line 144 will exert a force on the second structure 13 in the positive +y direction.

[0118] Other example configurations may be used, and further details are provided in WO 2017 / 055788 A1 and WO 2019 / 086855 A1, which are incorporated herein by reference in their entirety.

[0119] The position of the second structure 13 relative to the first structure 12, perpendicular to the optical axis O, is controlled by selectively altering the temperature of the SMA lines 141, 142, 143, and 144. This is achieved by providing resistance heating through selective drive signals transmitted via the SMA lines 141, 142, 143, and 144. Heating is provided directly by the drive current. Cooling is provided by reducing or stopping the drive current to allow the SMA lines 141, 142, 143, and 144 to cool through conduction, convection, and radiation with their surroundings.

[0120] During operation, SMA lines 141, 142, 143, and 144 are selectively driven to move the second structure 13 relative to the first structure 12 (or the first structure 12 relative to the second structure 13) in any lateral direction (i.e., in a direction in a plane parallel to the first axis x and the second axis y and perpendicular to the optical axis O and the third axis z).

[0121] Further details are also provided in WO 2013 / 175197 A1, which is incorporated herein by reference.

[0122] Taking a set of four SMA lines 141, 142, 143, and 144 as an example, the SMA lines 141, 142, 143, and 144 are arranged in a circle at different angular positions around the optical axis O (which corresponds to the third axis z) to provide two pairs of opposing SMA lines 141 & 143, 142 & 144 that are generally perpendicular to each other. Therefore, each pair of opposing SMA lines 141 & 143, 142 & 144 can selectively drive the second structure 13 to move in one of two perpendicular directions orthogonal to the optical axis O. Thus, the SMA lines 141, 142, 143, and 144 can be selectively driven to move the second structure 13 relative to the first structure 12 to any position within a range of motion in a plane orthogonal to the optical axis O. Another way to observe this movement is that the contraction of any pair of adjacent SMA lines (e.g., SMA lines 143, 144) will cause the second structure 13 to move in the direction bisecting the pair of SMA actuator lines (in... Figure 3(Diagonally) movement. Furthermore, SMA lines 141, 142, 143, and 144 can be driven to generate torque about an axis parallel to the main axis z. Specifically, the contraction of a pair of opposing SMA lines (e.g., SMA lines 141, 143) will generate torque in one direction about an axis parallel to the main axis z on the second structure 13, and the contraction of another pair of opposing SMA lines (e.g., SMA lines 142, 144) will generate torque in another direction. The generation of torque and the resulting rotation can be substantially independent of translation along directions parallel to the first axis x and / or the second axis y, at least for a portion of the range of motion of the drive device 11. The size of the range of motion depends on the geometry and contraction range of the SMA lines 141, 142, 143, and 144 within their normal operating parameters.

[0123] When one of the SMA wires 141, 142, 143, and 144 is heated, the stress in the SMA wires 141, 142, 143, and 144 increases and the SMA wires contract, causing the second structure 13 to move relative to the first structure 12. A series of movements occur as the temperature of the SMA increases within the temperature range where the SMA material undergoes a transformation from the martensitic phase to the austenitic phase. Conversely, when one of the SMA wires 141, 142, 143, and 144 is cooled, causing the stress in the SMA wires 141, 142, 143, and 144 to decrease, the SMA wire expands under the influence of forces from the opposing SMA wires (in some cases, also biasing forces from one or more biasing devices such as springs, armatures, etc.). This allows the second structure 13 to move relative to the first structure 12 in opposite directions.

[0124] SMA lines 141, 142, 143, and 144 can be made of any suitable SMA material (such as Nitinol or another titanium alloy SMA material).

[0125] The drive signals for SMA lines 141, 142, 143, and 144 are generated and provided by control circuitry implemented in IC 7. For example, if the first structure 12 is fixed to the support structure 3 (or a portion of the support structure 3) and the second structure 13 is fixed to the lens assembly 4 (or a portion of the lens assembly 4), the control circuitry generates drive signals in response to the output signal of the gyroscope sensor (not shown) to drive the lens assembly 4 to move, thereby stabilizing the image focused by the lens assembly 4 onto the image sensor 6, thus providing OIS. The drive signals can be generated using resistive feedback control techniques, such as those described in WO2014 / 076463A1, which is incorporated herein by reference.

[0126] Also refer to Figure 4An example of a "flat" SMA actuator assembly 15 implementing the first drive unit 11 is shown.

[0127] In the flat actuator assembly 15, the first structure 12 takes the form of a flat annular plate 16 having a rectangular outer perimeter (or "outer edge") and a circular inner perimeter (or "inner edge"), while the second structure 13 takes the form of a flat, thin annular sheet 17 having a rectangular outer perimeter and a circular inner perimeter. The first structure 12 in the form of plate 16 is supported on a base 5 in the form of a rectangular plate. Four SMA wires 141, 142, 143, and 144 are each attached at one end to a corresponding first crimp 181, 182, 183, and 184 (also referred to as a "static" crimp), which are fixedly attached to the first structure 12 (or formed as part of the first structure 12). The other end of each SMA line 141, 142, 143, 144 is attached to a corresponding second crimp 191, 192, 193, 194 (also referred to as a “moving” crimp), which is fixedly attached to the second structure 13 (or formed as part of the second structure 13).

[0128] Plate 16 and sheet 17 can each be in the form of a patterned metal sheet (e.g., etched or machined stainless steel) and can be coated with an electrically insulating dielectric material. Plate 16 and sheet 17 each have a corresponding central hole aligned with the optical axis O, allowing light to be transmitted from the lens assembly 4 mounted on sheet 17 to the image sensor 6 supported on the base 5. Figure 4 Not shown in the image - see Figure 1 ).

[0129] The four SMA lines 141, 142, 143, and 144 can be perpendicular to the optical axis O or tilted at a small angle relative to a plane perpendicular to the optical axis O. Typically, in a set, the four SMA lines 141, 142, 143, and 144 are non-collinear.

[0130] The planar actuator assembly 15 includes a plurality of sliding supports spaced apart around the optical axis O. Figure 4 (not shown in the diagram) to support the second structure 13 on the first structure 12. Preferably, at least three support members are used to help provide stable support, but a different number of support members can usually be used. Each sliding support member ( Figure 4 (Not shown) can take the form of a cylindrical support member and can be attached to or formed as part of the first structure 12. Sliding support member ( Figure 4 (Not shown) can be made of a suitable metal or alloy (e.g., phosphor bronze or stainless steel with a diamond-like carbon coating). Sliding support ( Figure 4(Not shown) can be made of a polymer, or may include a top coating of a polymer such as polyoxymethylene (POM, acetal), polytetrafluoroethylene (PTFE), or PTFE-impregnated POM.

[0131] The flat actuator assembly 15 will also typically include biasing devices (not shown), such as one or more springs or flexural arms, which are arranged and configured to keep the first structure 12 and the second structure 13 in contact (via a sliding support) and / or push the first structure 12 and the second structure 13 toward a neutral (e.g., central) relative position when the SMA lines 141, 142, 143, 144 are not energized.

[0132] Details relating to the manufacture of actuator assemblies similar to the flat actuator assembly 15 can be found in WO2016 / 189314A1, which is incorporated herein by reference in its entirety.

[0133] Although Figure 4 Although not shown, the flat actuator assembly 15 may be provided with end stops to limit lateral movement of the second structure 13 relative to the first structure 12. In this way, the SMA lines 141, 142, 143, and 144 can be protected from overstretching caused by impacts (e.g., drops) that may occur to, for example, a device (not shown) incorporating the flat actuator assembly 15.

[0134] The first drive unit 11 can drive translations Tx and Ty along the first axis x and / or the second axis y, as well as rotations Rz about an axis parallel to the third axis z (which is generally parallel to the optical axis O). However, in order to provide the translation Tz parallel to the third axis z, the first drive unit 11 must be combined with at least one support member capable of converting the torque applied about the optical axis O into a combination of rotation Rz and translation Tz (helical movement).

[0135] Also refer to Figures 5A to 5C The diagram schematically illustrates a second type of drive device 20 that may be included in the SMA actuator assembly 2.

[0136] The second drive unit 20 is similar to the first drive unit 11, except that the first structure 12 includes a base 21 and a pair of first upright pillars 221 and second upright pillars 222, and the SMA lines 141, 142, 143, 144 are not generally limited to a plane perpendicular to the third axis z.

[0137] Figure 5A The second drive unit 20 is shown as viewed from above along a direction parallel to the third axis z.

[0138] Figure 5BThe second drive unit 20 is shown as a side view along a direction parallel to the first axis x. Note that although the fourth SMA line 144 is largely obscured behind the second structure 13, it is superimposed on the image for visual purposes. Figure 5B superior.

[0139] Figure 5C The second drive unit 20 is shown as a side view along a direction parallel to the second axis y. Note that although the first SMA line 141 is largely obscured behind the second structure 13, it is superimposed on the image for visual purposes. Figure 5B superior.

[0140] When viewed along the third axis ( Figure 5A The base 21 extends beyond the edge of the second structure 13 and is rectangular (or square) in this example. The first pillar 221 stands from the first corner of the base 21 and the second pillar 222 stands from the second corner, with the first pillar 221 and the second pillar 222 facing each other diagonally across the second structure 13.

[0141] The first SMA line 141 connects from the lower part of the second structure 13 (lower along the z-axis) to the upper part of the first pillar 221 (higher along the z-axis). The second SMA line 142 connects from the upper part of the second structure 13 to the lower part of the second pillar 222. The third SMA line 143 connects from the lower part of the second structure 13 to the upper part of the second pillar 222. The fourth SMA line 144 connects from the upper part of the second structure 13 to the lower part of the first pillar 221.

[0142] In this way, the first SMA line 141 and the third SMA line 143 are opposite each other in a direction parallel to the first axis x, the second SMA line 142 and the fourth SMA line 144 are opposite each other in a direction parallel to the second axis y, and the first SMA line 141 and the third SMA line 143 are opposite each other to the second SMA line 142 and the fourth SMA line 144 in a direction parallel to the third axis z.

[0143] In this way, the second drive unit 20 uses four angled (non-coplanar) SMA lines 141, 142, 143, and 144 to provide drive corresponding to Tx, Ty, Tz, Rx, Ry, and Rz motions. The motions are not completely independent degrees of freedom, and translation is typically associated with rotation, such as [Tx, Rx], [Ty, Ry], and [Tz, Rz], with the specific connection depending on the angles of the SMA lines 141, 142, 143, and 144.

[0144] SMA lines 141, 142, 143, and 144 are preferably inclined at an angle between 10° and 25° relative to a plane perpendicular to the principal axis z.

[0145] Either or both of the first structure 12 and the second structure 13 may include a central aperture to allow light from the lens assembly 4 to form an image on the image sensor 6.

[0146] One or more of the movements driven by the first drive device 11 or the second drive device 20 can be fully or partially constrained by one or more support members connecting the first structure 12 and the second structure 13.

[0147] Support components

[0148] Generally, the SMA actuator 2 according to this specification will include at least one of a first drive unit 11 and a second drive unit 20, and a device of one or more mechanical support members (also referred to as "support device") for supporting, constraining and / or converting the movement generated by the first drive unit 11 or the second drive unit 20.

[0149] - Two-bar linkage support -

[0150] Also refer to Figure 6 The image shows a two-bar linkage support 1001.

[0151] The two-bar linkage support 1001 includes a first rigid portion 10021 and a second rigid portion 10022, which are connected by a first beam portion 10031 and a second beam portion 10032 (also referred to as a flexure). The rigid portions 10021 and 10022 are each elongated in a direction parallel to a first axis x and spaced apart from each other in a direction parallel to a second axis y. The beam portions 10031 and 10032 are each elongated in a direction parallel to the second axis y and spaced apart from each other in a direction parallel to the first axis x. The beam portions 10031 and 10032 are shown perpendicular to the rigid portions 10021 and 10022; however, this is not mandatory, and any angle is acceptable as long as the beam portions 10031 and 10032 are parallel to each other. Beam sections 10031 and 10032 cannot rotate around the joints with rigid sections 10021 and 10022, for example, the connection is not a pin joint or a similar connection.

[0152] The relative bending stiffness of beam portions 10031, 10032 and rigid portions 10021, 10022 is selected (primarily using the dimensions and shape of the cross sections) such that if the first rigid portion 10021 is clamped, the second rigid portion 10022 can move relative to the first rigid portion 10021 via the bending of beam portions 10031, 10032 in the xy and / or xz planes. In this way, the two-bar linkage support 1001 can provide relative movements Tx, Tz, Rx and / or Ry for relative movement between the first rigid portion 10021 and the second rigid portion 10022. The deformation state of the second rigid portion 10022, displaced parallel to the first axis by a distance d, is also... Figure 6 The two-bar linkage support 1001 is shown in dashed lines. It can rotate 90 degrees to provide a movement Ty parallel to the second axis y instead of Tx.

[0153] The relative bending resistance in the xy and yz planes can be controlled by selecting the relative bending stiffness using the cross-sectional shapes of beam sections 10031 and 10032.

[0154] - Single flexural element -

[0155] Also refer to Figure 7A The diagram shows a two-by-two parallel bar support member 1004 (also known as a single flexure member).

[0156] A single flexure 1004 includes a central portion 1005 and two pairs of beam portions (or flexures) 10061, 10062, 10063, and 10064. Each beam portion (or flexure) 10061, 10062, 10063, and 10064 is rigidly connected to the central portion 1005 at one end and has a second, free end 10071, 10072, 10073, and 10074. In some examples, the central portion 1005 may also have a central hole 1009 (…). Figure 8 The first beam portion (flexible element) 10061 and the third beam portion (flexible element) 10063 are elongated in a direction parallel to the first axis x and are deformable, for example, by bending the beam in the xz plane. Similarly, the second beam portion (flexible element) 10062 and the fourth beam portion (flexible element) 10064 are elongated in a direction parallel to the second axis y and are deformable, for example, by bending the beam in the yz plane. The lateral (perpendicular to the third axis z) deflection of the beam portions (or flexible elements) 10061, 10062, 10063, and 10064 is constrained by the connection of all beam portions (or flexible elements) 10061, 10062, 10063, and 10064 to the central portion 1005 and / or by the cross-sectional shape of the beam portions 10061, 10062, 10063, and 10064.

[0157] In this way, if the free end 1007 is clamped, the single flexure 1004 can provide relative movement Tz, Rx and / or Ry between the central portion 1005 and the clamped free end 1007.

[0158] Also refer to Figure 7B , showed Figure 7A The deformation state 1004b of a single flexural member, wherein the central portion 1005 is displaced by a distance d parallel to the third axis z.

[0159] Also refer to Figure 8 The second single flexure (tiltable Z-shaped flexure) 1008 is shown.

[0160] The second single flexure 1008 is identical to the single flexure 1004, except that the central portion 1005 includes a central hole 1009, and the ends of the beam portions 10061, 10062, 10063, and 10064 not connected to the central portion 1005 are connected to the outer ring 1010, and the beam portions 10061, 10062, 10063, and 10064 are curved rather than straight. The second single flexure 1008 functions in substantially the same manner as the single flexure 1004. In particular, if the outer ring is clamped, the central portion 1005 can move at Tz, Rx, and / or Ry.

[0161] The presence or absence of a center hole 1009 in the second single flexure 1008 or the single flexure 1004 may depend on its position within the device (e.g., camera 1). Single flexures 1004 and 1008 located below the image sensor 6 typically do not require a center hole 1009, while single flexures 1004 and 1008 located above the image sensor 6 typically require a center hole 1009.

[0162] -Z-shaped flexure-

[0163] Also refer to Figure 9 The Z-shaped flexure 1011 is shown.

[0164] The Z-shaped flexure includes a pair of individual flexures 10041 and 10042, which are arranged perpendicular to the third axis z (when undeformed) and spaced apart in a direction parallel to the third axis z by a rigid structure 1012 sandwiched between the individual flexures 10041 and 10042. The individual flexures 10041 and 10042 are fixed to opposite faces of the rigid structure 1012. Each individual flexure 10041 and 10042 includes a central hole 1009. Figure 9The illustrations in the figure show, for visual purposes, a rigid structure 1012 that is fixed to one of the single flexures 10041 and separate from the other single flexure 10042; however, in use, both single flexures 10041 and 10042 are fixed to the rigid structure 1012. Figure 9 The dashed line in the figure shows the projected outline of the rigid structure 1012.

[0165] In this way, each individual beam portion 1006 of each individual flexure 10041, 10042 can be deflected. However, the separation of the individual flexures 10041, 10042 parallel to the third axis z and the fixed connection via the rigid structure 1012 constrain all movements Tz, Rx, Ry except for the movement Tz parallel to the third axis z.

[0166] In this example, the rigid structure 1012 is a hollow cylinder with an inner diameter equal to the diameter of the central hole 1009. However, the rigid structure 1012 can have any shape suitable for separating individual flexural elements parallel to the third direction z and compatible with the intended application of the actuator.

[0167] - Pivot support -

[0168] Also refer to Figure 10 and Figure 11A The first pivot support 1050 is shown.

[0169] Figure 10 A projection view of the first plate 1051 of the first pivot support 1050 is shown, and Figure 11A A side view of the first pivot support 1050 is shown.

[0170] The first plate 1051 includes a rectangular substrate 1052 extending parallel to a first axis x and a second axis y, from which a tapered protrusion 1053 stands upright in a direction parallel to a third axis z. The tapered protrusion 1053 is shown as being located at the center of the substrate 1052, but this is not strictly necessary; the tapered protrusion 1053 can be positioned wherever a pivot origin is required for a particular application. A first pivot support 1050 is provided by a second plate 1054 that contacts the tapered protrusion 1053. A biasing device (not shown) pushes the first plate 1051 and the second plate 1054 together to maintain contact between the tapered protrusion 1053 and the second plate 1054. The second plate 1054 can slide relative to the tapered protrusion 1053 parallel to the first axis x and / or the second axis y, and can rotate (tilt) about any of the axes x, y, z, where the origin is provided by the tip of the tapered protrusion.

[0171] In this way, the relative motion between the first plate 1051 and the second plate 1054 corresponds to Tx, Ty, Rx, Ry and Rz, while the movement Tz is constrained to be parallel to the third axis z.

[0172] The conical protrusion 1053 is not required, and instead any protrusion of suitable shape for providing the pivot point can be used.

[0173] Also refer to Figure 11B The image shows a side view of the second pivot support 1055.

[0174] The second pivot support 1055 includes a first plate 1051, but replaces the second plate 1054 with a third plate 1056. The third plate 1056 includes an annular protrusion 1057 that defines a recess for receiving the tip of a tapered protrusion 1053. The annular protrusion 1057 constrains the lateral sliding of the third plate 1056 relative to the first plate 1051. In this way, the relative movement between the first plate 1051 and the third plate 1056 corresponds to Rx, Ry, and Rz, while constraining movements Tx, Ty, and Tz.

[0175] Also refer to Figure 11C The image shows a side view of the third pivot support 1058.

[0176] The third pivot support 1058 includes a first plate 1051, but replaces the second plate 1054 with a fourth plate 1059. The fourth plate 1059 includes a tapered recess 1060 that defines a recess for receiving the tip of a tapered protrusion 1053. The tapered recess 1060 constrains the lateral sliding of the fourth plate 1059 relative to the first plate 1051. In this way, the relative movement between the first plate 1051 and the fourth plate 1059 corresponds to DOF of Rx, Ry, and Rz, while constraining movements Tx, Ty, and Tz.

[0177] Also refer to Figure 11D The image shows a side view of the fourth pivot support 1061.

[0178] The fourth pivot support 1061 includes a first plate 1051, but replaces the second plate 1054 with a fifth plate 1062. The fifth plate 1062 includes a through-hole 1063 that receives the tip of a tapered protrusion 1053. The through-hole 1063 constrains the lateral sliding of the fifth plate relative to the first plate 1051. In this way, the relative movement between the first plate 1051 and the fifth plate 1062 corresponds to Rx, Ry, and Rz, while constraining movements Tx, Ty, and Tz. The manufacture of the fifth plate 1062 may be relatively simpler compared to the third plate 1056 or the fourth plate 1059.

[0179] Pivot supports 1050, 1055, 1058, and 1061 can be inverted. Therefore, a tapered (or other shaped) protrusion 1053 can hang on the (upper) plates 1054, 1056, 1059, and 1062, and if present, opposing protrusions 1057, recesses 1060, or recesses can be provided in the (lower) plates 1051 and 1052.

[0180] - Planar support component -

[0181] Also refer to Figure 12A and Figure 12B The first planar support 1064 (also known as a three-point support) is shown.

[0182] Figure 12A It is a side view, and Figure 12B It is a decomposed projection diagram.

[0183] The first planar support 1064 includes a first plate 1065 that slides in contact with the second plate 1066. The first plate 1065 supports at least three cylindrical protrusions 1067, including at least a first cylindrical protrusion 10671, a second cylindrical protrusion 10672, and a third cylindrical protrusion 10673, which are not collinear, for example, arranged at points of a triangle. The second plate 1066 is supported by an offset device (…). Figure 12A and Figure 12B (Not shown) is pushed to contact the flat surface of the cylindrical protrusion 1067 and slides freely in a plane parallel to the first axis x and the second axis y, and rotates about an axis parallel to the third axis z. In this way, the relative motion between the first plate 1065 and the second plate 1066 corresponds to Tx, Ty and / or Rz. The movements of Tz, Rx and Ry are constrained unless the biasing force that pushes the plates 1065 and 1066 together is overcome.

[0184] exist Figure 12A and Figure 12B In the example shown, both plates 1065 and 1066 take the form of a ring with a rectangular outer perimeter and a circular inner perimeter defining a central hole 1009. However, the shapes of plates 1065 and 1066 are independent of the function of the first planar support 1064, and plates of any shape can be used instead. Although in Figure 12A and Figure 12B Three cylindrical protrusions 10671, 10672, and 10673 are shown, but any number of cylindrical protrusions greater than or equal to three can be used.

[0185] Also refer to Figure 13 The second planar support 1068 is shown.

[0186] The second planar support 1068 is identical to the first planar support 1064, except that the cylindrical protrusion 1067 is replaced by ball bearings 10301, 10302, and 10303. The first plate 1065 can also be replaced by a third plate 1069, which includes recesses 10701, 10702, and 10703, such as circular notches, for receiving the corresponding ball bearings 10301, 10302, and 10303. The second planar support 1068 functions in the same manner as the first planar support 1064, except that it is a rolling support rather than a sliding support.

[0187] - Universal Frame -

[0188] Also refer to Figure 14 The first universal joint support 1071 is shown.

[0189] The first universal joint support 1071 includes an outer frame 1072, an inner frame 1073, and a center portion 1074. The outer frame 1072 and the inner frame 1073 are connected by a first torsion beam portion 10751 and a second torsion beam portion 10752, which are positioned parallel to a first axis x and spaced apart, located on opposite sides of the inner frame 1073. The first torsion beam portion 10751 and the second torsion beam portion 10752 are collinear with each other and with the center point of the center portion 1074. Except for the torsion beam portions 10751 and 10752, the inner frame 1073 is separated from the outer frame 1072 by a first gap 10761.

[0190] The inner frame 1073 and the central portion 1074 are connected by a third torsion beam portion 10753 and a fourth torsion beam portion 10754, which are positioned parallel to the second axis y-spaced apart and located on opposite sides of the central portion 1074. The third torsion beam portion 10753 and the fourth torsion beam portion 10754 are collinear with each other and collinear with the center point of the central portion 1074. Except for the torsion beam portions 10753 and 10754, the inner frame 1073 is separated from the central portion by a second gap 10762.

[0191] If the outer frame 1072 is clamped, the central portion 1074 can rotate about a first axis x by the torsion of the first torsion beam portion 10751 and the second torsion beam portion 10752 and / or about a second axis y by the torsion of the third torsion beam portion 10753 and the fourth torsion beam portion 10754. In this way, the relative movement between the central portion 1074 and the outer frame 1072 corresponds to Rx and Ry, while other movements Tx, Ty, Tz and Rz are constrained.

[0192] The width and through-thickness of the torsion beam section 1075 should be small enough to achieve sufficient (i.e., designed) rotation by torsion in response to the forces that can be applied using the SMA drive units 11, 20.

[0193] Also refer to Figure 15 The second universal joint support 1077 is shown.

[0194] The second gimbal support 1077 includes a central portion 1078 connected to four elongated torsion beam portions 10791, 10792, 10793, and 10794. The first and second elongated torsion beam portions 10791 and 10792 are spaced apart parallel to a first direction x and located on opposite sides of the central portion 1078. The first and second elongated torsion beam portions 10791 and 10792 are collinear with each other and collinear with the center point of the central portion 1078. The third and fourth elongated torsion beam portions 10793 and 10794 are spaced apart parallel to a second direction y and located on opposite sides of the central portion 1078. The third and fourth elongated torsion beam portions 10793 and 10794 are collinear with each other and collinear with the center point of the central portion 1078.

[0195] If the free end 1080 of the torsion beam portion 1079 is clamped, the central portion 1078 can rotate about the first axis x by the torsion of the first torsion beam portion 10791 and the second torsion beam portion 10792, and the bending of the third torsion beam portion 10793 and the fourth torsion beam portion 10794 (e.g., one deflecting upwards and the other deflecting downwards). Additionally or alternatively, the central portion 1078 can rotate about the second axis y by the torsion of the third torsion beam portion 10793 and the fourth torsion beam portion 10794, and the bending of the first torsion beam portion 10791 and the second torsion beam portion 10792.

[0196] -Z-shaped translational support component-

[0197] Also refer to Figure 16A and Figure 16B The image shows a Z-shaped translational support 1081.

[0198] Figure 16A The decomposed projection diagram is shown, and Figure 16B The cross-section is shown by block 1084 of the assembled Z-shaped translation support 1081.

[0199] The Z-shaped translational support 1081 includes a first plate 1082 and a second plate 1083. Both plates 1082 and 1083 are in the form of a ring with a rectangular outer perimeter and a circular inner perimeter defining a central hole 1009. A block 1084 extends perpendicular to the surface of the first plate 1082. Figure 16A As shown in the drawing, the first plate 1082 and the second plate 1083 are parallel to the first axis x and the second axis y, and block 1084 extends in a direction parallel to the third axis z. Block 1084 is generally cubic in shape, and the first and second faces of block 1084 include V-shaped channels 10861 and 10862, which are oriented generally parallel to the third axis z.

[0200] A pair of ball bearings 1030 are received in each V-shaped channel 10861, 10862, and the ball bearings 1030 are held in the V-shaped channels 10861, 10862 by corresponding cubic protrusions 10891, 10892 extending from the second plate 1083. A biasing device (not shown) for loading the bearings and a device for retaining the balls (not shown) are also typically included.

[0201] In this way, the permissible relative motion between the first plate 1082 and the second plate 1083 corresponds to Tz, while all other movements Tx, Ty, Rx, Ry, and Rz are constrained.

[0202] Despite Figure 16A and Figure 16B The image shows a single block 1084 and its corresponding protrusions 1087, 10891, and 10892, but in some examples, two of the more blocks 1084 can be used in combination with the corresponding protrusions 1087, 10891, and 10892 of the corresponding group.

[0203] - Helical Flexural Support -

[0204] Also refer to Figure 17 An example of a helical flexural support 1090 is shown.

[0205] The helical flexural support 1090 includes a circular ring 1091 having a central hole 1009 and connected to three, four, or more, preferably five or more helical beam portions 1092. Figure 17 In the example shown, there are four helical beam sections 10921, 10922, 10923, and 10924. At the ends not connected to the circular ring, each helical beam section 10921, 10922, 10923, and 10924 is connected to pads 10931, 10932, 10933, and 10934, for example, to connect to a layer or structure below the circular ring 1091 (relative to the drawn third axis z).

[0206] Each helical beam portion 10921, 10922, 10923, 10924 is approximately tangent to the circular ring 1091 (in the same direction), and its span includes a first component parallel to a plane containing the first axis x and the second axis y, and a second component parallel to the third axis z. If the pads 10931, 10932, 10933, 10934 are clamped and an upward (positive z-direction) force is applied to the circular ring 1091, the helical beam portions 10921, 10922, 10923, 10924 will deflect in the direction of that force in response. However, in doing so, the ends connected to the circular ring also deflect closer to the corresponding pads 10931, 10932, 10933, 10934, causing the circular ring 1091 to rotate clockwise about an axis parallel to the third axis z. Conversely, applying a downward (negative z-direction) force to the circular ring 1091 will cause the circular ring 1091 to move downward and rotate counterclockwise.

[0207] In this way, the helical flexure support 1090 serves to convert rotation about the third axis z into relative displacement parallel to the third axis z, and conversely, to convert relative displacement parallel to the third axis z into rotation about the third axis z. However, these movements are not independent of each other, and the circular ring 1091 is constrained to move along an approximately helical path relative to the clamping pads 10931, 10932, 10933, and 10934. Since this does not reflect independent degrees of freedom, the motion will be expressed as [Tz, Rz] to highlight the relationship between the translation Tz parallel to the third axis z and the rotation Rz about the third axis z of this type of support.

[0208] although Figure 17 The helical beam portions 10921, 10922, 10923, and 10924 shown are curved; however, in other examples of the helical flexural support 1090, the helical beam portions may be straight. Further examples of the helical flexural support 1090 are described in WO2019 / 243849A1, the contents of which are incorporated herein by reference in their entirety. WO2019 / 243849 A1 Figures 19 to 22 The accompanying description on page 22, lines 23 to 24 is particularly relevant to the helical flexural support 1090. Further examples of implementing the helical flexural support 1090 are also shown and described below.

[0209] - Screw support -

[0210] Also refer to Figure 18A and Figure 18B An example of the helical support 1094 is shown.

[0211] Figure 18A It is a decomposed projection diagram, and Figure 18B It is the projection of the assembled spiral support component 1094. Figure 18A The occluded features are indicated by dashed lines.

[0212] The helical support 1094 includes a first structure 1095 and a second structure 1096, which are configured to engage together to allow sliding movement between the helical surfaces 10971, 10972 of the first structure 1095 and the helical surfaces 10981, 10982 of the second structure 1096. A biasing device (not shown) pushes the first structure 1095 and the second structure 1096 together to maintain contact between the paired helical surfaces 10971 and 10981, 10972, 10982. In this way, the relative movement between the first structure 1095 and the second structure 1096 is constrained to the helical path [Tz, Rz].

[0213] Figure 18A and Figure 18B The examples shown prioritize visual clarity of the helical support function over feasibility of implementation, and the specific embodiments described below include additional examples more suitable for integration into devices such as camera 1. In particular, although the helical surfaces 1097, 1098 can be bent to follow... Figure 18A and Figure 18B The spiral path shown is different from the spiral path shown in other examples, where the spiral surfaces 1097 and 1098 can be largely planar, such as ramps. Although Figure 18A and Figure 18B The helical support 1094 shown is a sliding support, but other helical supports in the form of rolling supports may also be used. Further examples of the helical support 1094 can be found in WO 2019 / 243849 A1 (incorporated by reference). See WO 2019 / 243849 A1 for details. Figures 1 to 1 8. And the corresponding descriptions on page 7, line 10 to page 22, line 21.

[0214] Although shown and described for reference in a specific orientation relative to a set of right-hand Cartesian axes x, y, z, any of the supports described above can be oriented at any angle.

[0215] The support components described above can be formed from any suitable material and using any suitable manufacturing method. For example, plate-like or sheet-like components can be manufactured from sheet metal (e.g., stainless steel) and patterned by chemical or laser etching. Milling or stamping can be used, as long as this does not unacceptably introduce residual strain that causes deformation of the part. After patterning, these parts can be bent or pre-deformed as needed. Complex three-dimensional parts can be constructed by attaching the parts to plates, sheets, or other components, for example, using adhesives, welding, brazing, soldering, etc. Alternatively, complex three-dimensional parts can be formed by, for example, sintering or die casting of metals or by injection molding of polymers. Any support surface can be formed from polymers such as POM (acetal), PTFE, or PTFE-impregnated POM.

[0216] First actuator assembly

[0217] refer to Figure 19 , Figure 20 , Figure 21 and Figure 22 The first actuator assembly 2001 is schematically shown.

[0218] The actuator assembly 2001 is in the form of a four-SMA line actuator. The actuator assembly 2001 includes a first part 2002, a first support device 2003, a tiltable platform 2004, a second support device 2005, a second part 2006, and a four-SMA line drive system 2007.

[0219] The first support device 2003 supports the platform 2004 on the first portion 2002 of the actuator assembly 2001. The platform 2004 can tilt about a pivot point 2008, which is located on the optical axis 2009 (or “main axis”) passing through the actuator assembly 2001.

[0220] The second support device 2005 supports the second part 2006 of the actuator assembly 2001 on the platform 2004, so that the second part 2006 tilts together with the platform 2004.

[0221] The drive system 2007 includes a total of four shape memory alloy wires 20101, 20102, 20103, and 20104 (also referred to herein as “segments”). The four shape memory alloy wires 20101, 20102, 20103, and 20104 mechanically connect (or “couple”) the second part 2006 of the actuator assembly to the first part 2002 of the actuator assembly. The shape memory alloy wires 20101, 20102, 20103, and 20104 are formed of a copper-aluminum-nickel alloy, a nickel-titanium alloy, or other suitable shape memory alloy.

[0222] Shape memory alloy wires 20101, 20102, 20103, and 20104 are generally coplanar, a configuration known as a "flat four-wire SMA arrangement". However, shape memory alloy wires 20101, 20102, 20103, and 20104 can be arranged to be non-coplanar (in the "angled four-wire SMA arrangement").

[0223] - First support device 2003 -

[0224] The first support device 2003 is configured to guide the tilt of the platform 2004 about the first axis 2011 and / or the second axis 2012 (i.e., a combination of tilts about the first axis 2011, about the second axis 2012, and about the first axis 2011 and the second axis 2012) and constrain the rotation of the platform 2004 about the main axis. The first axis 2013 and the second axis 2014 are not parallel to each other and are perpendicular to the main axis 2009. In this example, the first axis 2011 and the second axis 2012 are also perpendicular to each other. The first axis 2011 and the second axis 2012 pass through the pivot point 2008.

[0225] The first support device 2003 includes a single flexural element, which is generally as described above. Figure 7A and Figure 7B As mentioned above.

[0226] A single flexure comprises two pairs of beam portions (hereinafter referred to as "flexures") 20151, 20152, 20153, and 20154. Each flexure 20151, 20152, 20153, and 20154 is rigidly connected to platform 2004 at one end ("first end") and has a second, free end 20171, 20172, 20173, and 20174 rigidly connected to the first portion 2002.

[0227] Platform 2004 and flexural parts 20151, 20152, 20153, and 20154 form a single piece. For example, platform 2004 and flexural parts 20151, 20152, 20153, and 20154 can be formed by etching or processing sheets of metal or metal alloys (such as stainless steel).

[0228] The first flexure 20151 and the third flexure 20153 are elongated parallel to the first axis x and are deformable by beam bending in the xz plane. Similarly, the second flexure 20152 and the fourth flexure 20154 are elongated parallel to the second axis y and are deformable by beam bending in the yz plane. The lateral (perpendicular to the third axis z) deflection of the flexures 20151, 20152, 20153, and 20154 is constrained by the connection between all flexures 20151, 20152, 20153, and 20154 and the platform 2004.

[0229] Platform 2004 is generally thin and flat, and has a first surface 2018 and a second surface 2019 facing each other. The first surface 2018 faces the base, and the second surface 2019 faces away from the base. The second surface 2019 (hereinafter referred to as the "upper surface") supports an image sensor 2020, such as a CCD or CMOS device.

[0230] The first support device 2003 includes the same as described above. Figure 10 and Figures 11A to 11D The pivot support 2021 is described as largely the same.

[0231] The pivot support 2021 includes a member 2022 (or “protrusion”) that stands upright from the upper surface 2023 of the first portion 2002 of the actuator assembly, the protrusion 2022 serving as a base for the pivot. In some examples, the pivot support 2021 may include a separate base supported by the first portion 2002 of the actuator assembly.

[0232] The protrusion 2022 has a distal end 2024 that contacts the platform 2004, specifically a contact point (or area) on the first surface 2018 (hereinafter referred to as the "bottom surface" or "bottom side") of the platform 2004. The distal end 2024 of the protrusion 2022 and the contact point define a pivot point 2008.

[0233] The free ends 20171, 20172, 20173, and 20174 of the flexural members 20151, 20152, 20153, and 20154 are connected to the upper surface 2023 of the first portion 2002 of the assembly 2001 or the pivot support 2021. This pushes the first portion 2002 of the assembly and the platform 2004 together to maintain contact between the protrusion 2022 and the platform 2004.

[0234] Anchoring members 20261 and 20262 for shape memory alloy wires 20101, 20102, 20103, and 20104 are rigidly attached to the first portion 2002. Anchoring members 20261 and 20262 may take the form of columns or other structures erected from the first portion 2002 of the actuator assembly 2001. In this example, two anchoring members 20261 and 20262 are provided, located at opposite corners of the first portion 2002. However, more than two anchoring members 20261 and 20262 may be provided. A crimping portion (not shown) is used to attach the shape memory alloy wires 20101, 20102, 20103, and 20104 to the anchoring members 20261 and 20262.

[0235] The first part 2002 of the actuator assembly is formed of metal or metal alloy (such as stainless steel).

[0236] - Second support device 2005 -

[0237] Also refer to Figure 23 and Figure 24 The platform is located in a first plane 2500 that is tiltable and has a normal 2501 (also referred to herein as the "tilted axis" or "tilted axis"), such that tilting the platform would cause the normal 2501 to tilt away from the main axis.

[0238] The second support device 2005 is configured to constrain the tilt of the second part 2006 relative to the platform, so as to constrain (i.e., resist or even prevent or impede) the lateral movement of the second part 2006 in the second plane 2502 parallel to the first plane, and to guide the axial movement of the second part 2006 relative to the platform along the normal 2501.

[0239] The second support device 2005 is also configured to convert the torque applied around the normal 2501 into the movement of the second part 2006 along the normal 2501 relative to the platform 2004.

[0240] The second support device 2005 includes a spiral support member 2027 similar to that described above.

[0241] The helical support 2027 includes an outer cylinder 2028 with internal threads 2029 and an inner cylinder 2030 (or "lens bracket" or "lens assembly") with external threads 2031. The inner cylinder 2030 is screwed into the outer cylinder 2028. The outer cylinder 2028 is fixed to the platform 2004, allowing the inner cylinder 2030 to move relative to the platform 2004.

[0242] The helical support 2027 also includes a first arm 20321 and a second arm 20322, which protrude outward from the inner cylinder 2030 beyond the outer cylinder or outer ring. The first arm 20321 and the second arm 20322 extend radially from opposite diametrically opposed sides of the inner cylinder 2030. The first arm 20321 and the second arm 20322 are integrally formed with the inner cylinder 2030 and are made of metal or a metal alloy (such as stainless steel).

[0243] The outer cylinder 2028 includes a first circumferential fan-shaped groove 20331 and a second circumferential fan-shaped groove 20332, and the first arm 20321 and the second arm 20322 pass through the first circumferential fan-shaped groove 20331 and the second circumferential fan-shaped groove 20332, respectively.

[0244] The first arm 20321 and the second arm 20322 have corresponding distal ends 20341 and 20342, respectively. The second shape memory alloy wire 20102 and the third shape memory alloy wire 20103 are connected to the distal end 20341 of the first arm 20321, and the fourth shape memory alloy wire 20104 and the first shape memory alloy wire 20101 are connected to the distal end 20341 of the second arm 20322.

[0245] Special reference Figure 21 The actuator assembly includes a housing 2035 (referred to herein as the "cladding"). The cladding 2035 may be formed in two parts, including a lower circumferential wall 2036 erected from the first part 2002 of the actuator assembly and an upper cover 2037 including a front portion 2038 and a central hole 2039.

[0246] - move-

[0247] Refer again Figure 19 , Figure 20 , Figure 21 and Figure 22 The first actuator assembly 2001 is capable of lifting the OIS by tilting the platform 2004 and the second portion 2006 together about the first axis 2011 and the second axis 2012, and lifting the AF by moving the second portion 2006 relative to the platform 2004 along the normal 2501. Figure 24 ).

[0248] The different movements are caused by different combinations of heating and cooling of the SMA lines 20101, 20102, 20103, and 20104. As explained earlier, heating can be caused by driving current through the SMA lines, which causes the SMA lines to contract.

[0249] The change in separation between the second part 2006 and the platform 2004 is caused by increasing the power to two lines on opposite sides (e.g., the first line 20101 and the third line 20103), thus causing those two lines to contract, while simultaneously reducing the power to two other lines (i.e., the second line 20102 and the fourth line 20104), thus allowing those other two lines to expand. A torque variation exists around the normal, which is resisted by the first support device 2003 and converted into helical movement by the second support device 2005.

[0250] The change in the tilt of platform 2004 about the diagonal (e.g., about line Y=-X) is caused by increasing the power to two adjacent lines (e.g., the fourth line 20104 and the first line 20101) and thus causing those two lines to contract, while decreasing the power to two other lines (in this case, the second line 20102 and the third line 20103) and thus allowing those two other lines to expand, thereby generating a force on the second part 2004, in this case, along line Y=X.

[0251] A suitable tilt can be generated as a linear combination of diagonal tilt variations.

[0252] The translational movement of the second part 2006 and the resulting translational movement of the lens device (not shown) can cause the second part 2006 to rotate about the normal 2501. Figure 24 ).

[0253] If the SMA line arrangement is vertically spaced from the first support and the first and second supports resist movement in the X / Y plane, then the translation from the SMA line arrangement is converted into tilt by the first support. Rotation about the second axis (i.e., Ry) is added to the movement along the first axis (i.e., Tx), and rotation about the first axis (i.e., Rx) is added to the movement along the second axis (i.e., Ty).

[0254] The first actuator component's change type

[0255] refer to Figure 23 The first actuator assembly 2001 is schematically shown. Figure 22 ) variant 2001'.

[0256] In variant 2001', the first support device 2003 adopts a similar design. Figure 14 The universal joint 2040 described above.

[0257] The universal joint 2040 is suspended above the first part 2002 of the actuator assembly, wherein the outer frame 1072 ( Figure 14 ) is fixed relative to the first part 2002, and the central part 1074 ( Figure 14 It was used as a platform in 2004.

[0258] The 2040 gimbal is formed by etching or processing sheets of metal or metal alloys, such as stainless steel.

[0259] Second actuator assembly

[0260] refer to Figure 24 , Figure 25 and Figure 26 The second actuator assembly 3001 is schematically shown.

[0261] The actuator assembly 3001 takes the form of a four-SMA line actuator. The actuator assembly 2001 includes a first part 3002, a first support device 3003, a tiltable platform 3004, a second support device 3005, a second part 3006, and a four-SMA line drive system 3007.

[0262] The first support device 3003 supports the platform 3004 on the first portion 3002 of the actuator assembly 3001. The platform 3004 can tilt about a pivot point 3008, which is located on the optical axis 3009 (or “main axis”) passing through the actuator assembly 3001.

[0263] The second support device 3005 supports the second part 3006 of the actuator assembly 3001 on the platform 3004, so that the second part 3006 tilts together with the platform 3004.

[0264] The drive system 3007 includes a total of four shape memory alloy wires 30101, 30102, 30103, and 30104 (also referred to herein as “segments”). The four shape memory alloy wires 30101, 30102, 30103, and 30104 mechanically connect (or “couple”) the second portion 3006 of the actuator assembly to the first portion 3002 of the actuator assembly. The shape memory alloy wires 30101, 30102, 30103, and 30104 are formed of a copper-aluminum-nickel alloy, a nickel-titanium alloy, or other suitable shape memory alloy.

[0265] The second actuator assembly 3001 is similar to the first actuator assembly 2001 ( Figure 19 However, they differ mainly in two aspects.

[0266] First, the shape memory lines 30101, 30102, 30103, and 30104 are not substantially coplanar with the first axis 3011 and the second axis 3012, and are inclined in an arrangement known as an "angled four-line SMA line arrangement".

[0267] Second, a different support device was used in the second support device 3005.

[0268] - First support device 3003 -

[0269] The first support device 3003 is configured to guide the tilt of the platform 3004 about the first axis 3011 and / or the second axis 3012 (i.e., a combination of tilts about the first axis 3011, about the second axis 3012, and about the first axis 3011 and the second axis 3012) and constrain the rotation of the platform 3004 about the main axis. The first axis 3013 and the second axis 3014 are not parallel to each other and are perpendicular to the main axis 3009. In this example, the first axis 3011 and the second axis 3012 are also perpendicular to each other. The first axis 3011 and the second axis 3012 pass through the pivot point 3008.

[0270] The first support device 3003 includes a single flexural element, which is generally as described above. Figure 7A and Figure 7B As described.

[0271] A single flexure comprises two pairs of beam portions (hereinafter referred to as "flexures") 30151, 30152, 30153, and 30154. Each flexure 30151, 30152, 30153, and 30154 is rigidly connected to the platform 3004 at one end ("first end") and has a second free end 30171, 30172, 30173, and 30174 rigidly connected to the first portion 3002.

[0272] Platform 3004 and flexural parts 30151, 30152, 30153, and 30154 form a single piece. For example, platform 3004 and flexural parts 30151, 30152, 30153, and 30154 can be formed by etching or processing sheets of metal or metal alloys (such as stainless steel).

[0273] The first flexure 30151 and the third flexure 30153 are elongated parallel to the first axis x and are deformable by beam bending in the xz plane. Similarly, the second flexure 30152 and the fourth flexure 30154 are elongated parallel to the second axis y and are deformable by beam bending in the yz plane. The lateral (perpendicular to the third axis z) deflection of the flexures 30151, 30152, 30153, and 30154 is constrained by the connection between all the flexures 30151, 30152, 30153, and 30154 and the platform 3004.

[0274] Platform 3004 is generally thin and flat, and has a first surface 3018 and a second surface 3019 facing each other. The first surface 3018 faces the base, and the second surface 3019 faces away from the base. The second surface 3019 (hereinafter referred to as the "upper surface") supports an image sensor 3020, such as a CCD or CMOS device.

[0275] The first support device 3003 includes a pivot support 3021, which is generally similar to the one described above. Figure 10 and Figures 11A to 11D The description is the same.

[0276] The pivot support 3021 includes a member 3022 (or “protrusion”) that stands upright from the upper surface 3023 of the first portion 3002 of the actuator assembly, the protrusion 3022 serving as a base for the pivot. In some examples, the pivot support 3021 may include a separate base supported by the first portion 3002 of the actuator assembly.

[0277] The protrusion 3022 has a distal end 3024 that contacts the platform 3004, specifically a contact point (or area) on the first surface 3018 (hereinafter referred to as the "bottom surface" or "lower side") of the platform 3004. The distal end 3024 of the protrusion 3022 and the contact point define a pivot point 3008.

[0278] The free ends 30171, 30172, 30173, and 30174 of the flexural members 30151, 30152, 30153, and 30154 are connected to the upper surface 3023 of the first portion 3002 of the actuator assembly 3001 or the pivot support 3021. This pushes the first portion 3002 of the assembly and the platform 3004 together to maintain contact between the protrusion 3022 and the platform 3004.

[0279] Anchoring members 30261 and 30262 for shape memory alloy wires 30101, 30102, 30103, and 30104 are rigidly attached to the first portion 3002. Anchoring members 30261 and 30262 may take the form of columns or other structures erected from the first portion 3002 of the actuator assembly 3001. In this example, two anchoring members 30261 and 30262 are provided, located at opposite corners of the first portion 3002. However, more than two anchoring members 30261 and 30262 may be provided. A crimping portion (not shown) is used to attach the shape memory alloy wires 30101, 30102, 30103, and 30104 to the anchoring members 30261 and 30262.

[0280] The first part 3002 of the actuator assembly is formed of metal or metal alloy (such as stainless steel).

[0281] - Second support device 3005 -

[0282] Also refer to Figure 23 and Figure 24The platform is located in a first plane 3500 that is tiltable and has a normal 3501 (also referred to herein as the "tilted axis" or "tilted axis"), such that tilting the platform tilts the normal 3501 away from the principal axis.

[0283] The second support device 3005 is configured to constrain the tilt of the second part 3006 relative to the platform, so as to constrain (i.e., resist or even prevent or impede) the lateral movement of the second part 3006 in the second plane 3502 parallel to the first plane, and to guide the axial movement of the second part 3006 relative to the platform along the normal 3501.

[0284] Unlike the first actuator assembly 2001 ( Figure 17 The second support device 3005 also constrains the rotation of the second part 3006 about the normal 2501.

[0285] The second support device 3005 includes components similar to those described above. Figure 16A The described Z-shaped translational support component 3081.

[0286] Block 3084 extends perpendicular to the upper surface 3019 of platform 3004. Block 3084 is generally cubic, except for a circular hole 3085 having an axis generally parallel to the third axis and V-shaped channels 30861, 30862 oriented generally parallel to the third axis z on the first and second surfaces of block 3084.

[0287] A pair of ball bearings 3030 are received in each V-shaped channel 30861, 30862, and the ball bearings 3030 are held in the V-shaped channels 30861, 30862 by corresponding cubic protrusions 30891, 30892 extending from the second plate 8083.

[0288] Although a single block 3084 and its corresponding protrusions 3087, 30891, and 30892 are shown, in some examples, two of the more blocks 3084 can be used in combination with the corresponding protrusions 3087, 30891, and 30892 of the corresponding group.

[0289] The second part 3006 includes a hole 3090. The first piece 31001, the second piece 31002, the third piece 31003, and the fourth piece 31004 extend outwards from two opposite corners 31011 and 31012 of the second part 3006 and extend upwards or downwards. The second part 3006 may be formed of metal or a metal alloy (such as stainless steel).

[0290] A first shape memory alloy wire 30101 is connected between the distal end of the first block 31001 and the first anchor point 30261, and a second shape memory alloy wire 30102 is connected between the first anchor point 30261 and the distal end of the second block 31002. A third shape memory alloy wire 30103 is connected between the distal end of the third block 31003 and the second anchor point 30262, and a fourth shape memory alloy wire 30104 is connected to the second anchor point 30262. S And between the far end of the fourth 31004.

[0291] Special Reference Figure 27 The lens assembly 3200 is supported by the second part 3006.

[0292] - move-

[0293] Refer again Figure 26 , Figure 27 and Figure 28 The first actuator assembly 3001 can lift the OIS by tilting the platform 3004 and the second portion 3006 together about the first axis 3011 and the second axis 3012, and can lift the AF by moving the second portion 3006 relative to the platform 3004 along the normal 3501. Figure 24 ).

[0294] The different movements are caused by different combinations of heating and cooling of the SMA lines 30101, 30102, 30103, and 30104. As explained earlier, the SMA can be heated by driving current through it, which causes the SMA lines to contract.

[0295] The change in separation between the second section 3006 and the platform 3004 is caused by increasing the power to two lines on opposite sides (e.g., the first line 30101 and the third line 30103), thus causing those two lines to contract, while simultaneously reducing the power to two other lines (i.e., the second line 30102 and the fourth line 30104), thus allowing those other two lines to expand. This results in lines 30101, 30102, 30103, and 30104 generating a helical force on the second section 3006. The first support device 3003 resists rotation about Z, and the second support device 3005 converts the helical force into vertical movement of the second section.

[0296] The change in the tilt of platform 3004 about the diagonal (e.g., about line Y=-X) is caused by increasing the power to two adjacent lines (e.g., the fourth line 30104 and the first line 30101) and thus causing those two lines to contract, while decreasing the power to two other lines (in this case, the second line 30102 and the third line 30103) and thus allowing those two other lines to expand, thereby generating a force on the second part 3004, in this case, along line Y=X.

[0297] A suitable tilt can be generated as a linear combination of diagonal tilt variations.

[0298] The translational movement of the second part 3006 and the resulting translational movement of the lens device (not shown) can cause the second part 3006 to rotate about the normal 3501. Figure 24 ).

[0299] If the SMA line arrangement is vertically spaced from the first support and the first and second supports resist movement in the X / Y plane, then the translation from the SMA line arrangement is converted into tilt by the first support. Rotation about the second axis (i.e., Ry) is added to the movement along the first axis (i.e., Tx), and rotation about the first axis (i.e., Rx) is added to the movement along the second axis (i.e., Ty).

[0300] The positions of the sensor and lens bracket were interchanged.

[0301] In the example above, sensor 2020 ( Figure 21 ), 3020 Figure 27 Installed on platform 2004 ( Figure 21 ), 3004 Figure 27 On, and lens device 2030 ( Figure 21 ), 3200 ( Figure 27 ) Installed in Part 2 2006 ( Figure 21 ), 3006 Figure 27 On. To put it another way, Sensor 2020 ( Figure 21 ), 3020 Figure 27 ) tilted, lens device 2030 ( Figure 21 ), 3200 ( Figure 27 ) also tilted accordingly, and the lens device 2030 ( Figure 21 ), 3200 ( Figure 27 The position of ) relative to sensor 2020 ( Figure 21 ), 3020 Figure 27 )change.

[0302] Reference Figure 29Using another variation 2001' of the first actuator assembly as an example, the positions of the sensor 2020 and the lens device 2030 can be interchanged, such that the lens device 2030 is mounted on the platform 2004' and the sensor 2020 is mounted on the second part 2006. Similarly, in other words, if the lens device 2030 is tilted, the sensor 2020 is also tilted, and the position of the sensor 2020 changes relative to the sensor lens device 2030.

[0303] In this arrangement, the first portion 2002 is provided with an aperture 2041 through which light can pass, and a suitable first support 2003, such as a gimbal-type first support 2003, is used to hold the lens assembly 2030 and allow light to pass through the lens assembly 2030 toward the sensor 2020. The gimbal can be supported on and fixed to a set of blocks 20251, 20252, 20253, 20254, which stand upright from the first portion 2002' of the assembly.

[0304] The second actuator assembly 3001 described above can be modified in a similar manner. Figure 26 ).

[0305] Revise

[0306] It should be understood that many other variations of the above embodiments may exist.

[0307] For example, the different SMA drive components and different support components described above can be appropriately used in the actuator assembly described above.

[0308] In the preceding description, some parts were described as rectangles, which should be interpreted as including square shapes. In the preceding description, some parts were described as circles, which should be interpreted as including elliptical shapes.

[0309] The first SMA line to the fourth SMA line has been described and shown as directly connecting the first and second parts. However, in some examples, the first SMA line to the fourth SMA line may indirectly connect the first and second parts, for example, via one or more intermediate structures (not shown). The intermediate structures (not shown) may be configured to help extend the travel of one or more SMA lines.

[0310] Here, the term rectangle should be understood to include a square.

[0311] The actuator assembly can be any type of assembly, comprising a first portion and a second portion movable relative to the first portion. The actuator assembly can be, or may be disposed in, any of the following devices: smartphones, protective covers or cases for smartphones, functional covers or cases for smartphones or electronic devices, cameras, foldable smartphones, foldable smartphone cameras, foldable consumer electronics devices, cameras with foldable optics, image capture devices, array cameras, 3D sensing devices or systems, servo motors, consumer electronics devices, mobile or portable computing devices, laptops, tablet computing devices, e-readers, computing accessories or computing peripherals, audio devices, security systems, gaming systems, gaming accessories, robots or robotic devices, medical devices, augmented reality systems, augmented reality devices, virtual reality systems, virtual reality devices, wearable devices, drones, aircraft, spacecraft, submarines, vehicles and autonomous vehicles, tools, surgical instruments, remote controls, clothing, switches, dials or buttons, displays, touchscreens, flexible surfaces, and wireless communication devices. It should be understood that this is a non-exhaustive list of exemplary devices.

Claims

1. An actuator assembly, comprising: Part One; First support device; A platform, wherein the first support device supports the platform on the first portion, and wherein the platform is tiltable about a non-parallel first axis and / or second axis, the first axis and / or second axis being perpendicular to the main axis passing through the actuator assembly; Second support device; The second part, wherein the second support device supports the second part on the platform; and A drive unit comprising four shape memory alloy wire segments connected between the second part and the first part; The first support device is configured to guide the tilting of the platform about the first axis and / or the second axis and constrain the rotation of the platform about the main axis. The platform defines a first plane, which is tiltable and has a normal, such that tilting the platform causes the normal to tilt away from the principal axis. The second support device is configured to constrain the tilt of the second part relative to the platform, constrain the lateral movement of the second part perpendicular to the normal, and guide the axial movement of the second part relative to the platform along the normal.

2. The actuator assembly of claim 1, wherein the first support device comprises: The flexure device includes: A first pair of flexible elements, extending from the platform, constrain the movement of the platform along the first axis; and A second pair of flexural members extends from the platform and constrains the movement of the platform along the second axis.

3. The actuator assembly of claim 1, wherein the first support device comprises: Pivot support.

4. The actuator assembly of claim 3, wherein the pivot support comprises: substrate; and A pivot, which stands upright from the substrate or the first portion, has a distal end. The distal end of the pivot is arranged to contact the platform.

5. The actuator assembly of claim 4, wherein the platform is shaped to provide support for the distal end of the pivot.

6. The actuator assembly of claim 1, wherein the first support device comprises: Universal rack.

7. The actuator assembly of claim 6, wherein the gimbal comprises: Thin, net-like material.

8. The actuator assembly according to any one of claims 1 to 7, wherein the second support device is configured to convert the torque applied by the drive device about the normal into movement of the second portion relative to the platform along the normal.

9. The actuator assembly according to any one of claims 1 to 7, wherein the second support device comprises: Helical flexural component.

10. The actuator assembly according to any one of claims 1 to 7, wherein the second support device comprises: Helical support component.

11. The actuator assembly of claim 10, wherein the helical support comprises: The supporting surface defines the helical path.

12. The actuator assembly of claim 11, wherein the helical support comprises: A sliding surface, which is configured to engage with and be guided by the support surface.

13. The actuator assembly of claim 11 or 12, wherein the helical support comprises: A rolling support element, the rolling support element being arranged to be guided by the support surface.

14. The actuator assembly according to any one of claims 1 to 7, 11 and 12, wherein each of the four shape memory alloy wire segments is coplanar with the first axis and the second axis.

15. The actuator assembly according to any one of claims 1 to 7, 11 and 12, wherein each of the four shape memory alloy wire segments is not coplanar with the first axis and the second axis.

16. The actuator assembly according to any one of claims 1 to 7, 11 and 12, wherein the second support is configured to constrain the rotation of the second portion about the normal.

17. The actuator assembly of claim 16, wherein the second support device comprises a linear support member.

18. The actuator assembly of claim 17, wherein the linear support comprises: A group of one or more support surfaces that extend parallel to the normal; and A group of one or more sliding surfaces configured to be guided by the group of one or more supports; The one or more supporting surfaces and the one or more sliding surfaces are only allowed to move parallel to the normal.

19. The actuator assembly of claim 17 or 18, wherein the linear support is offset laterally from the normal.

20. The actuator assembly of claim 16, wherein the second support device comprises: A first flexure device, comprising: A first pair of flexible arms, extending from a first central portion of the platform, constrains the movement of the platform along a third axis perpendicular to the normal; and The second pair of flexible arms, which extend from the first central portion, constrain the movement of the platform along a fourth axis perpendicular to the normal; The second flexure device includes: A third pair of flexible arms, extending from the second central platform, constrains the movement of the platform along a fifth axis perpendicular to the normal; and A fourth pair of flexible arms, extending from the second central portion, constrains the movement of the platform along a sixth axis perpendicular to the normal; The first central portion and the second central portion are offset along the normal and rigidly connected so that they can move together.

21. The actuator assembly according to any one of claims 17, 18 and 20, wherein each of the four shape memory alloy wire segments is inclined relative to the main axis.

22. The actuator assembly according to any one of claims 1 to 7, 11, 12, 17, 18 and 20, further comprising: Image sensor; and lens.

23. The actuator assembly of claim 22, wherein: The image sensor is supported on the platform, and the lens is supported on the second part.

24. The actuator assembly of claim 22, wherein: The lens is supported on the platform, and the image sensor is supported on the second part.

25. A system comprising: The actuator assembly according to any one of claims 1 to 24; Power trunk line, which is used to transmit drive voltage; A set of switching devices for applying a drive signal to a corresponding shape memory alloy wire or a corresponding pair of shape memory alloy wires under the drive voltage; and A controller for individually controlling the switching device.

26. The system of claim 25, wherein the controller is configured to compensate for rotation of the platform about the first axis and the second axis by applying anti-rotation in response to movement along the second axis and the first axis, respectively.

27. An optical device, comprising: main body; First optical element; Second optical element; and The actuator assembly according to any one of claims 1 to 24 or the system according to claim 25 or 26; Wherein, the first optical element and the second optical element are aligned along the optical axis, and The first portion of the actuator assembly is fixed relative to the body and the first optical element, and the second optical element and the second portion are supported by the actuator assembly.

28. A method comprising using an actuator assembly according to any one of claims 1 to 24 for optical image stabilization and / or autofocus.

29. A camera system comprising: The actuator assembly according to any one of claims 1-21; Image sensor; and Lens system; The image sensor is mounted on one of the platform and the second part, and The lens system is mounted on the platform and another part of the second section.

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