Camera assembly

Abstract

A camera assembly is disclosed. The camera assembly includes: a first component; a second component tiltable relative to the first component, the second component including an image sensor and a lens system, wherein the lens system is positioned above the image sensor relative to a main axis passing through the image sensor; a drive system configured to tilt the second component relative to the first component in response to a drive signal, wherein the tilt is made about a first axis and / or a second axis, the first and / or second axes being non-parallel and perpendicular to the main axis; and one or more flexible connectors operatively connected to the second component, wherein the one or more flexible connectors are wired to pass between the second component and the first component below the image sensor relative to the main axis.

Description

[0001] field

[0002] This application relates in particular to camera assemblies and actuator assemblies, especially actuator assemblies comprising multiple shape memory alloy (SMA) segments.

[0003] background

[0004] For example, such actuator components can be used in cameras to move lens assemblies in a direction perpendicular to the optical axis, thereby providing optical image stabilization (OIS). Miniaturization may be important when such cameras are to be integrated into portable electronic devices such as mobile phones.

[0005] WO 2013 / 175197 A1 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. None of the SMA actuator lines are collinear, but the SMA actuator lines are arranged in such a way that they can be selectively driven to move the movable element to any position within the range of motion relative to the support structure without applying any net torque to the movable element in the two orthogonal directions around the main axis.

[0006] WO 2019 / 243849 A1 describes a shape memory alloy actuating device comprising a support structure and a movable element. A helical bearing arrangement, supported on the support structure and resting on the movable element, guides helical movement of the movable element relative to the support structure about a helical axis. 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, the helical bearing arrangement converting the rotation into the helical movement.

[0007] WO 2019 / 086855 A1 describes a camera with an actuator assembly including a support platform, a movable platform supporting a lens assembly, an SMA line 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.

[0008] Overview

[0009] According to a first aspect of the invention, an actuator assembly is provided. The actuator assembly includes a first component, a support mechanism, and a second component. The support mechanism supports the second component on the first component. The second component 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 further includes a drive mechanism comprising four shape memory alloy segments. The four shape memory alloy segments are connected (or “coupled”) between the second component and the first component. The support mechanism is configured to convert (or “connected to”) lateral forces orthogonal to the main axis generated by the drive mechanism into tilting of the second component about the first and / or second axes.

[0010] Therefore, actuator components can be used to provide optical image stabilization by using module tilting with four shape memory alloy segments.

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

[0012] Four shape memory alloy segments 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 about a normal in response to an applied input signal.

[0013] Each of the four shape memory alloy segments corresponds to a section of the shape memory alloy wire, on which the drive current can be independently controlled. For example, a pair of shape memory alloy 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 shape memory alloy segment can be arranged to apply force to a component having constituent parts that are not parallel to (e.g., substantially perpendicular to) the main axis.

[0015] Preferably, none of the SMA actuator lines are collinear, but the SMA actuator lines are arranged in such an arrangement that they can be selectively driven to move the movable element relative to the support structure to any position within the range of movement without applying any net torque to the movable element in two orthogonal directions around the main axis (see WO 2013 / 175197 A1).

[0016] The normal can pass through a pivot point. The pivot point does not have to be a physical point (e.g., 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 mechanism.

[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 support mechanism can be configured to constrain (i.e., resist or even prevent or impede) the rotation of the second component about the main axis. Alternatively, the support mechanism can be configured to allow the second component to rotate about the main axis.

[0019] The support mechanism may include a stop that restricts the movement of the second component along the main axis.

[0020] The support mechanism may include a flexible arrangement. The flexible arrangement may include: a first pair of flexible members extending from the second member, which constrain (i.e., resist or even prevent or block) movement of the second member along a first axis; and a second pair of flexible members extending from the second member, which constrain movement of the second member along a second axis.

[0021] The second component can be flat. The second component can typically be 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 second component can be rigid, or more rigid than the flexible component.

[0022] One or more flexible elements may be flat. One or more flexible elements may include at least one bend (or “turn” or “elbow”). One or more flexible elements may include a corresponding arm, which may include at least one bend. One or more arms may include a first portion extending away from the second component and a second portion extending along a corresponding side of the second component. The first and second portions may be straight.

[0023] When the flexible element is not flexed, the second component and the flexible element mechanism can be coplanar. The second component and the flexible element mechanism can be a single piece.

[0024] The first pair of flexible members can extend from the midpoints of the opposite sides of the second component. The second pair of flexible members can extend from the midpoints of the opposite sides of the second component.

[0025] The flexible member mechanism may further include four elongated members. Each flexible member may have a corresponding distal end connected to the corresponding elongated member between a first end and a second end (e.g., at the midpoint). Each flexible member may extend laterally (e.g., perpendicularly) to the elongated members. Thus, the flexible members and their corresponding elongated members can form a "T" shape with a short rod (flexible member) and a long top rod (elongated member). The elongated members may be longer and thinner than the flexible members. For example, the length of the elongated members may be up to the length of the side of the second member. The flexible members and the elongated members may be coplanar.

[0026] The support mechanism may include a pivot bearing. The pivot bearing may include a base and a pivot, the pivot standing upright from a base plate or a first component, the pivot having a distal end arranged to contact a second component. Conversely, the pivot may hang down from the second component. The pivot may include silicone or another flexible material. 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.

[0027] The support mechanism may include heat-conducting links. For example, a flexible coating or bulk material can help conduct heat away from the second component.

[0028] 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 outer frame, a central pad, and a member connecting the outer 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 having a flange around its base).

[0029] The second component can be shaped to provide support for the distal end of the pivot. For example, the second component may include a blind hole (or “groove”), through hole, or recess for housing the distal end of the pivot. The second component may include an annular protrusion defining the blind hole or recess. If the pivot hangs from the second component, the first component can be shaped to provide support to the distal end of the pivot.

[0030] The support mechanism may include a gimbal. The gimbal may include a thin mesh. The thin mesh may be flat. The mesh (or “mesh structure”) may include an outer ring, an inner ring located within the outer ring, and collinear first and second members (or “links”) connecting the outer and inner rings to allow the inner ring to rotate relative to the outer ring about a given axis. The mesh may include a central portion and collinear third and fourth members, which are not collinear with the first and second members connecting the inner ring and the central portion, to allow the central portion to rotate relative to the inner ring about a different axis. The given axis may be one of the first and second axes, and the other axis may be the other of the first and second axes.

[0031] The outer ring can be circular, elliptical, or polygonal (e.g., rectangular, square). The inner ring can be circular, elliptical, or polygonal (e.g., rectangular, square). The central part can be circular, elliptical, or polygonal (e.g., rectangular, square).

[0032] The universal joint may include a first support member that connects a first component to a third component and is configured to support tilting about a first axis. The universal joint may also include a second support member that connects a third component to a second component and is configured to support tilting about a second axis.

[0033] The first support member may take the form of a first pair of ball bearing elements, each ball bearing element being received between the retaining surface of the first component and the retaining surface of the third component, wherein the first pair of ball bearing elements are spaced apart along a first axis. The second support member may take the form of a second pair of ball bearing elements, each ball bearing element being received between the retaining surface of the third component and the retaining surface of the second component, wherein the second pair of ball bearing elements are spaced apart along a second axis.

[0034] Each ball bearing element in the first pair of ball bearing elements may be welded or bonded to the first or third component. Each ball bearing element in the second pair of ball bearing elements may be welded or bonded to the second or third component.

[0035] The first support member may take the form of a first pair of pins extending from the first component and received by the third component, or vice versa. The first pair of pins are coaxial with each other and with the first axis. The second support member may take the form of a second pair of pins extending from the second component and received by the third component, or vice versa. The second pair of pins are coaxial with each other and with the second axis.

[0036] The first support member may take the form of a first pair of ball joints of any type (e.g., ball-and-socket joints), spaced apart along a first axis. The second support member may take the form of a second pair of ball joints of any type (e.g., ball-and-socket joints), spaced apart along a second axis.

[0037] The support mechanism may include a first pair of rolling supports and a second pair of rolling supports, the first pair of rolling supports being configured to support tilting about a first axis, and the second pair of rolling supports being configured to support tilting about a first axis.

[0038] The first pair of rolling supports and the second pair of rolling supports can be constrained to translation within a plane containing the first axis and the second axis. The first pair of rolling supports and the second pair of rolling supports can be constrained to rotation about the main axis. The first pair of rolling supports and the second pair of rolling supports can be allowed to rotate about the main axis.

[0039] Each rolling support may include a ball bearing element sandwiched between a retaining surface of a first component and a retaining surface of a second component. The retaining surface of the first component may be curved. The retaining surface of the second component may be curved. At least one of the retaining surfaces of the rolling support may be sprung.

[0040] Each of the four shape memory alloy segments can be located in a first plane, which is parallel to a second plane defined by a first axis and a second axis.

[0041] The first and second planes can be offset relative to each other along the principal axis.

[0042] Therefore, the four shape memory segments can be located in a plane that is parallel to the first plane and offset from the first plane along the main axis.

[0043] Using four coplanar shape memory lines can help reduce the height of the actuator assembly (or the “lower 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.

[0044] Four shape memory alloy segments do not have to be coplanar.

[0045] Four shape memory alloy segments 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 about a normal in response to an applied input signal.

[0046] Each of the four shape memory segments can be placed between the first and second components.

[0047] The four shape memory segments can be tilted relative to a first plane perpendicular to the principal axis z. For example, the four shape memory segments can be tilted relative to the first plane at an angle between 10° and 25°.

[0048] This can help achieve greater stroke, but may result in less force.

[0049] The actuator assembly may further include an image sensor and a lens system.

[0050] The lens system may include a lens holder and a lens mechanism, the lens mechanism including at least one lens. The lens mechanism may include two or more lenses. The lens system may include an autofocusing system for moving the lens mechanism relative to the lens holder along a main axis.

[0051] The second component may include an image sensor.

[0052] The actuator assembly may also include one or more flexible connectors operatively connected to the image sensor. Alternatively or additionally, one or more flexible connectors may be operatively connected to shape memory alloy segments. One or more flexible connectors may be routed to pass between the second and first components.

[0053] One or more flexible connectors may include or take the form of flexible printed circuits.

[0054] Each flexible connector in the flexible connector can be wired such that the neutral axis of the flexible connector passes through or is close to the first axis and / or the second axis.

[0055] In this way, the flexible connector can be positioned to minimize the mechanical effects of the beam stiffness of the flexible connector on the tilting of the second component relative to the first component around the first axis and / or the second axis.

[0056] "Close to" can correspond to a minimum vertical distance of less than or equal to 1 mm, less than or equal to 0.5 mm, or less than or equal to 0.25 mm. The minimum vertical distance can be between the neutral axis of the flexible connector and the first axis and / or the second axis.

[0057] The second component may include a first surface and a second surface opposite to the first surface. An image sensor may be located on the first surface. Each flexible connector may at least partially span the second surface. Therefore, each flexible connector can be described as being "behind" the second component. Each flexible connector may extend from the second component in a first direction and bend back in a second direction substantially opposite to the first direction to span the second surface.

[0058] One or more flexible connectors may include, or take the form of, multiple flexible arms. Each flexible arm may provide or support one or more flexible connectors. Each flexible arm may be formed of metal. Multiple flexible arms may be patterned from metal sheets or foils by etching, stamping, or other methods. Multiple flexible arms may be configured to have negligible mechanical effects on the tilting of the second component about a first axis and / or a second axis, or to minimize the mechanical effects of the flexible arms. The effective stiffness of the multiple flexible arms used to tilt the second component about the first axis and / or the second axis may be one-tenth or less of the effective stiffness of the support mechanism used to tilt the second component about the first axis and / or the second axis.

[0059] Flexible arms can be configured as one or more groups. A group of flexible arms can have rotational symmetry about the intersection of a first axis and a second axis. Some or all of the flexible arms can take the form of a pair of straight segments connected at bends at an angle between 30 and 150 degrees (inclusive). Some or all of the flexible arms can have a serrated or serpentine shape.

[0060] The lens system can be positioned above the image sensor relative to the main axis. Each flexible connector can be wired below the image sensor relative to the main axis and pass at least partially above one or more lowest points of the envelope of the movement of the second component relative to the first component.

[0061] The limits of the range of motion can be defined by the maximum tilt of the second component relative to the first component in each direction within a plane encompassing the first and second axes. The second component can be square (or other type of polyhedron), and the lowest point of the envelope of motion of the second component is located at one or more corners. When viewed along the main axis, the flexible connector may not occupy the corner areas of the second component. For example, when viewed along the main axis, the flexible connector may be located within a rectangular area spanning the second component.

[0062] According to a second aspect of the invention, a system is provided, comprising: an actuator assembly of the first aspect; a supply rail for transmitting 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.

[0063] 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 optical element and the second optical element are aligned generally along an optical axis. A first component of the actuator element is fixed relative to the body, and the first optical element, the second optical element, and the second component are supported by the actuator assembly.

[0064] According to a fourth aspect of the invention, a method is provided, the method comprising using an actuator assembly of the first aspect for optical image stabilization and / or autofocus.

[0065] According to a fifth aspect of the invention, a camera assembly is provided, the camera assembly comprising: a first component; a second component tiltable relative to the first component, the second component carrying a module including an image sensor and a lens system; and four shape memory alloy segments arranged to cause the second component and the module to tilt relative to the first component in response to a drive signal.

[0066] The lens system may further include a lens holder, a lens mechanism including at least one lens, and an autofocusing system that mechanically connects the lens mechanism and the lens holder to move the lens mechanism relative to the sensor.

[0067] The second component may be tilted about the first axis and / or the second axis, which are not parallel and are perpendicular to the main axis passing through the image sensor. The camera system may also include one or more flexible connectors operatively connected to the module and / or shape memory alloy segments. One or more flexible connectors may be routed to pass between (a) the second component and / or the module and (b) the first component.

[0068] Each flexible connector in the flexible connector can be wired such that the neutral axis of the flexible connector passes through or is close to the first axis and / or the second axis.

[0069] The second component and module may together have a first side and a second side opposite to the first side. The image sensor may be on the first side. Each flexible connector may extend from the second component and / or from the module in a first direction and may be bent back in a second direction substantially opposite to the first direction to cross the second side.

[0070] One or more flexible connectors may include multiple flexible arms. Each flexible arm may provide or support one or more flexible connectors. Each flexible arm may be formed of metal. The multiple flexible arms may be patterned by etching, stamping, or otherwise forming metal sheets or foils. The multiple flexible arms may be configured to have negligible mechanical effects on the tilting of the second component about a first axis and / or a second axis, or to minimize the mechanical effects of the flexible arms. The effective stiffness of the multiple flexible arms used to tilt the second component about the first axis and / or the second axis may be one-tenth or less of the effective stiffness of the support mechanism used to tilt the second component about the first axis and / or the second axis.

[0071] Multiple flexible arms can be configured as one or more groups. A group of flexible arms can have rotational symmetry about the intersection of a first axis and a second axis. Some or all of the flexible arms can take the form of a pair of straight segments connected at bends at an angle between 30 and 150 degrees (inclusive). Some or all of the flexible arms can have a serrated or serpentine shape.

[0072] The lens system can be positioned above the image sensor relative to the main axis. Each flexible connector can be wired below the image sensor relative to the main axis and pass at least partially above one or more lowest points of the envelope of the movement of the second component and module relative to the first component.

[0073] The second component and / or module may be square, and one or more lowest points of the envelope of their motion are located at one or more of their corners. When viewed along the main axis, the flexible connector may not occupy the corner areas of the second component and / or module.

[0074] According to a sixth aspect of the invention, a camera assembly is provided, the camera assembly comprising: a first component; a second component tiltable relative to the first component, the second component including an image sensor and a lens system, wherein the lens system is located above the image sensor relative to a main axis passing through the image sensor; a drive system configured to cause the second component to tilt relative to the first component in response to a drive signal, wherein the tilt is about a first axis and / or a second axis that are not parallel and are perpendicular to the main axis; and one or more flexible connectors operatively connected to the second component, wherein the one or more flexible connectors are wired to pass between the second component and the first component below the image sensor relative to the main axis.

[0075] The neutral axis of each flexible connector may pass through or be close to the first axis and / or the second axis.

[0076] In this way, the flexible connector can be positioned to minimize the mechanical effects of the flexible connector's beam stiffness on the tilting of the second component relative to the first component around the first axis and / or the second axis.

[0077] "Close to" can correspond to a minimum vertical distance of less than or equal to 1 mm, less than or equal to 0.5 mm, or less than or equal to 0.25 mm. The minimum vertical distance can be between the neutral axis of the flexible connector and the first axis and / or the second axis.

[0078] One or more flexible connectors may include or take the form of flexible printed circuits.

[0079] For at least a portion of each flexible connector, the normals(s) of the main surface of the flexible connector may form an acute angle with the main axis.

[0080] For at least a portion of each flexible connector, the flexible connector may not include a fold that makes the normal of the main surface of the flexible connector perpendicular to the main axis.

[0081] This section can correspond to the part of the flexible connector whose main surface is not attached to any other part of the camera assembly.

[0082] The second component may include a first surface and a second surface opposite to the first surface. An image sensor may be located on the first surface. Each flexible connector may at least partially span the second surface. Therefore, each flexible connector can be described as being "behind" the second component. Each flexible connector may extend from the second component in a first direction and bend back in a second direction substantially opposite to the first direction to span the second surface.

[0083] The camera assembly may include multiple flexible arms, each providing or supporting at least one of one or more flexible connectors. Each flexible arm may be formed of metal. The multiple flexible arms may be patterned from metal sheets or foils by etching, stamping, or other methods. The multiple flexible arms may be configured to have negligible mechanical effects on the tilting of the second component about a first axis and / or a second axis, or to minimize the mechanical effects of the flexible arms. The effective stiffness of the multiple flexible arms used to tilt the second component about the first axis and / or the second axis may be one-tenth or less of the effective stiffness of the support mechanism used to tilt the second component about the first axis and / or the second axis.

[0084] Multiple flexible arms can be configured as one or more groups. A group of flexible arms can have rotational symmetry about the intersection of a first axis and a second axis. Some or all of the flexible arms can take the form of a pair of straight segments connected at bends at an angle between 30 and 150 degrees (inclusive). Some or all of the flexible arms can have a serrated or serpentine shape.

[0085] Each flexible connector can be wired to pass above one or more lowest points of the envelope of the movement of the second component relative to the first component, at least partially relative to the main axis.

[0086] The limits of the range of motion can be defined by the maximum tilt of the second component relative to the first component in each direction within a plane encompassing the first and second axes. The second component can be square (or other type of polyhedron), and the lowest point of the envelope of motion of the second component is located at one or more of its corners. When viewed along the main axis, the flexible connector may not occupy the corner regions of the second component. For example, when viewed along the main axis, the flexible connector may be located within a rectangular region spanning the second component.

[0087] When viewed along the main axis, each flexible connector can be connected to the first component at a location outside the lateral range of the second component.

[0088] The lens system may also include: a lens holder; a lens mechanism including at least one lens; and an autofocus system that mechanically connects the lens mechanism and the lens holder to move the lens mechanism relative to the sensor. Brief description of the attached diagram

[0090] Some embodiments of the invention will now be described by way of example only with reference to the accompanying drawings, in which:

[0091] Figure 1 This is a schematic diagram of a camera that includes a shape memory alloy (SMA) actuator assembly;

[0092] Figure 2 The possible degrees of freedom that can be provided by the SMA actuator assembly are schematically illustrated.

[0093] Figure 3 This is a schematic plan view of a first type of drive mechanism that can be used in SMA actuator assemblies;

[0094] Figure 4 Is adopted Figure 3 A perspective view of the first SMA actuator assembly of the first type of drive mechanism shown;

[0095] Figure 5AThis is a schematic plan view of a second type of drive mechanism that can be used in SMA actuator assemblies;

[0096] Figure 5B and Figure 5B yes Figure 5A Schematic side and end views of the second type of drive mechanism shown;

[0097] Figure 6 This is a schematic side view of a two-bar linkage support;

[0098] Figure 7A This is a plan view of the first two-by-two parallel rod support (or "single flexible member");

[0099] Figure 7B yes Figure 7A A side view of a single flexible element shown;

[0100] Figure 8 This is a plan view of the second single flexible element;

[0101] Figure 9 It is the decomposed projection of the Z-shaped flexible component;

[0102] Figure 10 It is the projection of the first pivot support;

[0103] Figure 11A yes Figure 10 Side view of the first pivot support shown;

[0104] Figure 11B This is a side view of the second pivot support;

[0105] Figure 11C This is a side view of the third pivot support;

[0106] Figure 11D This is a side view of the fourth pivot support.

[0107] Figure 12A This is a side view of the first planar support member;

[0108] Figure 12B yes Figure 12A An exploded projection view of the first planar support member shown;

[0109] Figure 13 This is a side view of the second plane support member;

[0110] Figure 14 This is a plan view of the first universal joint support component;

[0111] Figure 15 This is a plan view of the second universal joint support component;

[0112] Figure 16A This is a plan view of the third universal joint support component;

[0113] Figure 16B It is along Figure 16A The cross-section of the line marked A-A';

[0114] Figure 16C It is along Figure 16A The cross-section of the line marked B-B';

[0115] Figure 17A This is a plan view of the first tilting rolling support;

[0116] Figure 17B It is along Figure 17A The cross-section of the line marked C-C';

[0117] Figure 18A This is a plan view of the first tilting rolling support;

[0118] Figure 18B It is along Figure 18A The cross-section of the line marked D-D';

[0119] Figure 19 The modified first tilting rolling support is along with Figure 17B The cross-section of the equivalent plane of the plane shown;

[0120] Figure 20 It is the cross-section of the third tilting rolling support;

[0121] Figure 21 It is a schematic exploded projection of the first actuator assembly;

[0122] Figure 22 yes Figure 21 A schematic projection of the first actuator assembly shown;

[0123] Figure 23 yes Figure 21 A schematic block diagram of the first actuator assembly shown;

[0124] Figure 24 yes Figure 21 A schematic plan view of the first actuator assembly shown;

[0125] Figure 25 yes Figure 24 A schematic cross-sectional view of the first actuator assembly shown, taken along line D-D';

[0126] Figure 26 The diagram schematically illustrates the inclination of the first plane where the platform is located and the inclination of the second plane where the second component is located;

[0127] Figure 27 This is a schematic bottom view of an alternative four-wire shape memory alloy mechanism;

[0128] Figure 28 This is a schematic projection of the second actuator assembly;

[0129] Figure 29 This is a schematic exploded projection of the second actuator assembly;

[0130] Figure 30 This is a schematic cross-sectional view of the first pivot;

[0131] Figure 31 This is a schematic cross-sectional view of the second pivot;

[0132] Figure 32 This is a schematic cross-sectional view of the third pivot;

[0133] Figure 33 It is a schematic projection of the third actuator assembly;

[0134] Figure 34 yes Figure 33 A schematic cross-sectional view of the third actuator assembly shown;

[0135] Figure 35 yes Figure 33 A schematic block diagram of the third actuator assembly shown;

[0136] Figure 36 It is a schematic exploded projection of a variant of the third actuator assembly;

[0137] Figure 37 This is a cross-section of the fourth actuator assembly;

[0138] Figure 38 Through with Figure 37 The cross-section of the fourth actuator assembly is shown in the plane perpendicular to the plane shown.

[0139] Figure 39 yes Figure 33 The cross-section shown is of the third actuator assembly, which has been modified to use... Figure 37 and Figure 38 The wiring configuration of the flexible electrical connector is shown.

[0140] Figure 40 It has such Figure 37 and Figure 38 The camera device shown with flexible electrical connector wiring configuration is a projection view of the flexible electrical connector before the flexible electrical connector is folded.

[0141] Figure 41 yes Figure 40 The camera device shown is a projected view after the flexible electrical connector has been folded.

[0142] Figure 42 yes Figure 33 The cross-section shown is of the third actuator assembly, which has been modified to use... Figure 43 The flexible arm shown is for electrical connection between the first component and the second component;

[0143] Figure 43 yes Figure 42 The bottom plan view of a portion of the actuator assembly shown illustrates the layout of the flexible arm;

[0144] Figure 44 yes Figure 42 The bottom plan view of a portion of the actuator assembly shown illustrates alternative layouts of the flexible arm; and

[0145] Figure 45 yes Figure 42 A cross-section of a modified version of the actuator assembly shown.

[0146] Detailed description

[0147] camera

[0148] Reference Figure 1 The image shows a camera 1 containing an SMA actuator assembly 2 (also referred to herein as the “SMA actuator” or simply the “actuator”).

[0149] Camera 1 includes a first component 3 and a second component 4.

[0150] The first component 3 of the camera takes the form of a support structure and includes a base 5. The second component 4 of the camera takes the form of a lens assembly suspended from the first component 3 of the camera 1 by the SMA actuator assembly 2.

[0151] The image sensor 6 is positioned in front of the front side of the base 5, that is, the image sensor 6 is positioned between the lens assembly 4 and the base 5.

[0152] 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.

[0153] Camera 1 includes an integrated circuit (IC) 7 that implements control circuitry, and camera 1 also includes a gyroscope sensor (not shown). Support structure 3 also includes a can 8 that protrudes forward from base 5 to enclose and protect other components of camera 1.

[0154] 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.

[0155] The lens assembly 4 is arranged to focus the image onto the image sensor 6. The image sensor 6 captures the image and can be of any suitable type, such as a charge-coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) device.

[0156] 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, in general, one or more lenses of lens 10 can be mounted to components other than lens holder 9 and can be fixed in place relative to image sensor 6, thereby attaching at least one lens of lens 10 to lens holder and being movable relative to image sensor 6 along optical axis O.

[0157] Generally, in use, the lens assembly 4 can be moved orthogonally to the optical axis O relative to the image sensor 6, the effect of which is to move 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, then the lens assembly 4 can be moved in a direction parallel to the first axis x and / or in a direction parallel to the second axis y. This is used to provide optical image stabilization (OIS), thereby compensating for movement of the camera 1 that may be caused by hand shake, etc. The movement providing OIS does not need to be restricted to the xy plane. Alternatively or alternatively, 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. In addition, 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.

[0158] This specification relates to examples of SMA actuator assemblies 2 that provide optical image stabilization (OIS) based on the tilt of the lens assembly 4 and the image sensor 6 relative to the support structure 3. Autofocus (AF) may be provided by an additional system, which may or may not use SMA lines.

[0159] Degrees of freedom

[0160] Also refer to Figure 2The diagram illustrates the possible motion types (or degrees of freedom) that can be provided by the SMA actuator assembly 2.

[0161] 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 substantially 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 accordingly). 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.

[0162] The motion of lens assembly 4 relative to support structure 3 can be decomposed into any or all of the components of the first DOF to the sixth DOF (motions): 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 lens assembly 4 helical. Such associated motions can be referred to using a pair enclosed in square brackets to avoid confusion with multiple independent motions; for example, [Tz, Rz] would represent the helical motion described below.

[0163] This specification relates to providing an SMA actuator assembly corresponding to the motions of the fourth DOF Rx and the fifth DOF Ry. The fourth DOF Rx and the fifth DOF Ry provide the OIS functionality described herein. As described herein, other motions are constrained by SMA actuator assembly 2.

[0164] Shape memory alloy drive components

[0165] Also refer to Figure 3 The diagram schematically illustrates a first type of drive mechanism 11 that may be included in the SMA actuator assembly described herein.

[0166] The first drive mechanism 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 12 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 their respective patterned metal sheets (e.g., etched or machined stainless steel) and may be coated with an electrically insulating dielectric material.

[0167] Four SMA lines 141, 142, 143, and 144 (shown as a chain for better visibility) form a loop around the second structure 13. The first SMA line 141 and the third SMA line 143 extend substantially parallel to the first axis x and are spaced apart in a direction parallel to the second axis y. The contraction of the first SMA line 141 applies a force to the second structure 13 in the negative x direction (-x direction), while the contraction of the third SMA line 143 applies a force to the second structure 13 in the positive x direction (+x direction). The second SMA line 142 and the fourth SMA line 144 extend substantially parallel to the second axis y and are spaced apart in a direction parallel to the first axis x. The contraction of the second SMA line 142 applies a force to the second structure 13 in the negative y direction (-y direction), while the contraction of the fourth SMA line 144 applies a force to the second structure 13 in the positive y direction (+y direction).

[0168] Other exemplary configurations may be used, and further details are provided in WO 2017 / 055788 A1 and WO2019 / 086855A1, both of which are incorporated herein by reference in their entirety.

[0169] 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 selectively driving signals through the SMA lines 141, 142, 143, and 144, which are provided with resistive heating. 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.

[0170] 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 vice versa) in any lateral direction (i.e., in a plane parallel to the first and second axes x and y and perpendicular to the optical axis O and the third axis z).

[0171] Further details are also provided in WO 2013 / 175197 A1, which is incorporated herein by reference.

[0172] 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 loop at different angular positions around the optical axis O (which corresponds to the third axis z) to provide two pairs of opposing (opposed) SMA lines 141 and 143, 142 and 144 that are substantially perpendicular to each other. Therefore, each pair of opposing SMA lines 141 and 143, 142 and 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 that bisects the pair of SMA actuator lines (in... Figure 3 The SMA lines 141, 142, 143, and 144 can be actuated 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 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 and / or second axes x, y, at least within a portion of the range of motion of the drive mechanism 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.

[0173] When one of the SMA wires 141, 142, 143, and 144 is heated, the stress in the SMA wire increases and the wire contracts, causing the second structure 13 to move relative to the first structure 12. As the temperature of the SMA increases, a series of movements occur within the temperature range where the SMA material undergoes a transformation from martensitic to austenitic phase. Conversely, when one of the SMA wires 141, 142, 143, and 144 is cooled, causing the stress in that wire to decrease, the wire expands under the force from the opposing SMA wires (and in some examples, 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.

[0174] SMA lines 141, 142, 143, and 144 can be made from any suitable SMA material, such as Nitinol or another titanium alloy SMA material.

[0175] 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 support structure 3 (or a portion of support structure 3) and the second structure 13 is fixed to lens assembly 4 (or a portion of lens assembly 4), the control circuitry generates drive signals in response to the output signal of a gyroscope sensor (not shown) to drive movement of lens assembly 4 to stabilize the image focused by lens assembly 4 onto image sensor 6, thereby providing OIS. The drive signals can be generated using resistive feedback control techniques, such as those described in WO 2014 / 076463 A1, which is incorporated herein by reference.

[0176] Also refer to Figure 4 An example of a “flat” SMA actuator assembly 15 that implements the first drive mechanism 11 is shown.

[0177] 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 lines 141, 142, 143, 144 are each attached at one end to a corresponding first crimp 181, 182, 183, 184 (also referred to as a “stationary” crimp), which are fixedly attached to the first structures 12, 16 (or formed as part of the first structure). The other end of each SMA wire 141, 142, 143, 144 is attached to a corresponding second crimp portion 191, 192, 193, 194 (also referred to as a "moving" crimp portion), which is fixedly attached to the second structure 13, 17 (or formed as part of the second structure).

[0178] Plate 16 and sheet 17 may each be in the form of a patterned metal sheet (e.g., etched or machined stainless steel) and may 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, thereby 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 [link / reference]. Figure 1 ).

[0179] 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.

[0180] The flat actuator assembly 15 includes a plurality of sliding supports spaced apart around the optical axis O (in Figure 4 (not shown in the diagram) to support the second structures 13, 17 on the first structures 12, 16. Preferably, at least three support members are used to help provide stable support; however, in general, a different number of support members can be used. Each sliding support member (in...) Figure 4 (Not shown in the image) can take the form of a cylindrical support member and can be attached to or formed as part of the first structure 12. A sliding support member (in...) 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 (in...) Figure 4 (Not shown) may 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.

[0181] The flat actuator assembly 15 typically also includes a biasing device (not shown), such as one or more springs or flexure arms, which are arranged and configured to keep the first and second structures 12, 13 in contact (via sliding supports) and / or push the first and second structures 12, 13 toward a neutral (e.g., center) relative position when the SMA lines 141, 142, 143, 144 are not energized.

[0182] Details relating to the manufacture of the actuator assembly, which is similar to the flat actuator assembly 15, can be found in WO 2016 / 189314A1, which is incorporated herein by reference in its entirety.

[0183] 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 a device (not shown) containing the flat actuator assembly 15.

[0184] The first drive mechanism 11 can drive translations Tx and Ty along the first axis and / or the second axis x and y, and rotations Rz about an axis parallel to the third axis z (which is substantially parallel to the optical axis O). However, in order to provide the translation Tz parallel to the third axis z, the first drive mechanism 11 is 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).

[0185] Also refer to Figures 5A to 5C The diagram schematically illustrates a second type of drive mechanism 20 that may be included in the SMA actuator assembly described herein.

[0186] The second drive mechanism 20 is similar to the first drive mechanism 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, and 144 are not substantially restricted to a plane perpendicular to the third axis z.

[0187] Figure 5A The second drive mechanism 20 is shown as viewed from above along a direction parallel to the third axis z.

[0188] Figure 5BThe second drive mechanism 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 has been superimposed on the image for visibility purposes. Figure 5B superior.

[0189] Figure 5C The second drive mechanism 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 has been superimposed on the image for visibility purposes. Figure 5B superior.

[0190] When viewed along the third axis, the base 21 extends beyond the edge of the second structure 13. Figure 5A ), and in this example, it is a rectangle (or a square). The first pillar 221 stands upright from the first corner of the base 21, and the second pillar 222 stands upright from the second corner, with the first pillar 221 and the second pillar 222 diagonally opposite each other across the second structure 13.

[0191] The first SMA line 141 connects from the lower portion of the second structure 13 (lower along the z-axis) to the upper portion of the first pillar 221 (higher along the z-axis). The second SMA line 142 connects from the upper portion of the second structure 13 to the lower portion of the second pillar 222. The third SMA line 143 connects from the lower portion of the second structure 13 to the upper portion of the second pillar 222. The fourth SMA line 142 connects from the upper portion of the second structure 13 to the lower portion of the first pillar 221.

[0192] 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 to the second SMA line 142 and the fourth SMA line 144 in a direction parallel to the third axis z.

[0193] In this way, the second drive mechanism 20 uses four angled (non-coplanar) SMA lines 141, 142, 143, and 144 to provide drive corresponding to the motions Tx, Ty, Tz, Rx, Ry, and Rz. The motions are not completely independent degrees of freedom and are typically associated with translations and rotations, such as [Tx, Rx], [Ty, Ry], and [Tz, Rz], with the specific association depending on the angles of the SMA lines 141, 142, 143, and 144.

[0194] 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.

[0195] Any one or both of the first structures 12, 21 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.

[0196] One or more of the movements driven by the first drive mechanism 11 or the second drive mechanism 20 can be fully or partially constrained by connecting one or more support members between the first structure and the second structure 12, 13.

[0197] Support components

[0198] Generally, the SMA actuator according to this specification will include at least one of a first drive mechanism 11 and a second drive mechanism 20, and will also include a mechanism of one or more mechanical support members (also referred to as "support mechanism") for supporting, constraining and / or converting the movement generated by the first drive mechanism 11 or the second drive mechanism 20.

[0199] -Two-bar linkage support-

[0200] Also refer to Figure 6 The image shows a two-bar linkage support 1001.

[0201] 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 flexible member). The rigid portions 10021 and 10022 each extend in a direction parallel to a first axis x and are spaced apart from each other in a direction parallel to a second axis y. The beam portions 10031 and 10032 each extend in a direction parallel to the second axis y and are 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 necessary, and any angle will work as long as the beam portions 10031 and 10032 are parallel to each other. The beam portions 10031 and 10032 cannot rotate about their connection to the rigid portions 10021 and 10022; for example, the connection is not a pin connection or a similar connection.

[0202] The relative flexural 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 by bending of beam portions 10031, 10032 in the xy plane and / or xz plane. In this way, the two-bar linkage 1001 can provide relative movements Tx, Tz, Rx, and / or Ry for relative movement between the first rigid portion and the second rigid portions 10021, 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.

[0203] The relative bending resistance of the xy plane relative to the yz plane can be controlled by using the cross-sectional shape of beam sections 10031 and 10032, thereby selecting the relative flexural stiffness.

[0204] -Single Flexible Component-

[0205] Also refer to Figure 7A This illustrates a tiltable Z-shaped flexible member (also known as a single flexible member) in the form of a two-by-two parallel bar type link support 1004.

[0206] A single flexible element 1004 includes a central portion 1005 and two pairs of beam portions (or flexible elements) 10061, 10062, 10063, and 10064. Each beam portion (or flexible element) 10061, 10062, 10063, and 10064 is rigidly connected to the central portion 1005 at one end and has a free second end 10071, 10072, 10073, and 10074. In some examples, the central portion 1005 may also have a central hole 1009. Figure 8The first beam portion (flexible element) 10061 and the third beam portion (flexible element) 10063 extend 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 extend 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 connecting all the 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.

[0207] In this way, if the free end 1007 is clamped, the single flexible member 1004 can provide relative movement Tz, Rx and / or Ry between the central portion 1005 and the clamped free end 1007.

[0208] Also refer to Figure 7B , showed Figure 7A The deformation state 1004b of a single flexible member, wherein the central portion 1005 is displaced by a distance d parallel to the third axis z.

[0209] Also refer to Figure 8 The second single flexible element (“tiltable Z-shaped flexible element”) 1008 is shown.

[0210] The second single flexible member 1008 is identical to the single flexible member 1004 except for the following differences: the central portion 1005 includes a central hole 1009; the ends of the beam portions 10061, 10062, 10063, and 10064 that are 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 flexible member 1008 functions in substantially the same manner as the single flexible member 1004. In particular, if the outer ring is clamped, the central portion 1005 can move at Tz, Rx, and / or Ry.

[0211] Whether a center hole 1009 exists in the second single flexible member 1008 or the single flexible member 1004 may depend on its position within the device (e.g., camera 1). Single flexible members 1004 and 1008 located below the image sensor 6 typically do not require a center hole 1009, while single flexible members 1004 and 1008 located above the image sensor 6 typically require a center hole 1009.

[0212] -Z-shaped flexible component-

[0213] Also refer to Figure 9 The Z-shaped flexible element 1011 is shown.

[0214] The Z-shaped flexible element includes a pair of individual flexible elements 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 pair of individual flexible elements 10041 and 10042. The individual flexible elements 10041 and 10042 are fixed to opposite faces of the rigid structure 1012. Each of the individual flexible elements 10041 and 10042 includes a central hole 1009. Figure 9 The illustration shows a rigid structure 1012, which is fixed to one of the single flexible members 10041 and separated from the other single flexible member 10042 for visual purposes. However, in use, both single flexible members 10041 and 10042 are fixed to the rigid structure 1012. Figure 9 The dashed lines in the diagram represent the projected outline of the rigid structure 1012.

[0215] In this way, each individual beam portion 1006 of each individual flexible element 10041, 10042 can deflect. However, the separation of the individual flexible elements 10041, 10042 parallel to the third axis z and the fixed connection via the rigid structure 1012 constrain the movements Tz, Rx, Ry other than the movement Tz parallel to the third axis z.

[0216] 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 spacing individual flexible elements parallel to a third direction z and compatible with the intended application of the actuator.

[0217] -Pivot Support-

[0218] Also refer to Figure 10 and Figure 11A The first pivot support 1050 is shown.

[0219] Figure 10 A projected 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.

[0220] The first plate 1051 includes a rectangular base plate 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 illustrated as the center of the base plate 1052, but this is not strictly necessary; the tapered protrusion 1053 can be positioned anywhere 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, with its origin provided by the tip of the tapered protrusion.

[0221] 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 constraining the movement Tz parallel to the third axis z.

[0222] The conical protrusion 1053 is not required, and instead any protrusion of any shape suitable for providing the pivot point can be used.

[0223] Also refer to Figure 11B The image shows a side view of the second pivot support 1055.

[0224] 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 groove 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 the movements Tx, Ty, and Tz.

[0225] Also refer to Figure 11C The image shows a side view of the third pivot support 1058.

[0226] 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 groove 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 DOFs of Rx, Ry, and Rz, while constraining movements Tx, Ty, and Tz.

[0227] Also refer to Figure 11D The image shows a side view of the fourth pivot support 1061.

[0228] 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 1061 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 can be relatively simpler compared to the third or fourth plates 1056, 1059.

[0229] Pivot supports 1050, 1055, 1058, and 1061 can be inverted. Thus, a tapered (or other shaped) protrusion 1053 can hang from the (upper) plates 1054, 1056, 1059, and 1062, and if so, facing protrusions 1057, notches 160, or grooves 1063 can be provided in the (lower) plates 1051 and 1052.

[0230] -Planar support components-

[0231] Also refer to Figure 12A and Figure 12B The first planar support 1064 (also known as a three-point support) is shown.

[0232] Figure 12A It is a side view, and Figure 12B It is a decomposed projected view.

[0233] The first planar support 1064 includes a first plate 1065 that slides in contact with a 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 non-collinear, for example, arranged at the vertices of a triangle. The second plate 1066 is supported by an offset device (in... Figure 12A and Figure 12B The plate 1065 (not shown) is pushed into contact with 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. Tz, Rx and Ry are constrained to move unless the biasing force that pushes the plates 1065 and 1066 together is overcome.

[0234] exist Figure 12A and Figure 12BIn the example shown, both plates 1065 and 1066 are in the form of rings 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 The figure shows three cylindrical protrusions 10671, 10672, and 10673, but in general any number of cylindrical protrusions greater than or equal to three can be used.

[0235] Also refer to Figure 13 The second planar support 1068 is shown.

[0236] Except that the cylindrical protrusion 67 is replaced by ball bearings 10301, 10302, and 10303, the second planar support 1068 is identical to the first planar support 1064. The first plate 1065 can also be replaced by a third plate 1069, which includes grooves 10701, 10702, and 10703 (e.g., circular recesses) for receiving the respective 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.

[0237] -Universal Joint-

[0238] Also refer to Figure 14 The first universal joint support 1071 is shown.

[0239] The first universal joint support 1071 includes an outer frame 1072, an inner frame 1073, and a central 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 spaced apart parallel to a first axis x and 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 central 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.

[0240] 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.

[0241] If the outer frame 1072 is clamped, the central portion 1074 can rotate about the first axis x by the torsion of the first torsion beam portion 10751 and the second torsion beam portion 10752, and / or rotate about the 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.

[0242] The width and through-thickness of the torsion beam section 1075 should be small enough to allow for sufficient (i.e. designed) rotation by torque in response to the forces that can be applied using the SMA drive mechanisms 11, 20.

[0243] Also refer to Figure 15 The second universal joint support 1077 is shown.

[0244] The second universal joint support 1077 includes a central portion 1078, which is connected to four elongated torsion beam portions 10791, 10792, 10793, and 10794. The first elongated torsion beam portion 10791 and the second elongated torsion beam portion 10792 are spaced apart parallel to a first direction x and are located on opposite sides of the central portion 1078. The first elongated torsion beam portions 10791 and 10792 are collinear with each other and collinear with the midpoint of the central portion 1078. The third elongated torsion beam portion 10793 and the fourth elongated torsion beam portion 10794 are spaced apart parallel to a second direction y and are located on opposite sides of the central portion 1078. The third elongated torsion beam portion 10793 and the fourth elongated torsion beam portion 10794 are collinear with each other and collinear with the midpoint of the central portion 1078.

[0245] 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 torque of the first torsion beam portion 10791 and the second torsion beam portion 10792, and by 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 torque of the third torsion beam portion 10793 and the fourth torsion beam portion 10794, and by the bending of the first torsion beam portion 10791 and the second torsion beam portion 10792.

[0246] Universal joint supports are not limited to webs of material such as the first universal joint support 1071 and the second universal joint support 1077.

[0247] For example, also refer to Figure 16A , Figure 16B and Figure 16C The third universal joint support 1103 is shown. Figure 16A A schematic plan view of the third universal joint support 1103 is shown. Figure 16B It shows along Figure 16A The cross-section of the line marked A-A', and Figure 16C It shows along Figure 16A The cross-section of the line marked B-B'.

[0248] The outer ring 1104 (also referred to as the first component or first structure) is connected to the intermediate ring 1105 (also referred to as the third component or third structure) via a first support member 1106, the first support member 1106 being configured to support the inclination of the intermediate ring 1105 relative to the outer ring 1104 about a first axis x*. The intermediate ring 1105 is arranged within the outer ring 1104. The intermediate ring 1105 is connected to the plate 1107 (also referred to as the second component or second structure) via a second support member 1108, the second support member 1108 being configured to support the inclination of the plate 1107 relative to the intermediate ring 1105 about a second axis y* perpendicular to the first axis x*.

[0249] exist Figures 16A to 16CIn the example shown, the outer ring 1104 takes the form of a substantially square / rectangular annular plate with edges substantially aligned with axes x and y. The middle ring 1105 also takes the form of a substantially square / rectangular annular plate with edges substantially aligned with axes x and y. The first and second axes x* and y* for tilting are rotated 45 degrees (π / 4) clockwise relative to axes x and y about a common third axis z. The first support 1106 takes the form of a first pair of ball bearing elements (or balls) 10301 and 10302, which are disposed between opposite diagonal corners of the outer ring 1104 and the middle ring 1105. Equivalently, the first pair of balls 10301 and 10302 are spaced apart along the first axis x* for tilting and are coaxial with the first axis x*.

[0250] Each ball 10301, 10302 of the first support member 1106 is received between the retaining surfaces 11091, 11092 of the outer ring 1104 and the retaining surfaces 11101, 11102 of the intermediate ring 1105. The retaining surfaces 11091, 11092, 11101, 11102 are shaped to receive and support the respective ball, and when assembled, the intermediate ring 1105 is rotatable relative to the outer ring 1104 about a first axis x*. The balls 10301, 10302 may slide relative to either of the retaining surfaces 11091, 11092, 11101, 11102, or may be joined (e.g., welded or bonded) to any one of the retaining surfaces 11091, 11092, 11101, 11102, but not connected to both of the retaining surfaces 11091, 11092, 11101, 11102.

[0251] exist Figures 16A to 16C In the example shown, plate 1107 is in the form of a substantially square / rectangular plate with edges substantially aligned with axes x and y. The second support member 1108 takes the form of a second pair of balls 10303, 10304, disposed between the intermediate ring 1105 and opposite corners of plate 1107 on opposite diagonals. The second pair of balls 10303, 10304 are disposed at corners of the intermediate ring 1105 that do not correspond to the first pair of balls 10301, 10302. Equivalently, the second pair of balls 10303, 10304 are spaced apart along and coaxial with a second axis y* for inclination.

[0252] Each ball 10301, 10302 of the second support member 1108 is received between the retaining surfaces 11103, 11104 of the intermediate ring 1105 and the retaining surfaces 11111, 11112 of the plate 1107. The retaining surfaces 11103, 11104, 11111, 11112 are shaped to receive and support the corresponding ball 10303, 10304, and when assembled, the plate 1107 is rotatable relative to the intermediate ring 1105 about a second axis y*. The retaining surfaces 11101, 11102 corresponding to the first support member 1106 are formed on the outer circumference of the intermediate ring 1105, while the retaining surfaces 11103, 11104 corresponding to the second support member 1108 are formed on the inner circumference. Balls 10303 and 10304 may slide relative to the two retaining surfaces 11103, 11104, 11111, and 11112, or may be joined (e.g., welded or bonded) to any one of the retaining surfaces 11103, 11104, 11111, and 11112, but not joined to both of the retaining surfaces 11103, 11104, 11111, and 11112.

[0253] In this way, plate 1107 (second component) can tilt (rotate) relative to outer ring 1104 (first component) about the first axis x* and / or the second axis y*.

[0254] Despite Figures 16A to 16C The plate is shown as a solid plate, but in other examples, plate 1107 may take the form of an annular plate including a central hole 1109.

[0255] Despite Figures 16A to 16C The outer ring 1104, the middle ring 1105, and the plate 1107 are shown as substantially square, but they need not be square; they can be rectangular, circular, or any other regular or irregular shape. Square / rectangular and / or circular shapes are preferred for the outer ring 1104, the middle ring 1105, and the plate 1107 to efficiently utilize the space within the device including the third universal joint support 1103. Preferably, although not essential, the outer ring 1104, the middle ring 1105, and the plate 1107 have substantially the same shape.

[0256] although Figures 16A to 16C As shown, the first and second axes x* and y* used for tilting are substantially coincident with the center of mass of plate 1107, but this is not required. In other examples, the first and second axes x* and y* used for tilting may be offset above or below the center of mass of plate 1107 (relative to the third axis z).

[0257] The first support 1106 and the second support 1108 are not limited to the paired ball bearings 10301, 10302, 10303, 10304 shown. For example, the first support 1106 may take the form of a first pair of pins (not shown) extending from the outer ring 1104 (first component) and received by the intermediate ring 1105 (third component), or vice versa. Similar to the first pair of ball bearings 10301, 10302, the first pair of pins (not shown) should be coaxial with each other and with the first axis x*. Similarly, the second support 1108 may take the form of a second pair of pins (not shown) extending from the plate 1107 (second component) and received by the intermediate ring 1105 (third component), or vice versa. In another example, the first support and / or the second support 1106, 1108 may be provided by a ball-and-socket (or ball-cap) joint.

[0258] -Tiltable rolling support-

[0259] Also refer to Figure 17A and Figure 17B The first tiltable rolling support 1112 is shown.

[0260] Figure 17A This is a schematic plan view of the first tilting rolling support 1112, and Figure 17B It is along Figure 17A The cross-section of the line marked C-C'.

[0261] The first tilting rolling support 1112 includes a first pair of rolling supports 11131, 11132 that connect the outer ring 1114 (also referred to as the first component or first structure) to the plate 1115 (also referred to as the second component or second structure). The first pair of rolling supports 11131, 11132 are configured to support the tilt of the plate 1115 relative to the outer ring 1114 about a first axis x. The first tilting rolling support 1112 includes a second pair of rolling supports 11133, 11134 that connect the outer ring 1114 to the plate 1115 in parallel with the first pair of rolling supports 11131, 11132. The second pair of rolling supports 11133, 11134 are configured to support the tilt of the plate 1115 relative to the outer ring 1114 about a second axis y.

[0262] Each of the rolling support members 1113 is formed by balls 1030 sandwiched between the concave curved support surface 1116 of the outer ring 1114 and the convex curved support surface 1117 of the plate 1115. Figure 17A and Figure 17BIn the example shown, the concave support surface and the convex support surfaces 1116 and 1117 correspond to concentric spherical surfaces centered on the outer ring 1114 and the plate 1115, and their radii differ by approximately the diameter of the ball 1030.

[0263] In this manner, as the ball 1030 rolls on the support surfaces 1116, 1117, the first tiltable rolling support 1112 allows the plate 1115 to tilt relative to the outer ring 1114 about a first axis x and a second axis y, and also allows the plate 1115 to rotate relative to the outer ring 1114 about a third axis z. One or more sets of two support surfaces 1116, 1117 may include one or more retaining lips 1118 to hold the ball 1030 within a support ring defined between the support surfaces 1116, 1117. Simultaneously, the translation of the plate 1115 relative to the outer ring 1114 along the first axis x and / or the second axis y is constrained. In a neutral configuration, the ball 1030 may be positioned slightly above or below the first axis x and / or the second axis y (relative to the main axis) to help constrain the translation of the plate 1115 relative to the outer ring 1114 along the third axis z.

[0264] If you do not want to rotate about the third axis z, you can constrain this by changing the shape of the support surfaces 1116 and 1117.

[0265] For example, also refer to Figure 18A and Figure 18B The second tiltable rolling support 1119 is shown.

[0266] Figure 18A This is a schematic plan view of the second tilting rolling support 1119, and Figure 18B It is along Figure 18A The cross-section of the line marked D-D'.

[0267] The second tilting rolling support 1119 is the same as the first tilting rolling support 1112, except that the spherical support surfaces 1116 and 1117 are replaced with cylindrical support surfaces 1120 and 1121. The support surfaces 11201, 11202, 11211, and 11212 of the first pair of rolling supports 11131 and 11132 correspond to the surfaces of a pair of cylinders coaxial with the second axis y and whose radii differ by approximately equal to the diameter of the ball 1030. Similarly, the support surfaces 11203, 11204, 11213, and 11214 of the second pair of rolling supports 11133 and 11134 correspond to the surfaces of a pair of cylinders coaxial with the first axis x and whose radii differ by approximately equal to the diameter of the ball 1030.

[0268] In this way, the rotation of plate 1115 relative to outer ring 1114 about third axis z can be constrained compared to the first tilting rolling support 1112. Additional retaining walls (not shown) can be added to cylindrical support surfaces 1120, 1121 to prevent the balls 1030 from sliding laterally in the directions of the first axis and / or the second axis x, y.

[0269] In order to improve the holding force of the ball 1030 by reducing slippage and / or to improve impact robustness, one or more sets of support surfaces 1116, 1117, 1120, 1121 of the first tilting rolling support 1112 or the second tilting rolling support 1119 may be elastic.

[0270] For example, also refer to Figure 19 In relation to Figure 17B The modified first tilting rolling support 1112b is shown in the equivalent view.

[0271] The modified first tilting rolling support 1112b is identical to the first tilting rolling support 1112, except that the support surface 1117 of the plate 1115 is replaced by an elastic plate 1122 having a substantially identical shape. The gap between the support surface 1116 of the outer ring 1114 and the undeformed elastic plate 1122 can be smaller than the diameter of the ball 1030. In this way, when the modified first tilting rolling support 1112b is assembled, the elastic plate 1122 will be slightly loaded. The force provided by the elastic plate 1122 can increase the friction on the ball 1030 to help prevent slippage and promote rolling. If the device containing the modified first tilting rolling support 1112b is subjected to an impact, the compliance of the elastic plate 1122 can help prevent the ball 1030 from damaging or destroying the support surface 1116.

[0272] Similarly, any other support surfaces 1116, 1117, 1120, 1121 of the first tilting rolling support and / or the second tilting rolling support 1112, 1119 can be replaced by elastic plates. Alternatively, the support surfaces 1116, 1117, 1120, 1121 can be elastic in different ways, for example, by forming some or all of the support surfaces 1116, 1117, 1120, 1121 with a compliant material.

[0273] exist Figures 16A to 19 The figure shows a first tilting rolling support and a second tilting rolling support 1112, 1119 (and modifications thereof), wherein the first axis and the second axis x, y for tilting are substantially at the same height relative to the third axis z, which is the center of mass of the outer ring 1114 and the plate 1115; however, this is not necessary.

[0274] Also refer to Figure 20 The diagram shows a cross-section through the middle of the third tilting rolling support 1123.

[0275] The third tilting rolling support 1123 is the same as the first tilting rolling support 1112 or the second tilting rolling support 1119 except that the origin of the spherical or cylindrical surface corresponding to the support surfaces 1116, 1117, 1120, 1121 has been offset relative to the plate 1115 and the outer ring 1114 along the third axis z (downward) to provide offset support surfaces 1116b, 1117b, 1120b, 1121b, which may be spherical support surfaces 1116b, 1117b or cylindrical support surfaces 1120b, 1121b, depending on whether rotation Rz about the third axis z is desired / permitted.

[0276] Plate 1115 can be pushed downward by a biasing device (relative to the third axis z) such as a spring or a flexible element to maintain contact with ball 1030.

[0277] Any of the offset support surfaces 1116b, 1117b, 1120b, and 1121b can be elastic, as described above.

[0278] Although illustrated and described for reference with a specific orientation relative to a set of right-hand Cartesian axes x, y, z, any support described above can be oriented at any angle.

[0279] 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 made from sheet metal (e.g., stainless steel), with the pattern provided by chemical etching or laser etching. Milling or stamping can be used, provided that this does not introduce unacceptable residual strain that would cause deformation of the component. After patterning, these components can be bent or pre-deformed as needed. Complex three-dimensional components can be constructed by attaching the component to a plate, sheet, or other component, for example, using adhesives, welding, brazing, soldering, etc. Alternatively, complex three-dimensional components can be formed, for example, by sintering or die casting of metal, or by injection molding of polymers. Any support surface can be formed from a polymer, such as POM (acetal), PTFE, or PTFE-impregnated POM.

[0280] First actuator assembly

[0281] Also refer to Figures 21 to 25 The first actuator assembly 2001 is schematically shown.

[0282] The actuator assembly 2001 includes a first component 2002, a support mechanism 2003, a second component 2004, and a drive system 2005.

[0283] Support mechanism 2003 supports a second component 2004 of actuator assembly 2001 on first component 2002. The second component 2004 can tilt about a pivot point 2008 located on an optical axis 2009 (or “main axis”) passing through actuator assembly 2001. In some examples, such as those involving a universal joint, pivot point 2008 may simply be a point in space. In some cases, pivot point 2008 can move when translational and / or rotational forces are applied to support mechanism 2003.

[0284] In the following text, the first component 2002 may be referred to as a "fixed component", "support" or "support structure", and the second component 2004 may be referred to as a "movable component" or "tiltable component".

[0285] The drive system 2005 includes a total of four shape memory alloy wires 20101, 20102, 20103, and 20104 (also referred to herein as “shape memory alloy segments”). The four shape memory alloy wires 20101, 20102, 20103, and 20104 mechanically connect (or “couple”) the second part 2004 of the actuator assembly to the first part 2002 and are used to move the second part 2004 of the actuator assembly 2001 relative to the first part 2002. 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.

[0286] Shape memory alloy wires 20101, 20102, 20103, and 20104 are substantially coplanar, and this arrangement is referred to as a "flat four-wire SMA arrangement". However, shape memory alloy wires 20101, 20102, 20103, and 20104 can be arranged in a non-coplanar manner as described below (in the form of an "angled four-wire SMA arrangement").

[0287] -Support mechanism 2003-

[0288] The support mechanism 2003 is configured to guide the second component 2004 to tilt about the first axis 2011 and / or the second axis 2012 (i.e., a combination of tilting about the first axis 2011, about the second axis 2012, and about both the first and second axes 2012). Figure 21In the configuration shown, the first axis 2011 and the second axis 2012 are substantially aligned with axes x and y. In some examples, the support mechanism 2003 may be configured to constrain the rotation of the second component 2004 about the main axis 2009. The first axis 2011 and the second axis 2012 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 pivot point 2008.

[0289] The support mechanism 2003 includes a single flexible element 2013, which is substantially as described above. Figure 7A and Figure 7B As described.

[0290] The single flexible member 2013 includes two pairs of beam portions (hereinafter referred to as "flexible members") 20151, 20152, 20153, and 20154. Each flexible member 20151, 20152, 20153, and 20154 is rigidly connected to the tiltable member 2004 at one end ("first end") and rigidly connected to the support member 2002, for example by welding, at its other end ("second end" or "free end") 20171, 20172, 20173, and 20174.

[0291] The tiltable component 2004 and the flexible components 20151, 20152, 20153, and 20154 are all single pieces. For example, the second component 2004 and the flexible components 20151, 20152, 20153, and 20154 can be formed by etching or machining a sheet of metal or metal alloy (such as stainless steel).

[0292] Flexible components 20151, 20152, 20153, and 20154 can support flexible electrical connections.

[0293] The first flexible member 20151 and the third flexible member 20153 extend parallel to the axis y as shown in the figure and are deformable by bending of the beam in the yz plane. Similarly, the second flexible member 20152 and the fourth flexible member 20154 extend parallel to the axis x as shown in the figure and are deformable by bending of the beam in the xz plane. The lateral deflection of the flexible members 20151, 20152, 20153, and 20154 (perpendicular to the z-axis as shown in the figure) is constrained by connecting all the flexible members 20151, 20152, 20153, and 20154 to the second component 2004.

[0294] The tiltable component 2004 is typically thin and flat, and has opposite first surfaces 2018 and second surfaces 2019. The first surface 2018 faces the support 2002, and the second surface 2019 faces away from the support 2002. The second surface 2019 (hereinafter referred to as the "top surface") of the tiltable component 2004 supports the image sensor 2020, such as a CCD or CMOS device.

[0295] Support mechanism 2003 includes pivot support 201, pivot support 2021 is substantially the same as described above. Figure 10 and Figures 11A to 11D The description is the same.

[0296] The pivot support 2021 includes a member 2022 (or “protrusion”) standing upright from the top surface 2023 of the support 2002 (relative to the axis z shown in the figure), the support 2002 serving as a base for the pivot. In some examples, the pivot support 2021 may include a separate base supported by the support 2002.

[0297] The protrusion 2022 has a distal end 2024 that contacts the second component 2004, particularly a contact point (or contact area) on the first surface 2018 (hereinafter referred to as the "bottom surface" or "lower side") of the tiltable component 2004. The distal end 2024 of the protrusion 2022 and the contact point define a pivot point 2008.

[0298] The free ends 20171, 20172, 20173, and 20174 of the flexible members 20151, 20152, 20153, and 20154 are attached to the top surface 2023 of the support member 2002 (first member). This forces the support member 2002 and the tiltable member 2004 to maintain contact between the protrusion 2022 and the tiltable member 2004.

[0299] Anchoring members 20261 and 20262 for shape memory alloy wires 20101, 20102, 20103, and 20104 are rigidly attached to support member 2002. Anchoring members 20261 and 20262 may take the form of columns or other structures erected from the first component 2002 of actuator assembly 2001. In this example, two anchoring members 20261 and 20262 are arranged at opposite diagonal corners of support member 2002. However, more than two anchoring members 20261 and 20262 may be provided. A crimping portion (not shown) is used to attach shape memory alloy wires 20101, 20102, 20103, and 20104 to anchoring members 20261 and 20262. Anchoring members 20261 and 20262 form part of the base frame.

[0300] The support 2002 of the actuator assembly is formed of metal or metal alloy (e.g., stainless steel).

[0301] Also refer to Figure 26 The support member 2002 is located in the first plane 2500, and the tiltable member 2004 is located in the second plane 2501 having a normal 2502 (also referred to herein as the "tilted axis" or "tilted axis"), such that tilting of the tiltable member 2002 tilts the normal 2502 away from the main axis 2009.

[0302] Still refer to Figures 21 to 25 The support member 2002 carries a bracket 2037 surrounding the image sensor 2020. The bracket 2037 is generally box-shaped and includes a top plate 2038 (or “top”) with a central circular hole 2039. The top plate 2038 supports a lens holder 2041 on its upper surface 2040.

[0303] Lens holder 2041 is typically annular and holds lens assembly 2042. An autofocus system (not shown) and / or (additional) OIS system may be disposed between lens assembly 2042 and lens holder 2041.

[0304] The top plate 2038 of the bracket 2037 has four corners, including opposing first and second corners 20501 and 20502. The first ends of the second shape memory alloy wire and the third shape memory alloy wires 20102 and 20103 are attached to the first corner 20501 of the top 2038 of the bracket 2037. The second end of the second shape memory alloy wire 20102 is attached to the first anchoring member 20261, and the second end of the third shape memory alloy wire 20103 is attached to the second anchoring member 20262. Similarly, the first ends of the fourth shape memory alloy wire and the first shape memory alloy wires 20104 and 20101 are attached to the second corner 20502 of the top 2038 of the bracket 2037. The second end of the fourth shape memory alloy wire 20104 is attached to the second anchoring member 20262, and the second end of the first shape memory alloy wire 20101 is attached to the first anchoring member 20261.

[0305] The corresponding static crimping parts (not shown) are used to attach the corresponding first ends of the shape memory alloy wires 20101, 20102, 20103, and 20104 to the anchoring members 20261 and 20262. The corresponding movable crimping parts (not shown) are used to attach the corresponding second ends of the shape memory alloy wires 20101, 20102, 20103, and 20104 to the corners 20501 and 20502 of the top 2038 of the bracket 2037.

[0306] Special reference Figure 25A box-shaped shielding housing 2043 is provided around the support mechanism 2003, the second component 2004, the SMA lines 20101, 20102, 20103, 20104, the lens bracket 2041, and the lens assembly 2042. The housing 2043 has a central circular hole 2044.

[0307] -move-

[0308] Still refer to Figures 21 to 24 The first actuator assembly 2001 is able to provide OIS by tilting the second component 2004.

[0309] 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 an electric current through the SMA lines, which causes the SMA lines to contract.

[0310] By increasing the power to two adjacent lines (e.g., the fourth line 20104 and the first line 20101) and thus causing them to contract, while decreasing the power to the other two lines (the second line 20102 and the third line 20102 in this example and thus allowing them to expand), a change in inclination about the diagonal (e.g., about the line Y = -X) is produced, thereby generating a force on the second component 2004, in this case along Y = X.

[0311] A suitable tilt can be generated as a linear combination of diagonal tilt variations.

[0312] If SMA lines 20101, 20102, 20103, and 20104 are located A mm above pivot point 2008 and have a stroke of ±B mm, then actuator 2001 can produce a tilt of ±sin(B / A). For example, when A = 1 mm and B = 0.09 mm (i.e., 90 μm), the tilt is approximately ±5°.

[0313] Second actuator assembly

[0314] In the first actuator assembly 2001, SMA lines 20101, 20102, 20103, and 20104 typically form a diamond-shaped loop around the exterior of the lens holder 2041. The SMA lines 20101, 20102, 20103, and 20104 are generally coplanar in a plane parallel to and offset from the plane containing the first axis 2011 and the second axis 2012.

[0315] Also refer to Figure 27 , Figure 28 and Figure 29 The second actuator assembly 3001 is schematically shown.

[0316] The actuator assembly 3001 includes a first component 3002, a support mechanism 3003, a second component 3004, and a drive system 3005.

[0317] Support mechanism 3003 supports a second component 3004 of actuator assembly 3001 on a first component 3002. The second component 3004 can tilt about a pivot point 3008, which is located on the optical axis 3009 (or “main axis”) passing through actuator assembly 3001. In some examples, such as those involving a universal joint, pivot point 3008 may simply be a point in space. In some cases, pivot point 3008 can move when translational and / or rotational forces are applied to the support mechanism.

[0318] In the following text, the first component 3002 may be referred to as a “fixed component,” “support,” or “support structure” of the actuator assembly 3001, and the second component 3004 may be referred to as a “movable component” or “tiltable component” of the actuator assembly 3001.

[0319] The drive system 3005 includes a total of four shape memory alloy wires 30101, 30102, 30103, and 30104 (also referred to herein as "shape memory alloy segments"). The four shape memory alloy wires 30101, 30102, 30103, and 30104 connect the second component 3004 of the actuator assembly to the first component 3002 and are used to move the second component 3004 of the actuator assembly 3001 relative to the first component 3002. 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.

[0320] Shape memory alloy wires 30101, 30102, 30103, and 30104 are substantially coplanar, and this arrangement is referred to as a "flat four-wire SMA arrangement". However, shape memory alloy wires 30101, 30102, 30103, and 30104 can be arranged in a non-coplanar manner as described below (in the form of an "angled four-wire SMA arrangement").

[0321] The second actuator assembly 3001 is similar to the first actuator assembly 2001, but differs mainly in two aspects.

[0322] First, shape memory lines 30101, 30102, 30103, and 30104 pass between the support member 3002 and the tiltable member 3004, that is, below the tiltable member 3004 (relative to the axis z shown in the figure).

[0323] Secondly, the tiltable component 3004 is typically raised relative to the support 3002.

[0324] -Support mechanism 3003-

[0325] Support mechanism 3003 is configured to guide the second component 3004 to tilt about a first axis 3011 and / or a second axis 3012 (i.e., a combination of tilting about the first axis 3011, about the second axis 3012, and about the first axis 3011 and the second axis 3012). In some examples, support mechanism 3003 may be configured to constrain the rotation of the second component 3004 about a main axis 3008. The first axis 3011 and the second axis 3012 are not parallel to each other and are perpendicular to the main axis 3009. In this example, the first axis and the second axis 3011, 3012 are also perpendicular to each other. The first axis and the second axis 3011, 3012 pass through pivot point 3008.

[0326] The support mechanism 3003 includes a single flexible element 3013, which is substantially as described above. Figure 7A and Figure 7B As described.

[0327] The single flexible member 3013 includes two pairs of beam portions (hereinafter referred to as "flexible members") 30151, 30152, 30153, and 30154. Each flexible member 30151, 30152, 30153, and 30154 is rigidly connected to the tiltable member 3004 at one end ("first end") and has a second (free) end 30171, 30172, 30173, and 30174.

[0328] The tiltable component 3004 and the flexible components 30151, 30152, 30153, and 30154 are formed as a single piece. For example, the second component 3004 and the flexible components 30151, 30152, 30153, and 30154 can be formed by etching or machining a sheet of metal or metal alloy (e.g., stainless steel).

[0329] Flexible components 30151, 30152, 30153, and 30154 can support flexible electrical connections.

[0330] The first and third flexible members 30151 and 30153 extend parallel to the y-axis as shown in the figure and are deformable by bending in the yz plane via a beam. Similarly, the second and fourth flexible members 30152 and 30154 extend parallel to the x-axis as shown in the figure and are deformable by bending in the xz plane via a beam. The lateral deflection of the flexible members 30151, 30152, 30153, and 30154 (perpendicular to the z-axis as shown in the figure) is constrained by connecting all the flexible members 30151, 30152, 30153, and 30154 to the second component 3004.

[0331] The second (free) ends 30171, 30172, 30173, and 30174 of the first flexible member 30151, the second flexible member 30152, the third flexible member 30153, and the fourth flexible member 30154 are fixedly connected (or "attached") to the respective tops of the first block 30251, the second block 30252, the third block 30253, and the fourth block 30254, which provide raised areas for attachment to the support member 3002.

[0332] The tiltable component 3004 is typically thin and flat, and has opposite first surfaces 3018 and second surfaces 3019. The first surface 3018 faces the support 3002, while the second surface 3019 is away from the support 3002. The second surface 3019 (hereinafter referred to as the "top surface") of the tiltable component 3004 supports the image sensor 3020, such as a CCD or CMOS device.

[0333] The support mechanism 3003 includes a pivot support 3021, which is substantially the same as described above. Figure 10 and Figures 11A to 11D The description is the same.

[0334] The pivot support 3021 includes a member 3022 (or “protrusion”) standing upright from the top surface 3023 of the support 3002, which serves as a base for the pivot. In some examples, the pivot support 3021 may include a separate base supported by the support 3002.

[0335] The protrusion 3022 has a distal end 3024 that contacts the second member 3004, particularly a contact point (or contact area) on the first surface 3018 (hereinafter referred to as the "bottom surface" or "lower side") of the tiltable member 3004. The distal end 3024 of the protrusion 3022 and the contact point define a pivot point 3008.

[0336] The protrusion 3022 is higher than the protrusion 2020 in the first actuator assembly (relative to the axis z shown). The protrusion 3022 includes a top part 3022. A And used as the top component 3022 A Bottom component 3022 of the raised base B Top component 3022 A and bottom component 3022 B Both are single-piece items. Protrusion 3022 and base 3002 can also be single-piece items.

[0337] The second (free) ends 30171, 30172, 30173, and 30174 of the flexible members 30151, 30152, 30153, and 30154 are attached to the first block 30251, the second block 30252, the third block 30253, and the fourth block 30254, which stand upright from the top surface 3023 of the support member 3002. This forces the support member 3002 and the tiltable member 3004 to maintain contact between the protrusion 3022 and the support member 3002.

[0338] A first set of anchoring members 30261, 30262, 30263, and 30264 are rigidly attached to the support member 3002 for the first ends of shape memory alloy wires 30101, 30102, 30103, and 30104. The anchoring members 30261, 30262, 30263, and 30264 may take the form of columns or other structures erected from the first component 3002 of the actuator assembly 3001. In some examples, the anchoring members 30261, 30262, 30263, and 30264 may be provided by raised peripheral edges (or “walls”). A crimping portion (not shown) is used to attach the shape memory alloy wires 30101, 30102, 30103, and 30104 to the anchoring members 30261, 30262, 30263, and 30264.

[0339] A second set of anchoring members 30271, 30272, 30273, and 30274 are rigidly attached to the second part 3004 for the second ends of shape memory alloy wires 30101, 30102, 30103, and 30104. The anchoring members 30271, 30272, 30273, and 30274 may take the form of columns or other structures hanging from the second part 3004 of the actuator assembly 3001. A crimping portion (not shown) is used to attach the shape memory alloy wires 30101, 30102, 30103, and 30104 to the bottom (i.e., distal end) of the anchoring members 30271, 30272, 30273, and 30274. The drop (i.e., droop length) of the second set of anchoring members 30271, 30272, 30273, and 30274 is less than the height of the protrusion 3022. The length difference is sufficient to allow the second part 3004 of the actuator assembly 3001 to tilt fully.

[0340] The support 3002 of the actuator assembly is formed of metal or metal alloy (e.g., stainless steel).

[0341] Also refer to Figure 26The support member 3002 is located in the first plane 3500, while the tiltable member 3004 is located in the second plane 3501 having a normal 3502 (also referred to herein as the "tilted axis" or "tilted axis"), such that tilting of the tiltable member 2002 tilts the normal 3502 away from the principal axis 3009.

[0342] Support member 3002 supports bracket 3037 arranged around image sensor 3020. Bracket 3037 is generally box-shaped and includes top plate 3038 (or “top”) with a central circular hole 3039. Top plate 3038 supports lens holder 3041 on its upper surface 3040.

[0343] Lens holder 3041 is typically annular and holds lens assembly 3042. An autofocus system (not shown) and / or (additional) OIS system may be disposed between lens assembly 3042 and lens holder 3041.

[0344] Similar to the first actuator assembly 2001, the second actuator 3001 includes a box-shaped shielding receptacle (not shown) disposed around the support mechanism 3003, the second component 3004, the SMA lines 30101, 30102, 30103, 30104, the lens holder 3041, and the lens assembly 3042. The receptacle has a central circular hole (not shown).

[0345] -move-

[0346] Still refer to Figure 27 , Figure 28 and Figure 29 The second actuator assembly 3001 is able to provide OIS by tilting the second component 3004.

[0347] Different movements are induced by heating and cooling different combinations of SMA lines 30101, 30102, 30103, and 30104. As explained earlier, heating can be induced by driving an electric current through the SMA lines, which causes the SMA lines to contract.

[0348] By increasing the power to two adjacent lines (e.g., the fourth line 30104 and the first line 30101) and thus causing them to contract, while decreasing the power to the other two lines (the second line 30102 and the third line 30102 in this example) and thus allowing them to expand, a change in inclination about the diagonal (e.g. about the line Y = -X) is introduced, thereby generating a force on the second component 3004, in this case along the line Y = X.

[0349] A suitable tilt can be generated as a linear combination of diagonal tilt variations.

[0350] If SMA lines 30101, 30102, 30103, and 30104 are located A mm above pivot point 3008 and have a stroke of ±B mm, then actuator 3001 can produce a tilt of ±sin(B / A). For example, when A = 1 mm and B = 0.09 mm (i.e., 90 μm), the tilt is approximately ±5°.

[0351] The change interval between the first component and the second component

[0352] Reference Figure 30 In the first actuator assembly 2001 ( Figure 21 In the first component 2002, the top surface 2023 and the bottom surface 2018 of the second component 2004 are separated by a distance s1, which is approximately equal to the height of the protrusion 2022.

[0353] Also refer to Figure 31 In the second actuator assembly 3001 ( Figure 27 In the first component 3002, the top surface 3023 of the first component 3002 and the bottom surface 3018 of the second component 3004 are separated by a distance s2, where s2>s1, and the distance s2 is also basically equal to the height of the protrusion 3022.

[0354] In both arrangements, pivot points 2008 and 3008 are located in the same plane as the bottom surfaces 2018 and 3018 (although pivot points 2008 and 3008 may move when forces causing deformation are applied).

[0355] Also refer to Figure 32 In the modified second actuator assembly, the top surface 3023' of the first component 3002' and the bottom surface 3018' of the second component 3004' can still be spaced apart by a distance s2, but a different arrangement is used.

[0356] The second component 3004' may be provided with an axial member 3050 (or "post") hanging down from its bottom 3018' to mate with a shorter protrusion 3022' from the first component 3002'. Therefore, this arrangement not only provides for the second actuator assembly 3001 ( Figure 27 The same spacing s2 is used in the arrangement, and the pivot point 3008' can be shifted backward, away from the bottom surface 3018' of the second component 3004' and towards the first component 3002'.

[0357] Using the groove (not shown), the second component 3004 can be used to achieve the opposite effect, that is, to move the pivot point 3008 (relative to the main axis) upward, away from the first component 3002'.

[0358] Third actuator assembly

[0359] Reference Figure 33 , Figure 34 and Figure 35 The third actuator assembly 4001 is schematically shown.

[0360] The actuator assembly 4001 includes a first component 4002, a support mechanism 4003, a second component 4004, and a drive system 4005.

[0361] The support mechanism 4003 supports the second part 4004 of the actuator assembly 4001 on the first part 4002. The second part 4004 can tilt about a pivot point 4008, which is located on the optical axis 4009 (or “main axis”) passing through the actuator assembly 4001.

[0362] In the following text, the first component 4002 may be referred to as a “fixed component,” “support,” or “support structure” of the actuator assembly 4001, while the second component 4004 may be referred to as a “movable component” or “tiltable component” of the actuator assembly 4001.

[0363] The drive system 4005 includes a total of four shape memory alloy wires 40101, 40102, 40103, and 40104 (also referred to herein as “shape memory alloy segments”). The four shape memory alloy wires 40101, 40102, 40103, and 40104 mechanically connect (or “couple”) the second part 4004 of the actuator assembly to the first part 4002 and are used to move the second part 4004 of the actuator assembly 4001 relative to the first part 4002. The shape memory alloy wires 40101, 40102, 40103, and 40104 are formed of a copper-aluminum-nickel alloy, a nickel-titanium alloy, or other suitable shape memory alloy.

[0364] Shape memory alloy wires 40101, 40102, 40103, and 40104 are substantially coplanar, and this arrangement is referred to as a "flat four-wire SMA arrangement". However, shape memory alloy wires 40101, 40102, 40103, and 40104 can be arranged in a non-coplanar manner as described below (in the form of an "angled four-wire SMA arrangement").

[0365] -Support Mechanism 4003-

[0366] Support mechanism 4003 is configured to guide the second component 4004 to tilt about a first axis 4011 and / or a second axis 4012 (i.e., a combination of tilting about the first axis 4011, about the second axis 4012, and about both the first and second axes 4011). In some examples, support mechanism 4003 may be configured to allow the second component 4004 to rotate about a main axis 4008. The first axis 4011 and the second axis 4012 are not parallel to each other and are perpendicular to the main axis 4009. In this example, the first axis and the second axis 4011, 4012 are also perpendicular to each other. The first axis and the second axis 4011, 4012 pass through a pivot point 4008. In some examples, such as those involving a universal joint, the pivot point 4008 may simply be a point in space. In some cases, the pivot point 4008 may move when translational and / or rotational forces are applied to the support mechanism.

[0367] The support mechanism 4003 includes a flexible element 4013.

[0368] The flexible member 4013 includes two pairs of tabs (hereinafter referred to as "flexible members") 40151, 40152, 40153, and 40154. Each flexible member 40151, 40152, 40153, and 40154 is rigidly connected to the tiltable member 4004 at one end ("first end") and rigidly connected to the raised edges 40251, 40252, 40253, and 40254 of the support member 4002 at the other end ("second end") 40172, 40173, and 40174.

[0369] The tiltable component 4004 and the flexible components 40151, 40152, 40153, and 40154 can be a single piece. For example, the second component 4004 and the flexible components 40151, 40152, 40153, and 40154 can be formed by etching or machining a sheet of metal or metal alloy (e.g., stainless steel).

[0370] Each flexible element 40151, 40152, 40153, 40154 typically takes the form of a short strip extending outward from the middle of the corresponding side of the tiltable element 4004.

[0371] The tiltable component 4004 is typically thin and flat, and has opposite first surfaces 4018 and second surfaces 4019. The first surface 4018 faces the support 4002, and the second surface 4019 is away from the support 4002. The second surface 4019 (hereinafter referred to as the "top surface") of the tiltable component 4004 supports the image sensor 4020, such as a CCD or CMOS device.

[0372] Support mechanism 4003 includes pivot support 4021, which is substantially the same as described above. Figure 10 and Figures 11A to 11D The description is the same.

[0373] The pivot support 4021 includes a member 4022 (or “protrusion”) standing upright from the top surface 4023 of the support 4002, which serves as a base for the pivot. In some examples, the pivot support 4021 may include a separate base supported by the support 4002.

[0374] The protrusion 4022 has a distal end 4024 that contacts the second member 4004, particularly a contact point (or contact area) on the first surface 4018 (hereinafter referred to as the "bottom surface" or "lower side") of the tiltable member 4004. The distal end 4024 of the protrusion 4022 and the contact point define a pivot point 4008.

[0375] In this case, the tiltable component 4004 includes a notch 4060, which is similar to the one described above. Figure 11B The notch shown is an example of a notch. However, other forms of notches or grooves can also be used.

[0376] The second (free) ends 40171, 40172, 40173, and 40174 of the flexible members 40151, 40152, 40153, and 40154 are attached to the protruding edge 4025. This forces the support member 4002 and the tiltable member 4004 together to maintain contact between the protrusion 4022 and the tiltable member 4004.

[0377] Anchoring members 40261 and 40262 for shape memory alloy wires 40101, 40102, 40103, and 40104 are rigidly attached to support member 4002. Anchoring members 40261 and 40262 may take the form of columns or other structures erected from the first component 4002 of actuator assembly 4001. In this example, two anchoring members 40261 and 40262 are disposed at opposite diagonal corners of support member 4002. However, more than two anchoring members 40261 and 40262 may be provided. A crimping portion (not shown) is used to attach shape memory alloy wires 40101, 40102, 40103, and 40104 to anchoring members 40261 and 40262.

[0378] The support 4002 of the actuator assembly is formed of metal or metal alloy (e.g., stainless steel).

[0379] Also refer to Figure 26The support member 4002 is located in the first plane 4500, while the tiltable member 4004 is located in the second plane 4501 with a normal 4502 (also referred to herein as the "tilted axis" or "tilted axis"), such that tilting of the tiltable member 4002 tilts the normal 4502 away from the principal axis 4009.

[0380] Support member 4002 supports bracket 4037 arranged around and encloses sensor 4020. Bracket 4037 is generally box-shaped and includes top plate 4038 (or “top”) with a central circular hole 4039. Top plate 4038 supports lens bracket 4041 on its upper surface 4040.

[0381] Lens holder 4041 is typically annular and holds lens assembly 4042. An autofocus system (not shown) and / or (additional) OIS system may be disposed between lens assembly 4042 and lens holder 4041.

[0382] The top 4038 of the bracket 4037 has four corners, including opposing first and second corners 40501 and 40502. The first ends of the second shape memory alloy wire and the third shape memory alloy wires 40102 and 40103 are attached to the first corner 40501 of the top 4038 of the bracket 4037. The second end of the second shape memory alloy wire 40102 is attached to the first anchoring member 40261, and the second end of the third shape memory alloy wire 40103 is attached to the second anchoring member 40262. Similarly, the first ends of the fourth shape memory alloy wire and the first shape memory alloy wires 40104 and 40101 are attached to the second corner 40502 of the top 4038 of the bracket 4037. The second end of the fourth shape memory alloy wire 40104 is attached to the second anchoring member 40262, and the second end of the first shape memory alloy wire 40101 is attached to the first anchoring member 40261.

[0383] The corresponding static crimping parts (not shown) are used to attach the corresponding first ends of the shape memory alloy wires 40101, 40102, 40103, and 40104 to the anchoring members 40261 and 40262. The corresponding movable crimping parts (not shown) are used to attach the corresponding second ends of the shape memory alloy wires 40101, 40102, 40103, and 40104 to the corners 40501 and 40502 of the top 4038 of the bracket 4037.

[0384] Special reference Figure 34The shielding housing 4043 is arranged around the support mechanism 4003, the second component 4004, the SMA lines 40101, 40102, 40103, 40104, the lens bracket 4041, and the lens assembly 4042. The housing 4043 has a central circular hole 4044.

[0385] -move-

[0386] Still refer to Figures 33 to 35 The third actuator assembly 4001 is able to provide OIS by tilting the second component 4004.

[0387] Different combinations of SMA lines 40101, 40102, 40103, and 40104 are induced to move differently by heating and cooling. As explained earlier, heating can be induced by driving an electric current through the SMA lines, which causes the SMA lines to contract.

[0388] By increasing the power to two adjacent lines (e.g., the fourth line 40104 and the first line 40101) and thus causing them to contract, while decreasing the power to the other two lines (in this example, the second line 40102 and the third line 40102) and thus allowing them to expand, a change in inclination about the diagonal (e.g., about the line Y = -X) is introduced, thereby generating a force on the second component 4004, in this case along the line Y = X.

[0389] A suitable tilt can be generated as a linear combination of diagonal tilt variations.

[0390] If SMA lines 40101, 40102, 40103, and 40104 are located A mm above pivot point 4008 and have a stroke of ±B mm, then actuator 4001 can produce a tilt of ±sin(B / A). For example, when A = 1 mm and B = 0.09 mm (i.e., 90 μm), the tilt is approximately ±5°.

[0391] The positions of the sensor and lens bracket were interchanged.

[0392] Reference Figure 25 , Figure 29 and Figure 34 In the example above, sensors 2020, 3020, and 4020 are mounted on first components 2002, 3002, and 4002, while lens mechanisms 2041, 2042, 3041, 3042, 4041, and 4042 are mounted on second components 2004, 3004, and 4004. Alternatively, sensors 2020, 3020, and 4020 are tilted, and lens components 2041, 2042, 3041, 3042, 4041, and 4042 are also tilted accordingly.

[0393] Reference Figure 36 Using another variant 4001' of the third actuator assembly as an example, the positions of the sensor 4020 and the lens mechanisms 4041, 4042 can be interchanged, such that the lens mechanisms 4041, 4042 are mounted on the second component 4004', while the sensor 4020 is mounted on the bracket 4037'. Again, expressed in a different manner, the lens mechanisms 4041, 4042 are tilted, and the sensor 4020 is also tilted accordingly.

[0394] In this arrangement, the first component 4002' is provided with a hole 4041 through which light can pass, and using a suitable first support 4003, for example in the form of a universal joint, the first support can hold the lens holder 4041' and allow light to pass through the lens assembly 4042' toward the sensor 4020. The universal joint 4003 can be fixed and supported on the raised edges 40251, 40252, 40253, 40254 that stand upright from the first component 4002' of the assembly.

[0395] Other actuator components described above can be modified in a similar manner.

[0396] Although actuator assemblies 2001, 3001, 4001 and their variations have been described as including support mechanisms 2003, 3003, 4003 in the form of pivot supports 2021, 3021, 4021, support mechanisms 2003, 3003, 4003 are not limited to pivot supports 2021, 3021, 4021. For example, any of the actuator assemblies 2001, 3001, 4001 (and their variations) described above can be modified to use support mechanisms 2003, 3003, 4003 in the form of universal joint supports (e.g., first universal joint support, second universal joint support, or third universal joint support 1071, 1077, 1103), or support mechanisms 2003, 3003, 4003 in the form of tilting rolling supports (e.g., first tilting rolling support, second tilting rolling support, or third tilting rolling support 1112, 1119, 1123).

[0397] Electrical connection wiring

[0398] In the actuator assemblies 2001, 3001, 4001 (and their variations) described above, image sensors 2020, 3020, 4020 are mounted to tiltable components 2004, 3004, 4004. Additionally, an AF system can be connected between lens brackets 2041, 3041, 4041 and lens assemblies 2042, 3042, 4042. Therefore, the connection of electrical connectors for signals and / or power to the components mounted on the tiltable components 2004, 3004, 4004 is important for the functionality of the actuator assemblies 2001, 3001, 4001 (and their variations).

[0399] In some examples, electrical connections may be routed via flexible elements 2015, 3015, 4015 as described above. However, if flexible elements 2015, 3015, 4015 are not used for electrical connection routing, or if flexible elements 2015, 3015, 4015 cannot support all necessary electrical connections, one or more flexible electrical connectors may be connected to components supported on second components 2004, 3004, 4004.

[0400] Care should be taken to ensure that this flexible electrical connection does not directly impede (physically prevent) the tilting of the second components 2004, 3004, 4004 relative to the first components 2002, 3002, 4002. Care should also be taken to ensure that the mechanical properties of this flexible electrical connection (e.g., the flexural stiffness of the connection) do not excessively affect or interfere with the tilting actuation (e.g., adding too much asymmetry to the actuation requirements). Finally, any additional volume resulting from the inclusion of this flexible electrical connection should preferably be minimized.

[0401] -Fourth Actuator Assembly-

[0402] Also refer to Figure 37 and Figure 38 The fourth actuator assembly 5001 is shown. Figure 37 It is a cross-section through the center of the fourth actuator assembly 5001 in the first plane (as shown in xz), and Figure 38 This is a partial cross-section and side view of a second plane (as shown, yz) offset from the pivot point 5008 of the fourth actuator assembly 5001 and perpendicular to the first plane (as shown, xz).

[0403] The fourth actuator assembly 5001 is not shown or described to the same degree of detail as the first to third actuator assemblies 2001, 3001, 4001 (and their variations), and can be considered as a potential modification of the first to third actuator assemblies 2001, 3001, 4001 (and their variations).

[0404] The fourth actuator assembly 5001 includes a first component 5002 and a second component 5004, the second component 5004 being configured with a downwardly drooping axial member 5050 (or shaft), as described above. Figure 32 Description. Pivot point 5008 is formed at the location where the drooping axial member 5050 contacts the protrusion 5022 of the pivot support member 5021. A first axis 5011 and a second axis 5012 pass through pivot point 5008. A drive system 5005 (not shown) connects a second component 5004 to a wall 5025 erected from the periphery of the first component 5002. The drive system 5005 includes, for example, four shape memory alloy segments 50101, 50102, 50103, and 50104 (not shown).

[0405] One or more flexible connectors 5100 extend from the second component 5004. The flexible connectors 5100 may be in the form of single wires, bundles, or stranded and / or braided wires, or preferably, flexible printed circuit boards. Each flexible connector 5100 may support one, two, or more individual conductors for transmitting signals and / or power to components mounted on the second component 5004, such as an image sensor 5020, an AF drive system, and / or shape memory alloy segments 50101, 50102, 50103, 50104 (not shown).

[0406] To allow the second component 5004 to tilt relative to the first component 5002, a gap is required between the first component and the second components 5002, 5004. The second component 5003 can tilt to any angle within the range of motion defined by the maximum or limit tilt angle 5101 available. The maximum tilt angle in a particular direction can be limited by the travel of the second component 5004, which is in physical contact with the first component 5003, and the shape memory alloy wires 50101, 50102, 50103, 50104 (not shown), or by a combination of both around the perimeter of the range of motion of the fourth actuator assembly 5001.

[0407] There is a volume below the second component 5004 and above the first component 5002, through which the electrical connector 5100 is wired to avoid interfering with the tilt of the second component 5004, and also to avoid the need to increase the footprint of the actuator 5001 in a plane parallel to the first axis 5011 and the second axis 5012 (or alternatively perpendicular to the main axis).

[0408] exist Figure 37 and Figure 38In the example shown, a pair of flexible electrical connectors 51001, 51002 initially extend away from the second component 5004 in a positive direction parallel to the illustrated y-axis, and then bend back through the bending region 5102 to return between the second component 5004 and the first component 5002. Specifically, the flexible electrical connectors 51001, 51002 cross below the lower surface 5018 of the second component 5004 and above the top surface 5023 of the first component 5003.

[0409] In this way, the flexible electrical connector can be wired to have the required volume through the tiltable actuator assembly without increasing the xy footprint or physically hindering the tilting of the second component 5002.

[0410] In some examples, flexible electrical connectors 51001 and 51002 extend from the edge of the second component 5004.

[0411] In some examples, flexible electrical connectors 51001 and 51002 extend from the lower surface of the second component 5004. In such examples, when viewed along the principal axis z, the flexible electrical connectors 51001 and 51002 can typically extend in a single direction, for example, in a negative direction parallel to the y-axis (see [link to product description]). Figure 38 More generally, in such examples, the (multiple) normals of the main surfaces (e.g., the top surfaces) of the flexible electrical connectors 51001 and 51002 may form acute angles with the principal axis z. In other words, the flexible electrical connectors 51001 and 51002 may not include folds in which the normals of their main surfaces are perpendicular to the principal axis z (see [reference]). Figure 38 This can be applied to the entire flexible electrical connector 51001, 51002 or only certain portions, in which the main surface of the flexible electrical connector 51001, 51002 is not attached to any other part of the assembly 5001 (the portion of the flexible electrical connector 51001, 51002 that is connected, for example, to the first part 5002 or the second part 5004 may have such a fold).

[0412] Preferably, each flexible connector 5100 in the flexible connector is wired such that the neutral axis of the flexible connector 5100 (in the context of beam bending) passes through or is close to the first axis 5011 and / or the second axis 5012. For example, as Figure 37 and Figure 38 The flexible connectors shown, 51001 and 51002, both pass through the first axis 5011 and are flush with the pivot point 5008.

[0413] In this way, the flexible connector 5100 can be positioned to minimize the mechanical effects of the flexible connector 5100's flexural stiffness (beam strength) on the tilting of the second component 5004 relative to the first component 5002 about the first axis 5011 and / or the second axis 5012.

[0414] "Close to" can correspond to a minimum vertical distance of less than or equal to 1 mm, less than or equal to 0.5 mm, or less than or equal to 0.25 mm. A smaller distance is preferred, for example, less than 0.25 mm. The minimum vertical distance refers to the distance between the neutral axis of the flexible connector 5100 and the first axis 5011 and / or the second axis 5012.

[0415] Preferably, each flexible connector 5100 is wired such that it passes over one or more lowest points of the envelope of the movement of the second component 5004 relative to the first component 5002 with respect to the main axis z. This may correspond to the lowest point of the edge or corner of the second component 5004 relative to the main axis z.

[0416] The wiring configuration of the flexible connector described for the fourth actuator assembly 5001 is applicable to any of the actuator assemblies 2001, 3001, 4001 (and their variants) described above.

[0417] -Modified third actuator component-

[0418] For example, also refer to Figure 39 The image shows a cross-section of the first modified third actuator assembly 4001b.

[0419] The first modified third actuator assembly 4001b is the same as the third actuator assembly 4001 except for the following differences: the first modified third actuator assembly 4001b further includes a flexible electrical connector 4100 that extends from the second part 4004 and then bends / wraps back through a bending region 4102 to return below the lower surface 4018 of the second part 4004 and above the top surface 4013 of the first part 4002.

[0420] -Electrical connection wiring for general-purpose tiltable camera modules-

[0421] The electrical connection can be wired through the volume between the second component that is tiltable relative to the first component. This implementation is applicable to any such actuator, not just the actuator assemblies 2001, 3001, 4001, 5001 (and their variations) described above.

[0422] For example, Figure 40 The camera device 6201, originally described in WO 2012 / 020212 A1, is shown (see Figures 7 to 10 for details). Figure 9 (And the descriptions on page 17, line 19 to page 18, line 2). Figure 40 Corresponding to WO 2012 / 020212 A1 Figure 9 .

[0423] Camera device 6201 includes a base frame 6220 and a bracket plate 6250. The base frame 6220 is a supporting structure (in... Figure 40 (Not shown in the image) Part of the base frame 6220. Four press-fit mounts 6260 are provided on its uppermost surface. Four posts 6251 are provided on the bracket plate 6250, protruding through a central hole in the base frame 6220. Each post 6251 has an assembly mount 6255 and a press-fit mount 6256 provided on its uppermost surface. The assembly mount 6255 is used to mount the bracket assembly (in...) Figure 40 (Not shown in the image), the bracket assembly includes a lens system and may also include an AF actuator. Image sensor (in...) Figure 40 (Not shown in the image) is mounted and connected to a printed circuit board (PCB). Figure 40 (Not shown in the image), a printed circuit board is fixed to the lowermost surface of the bracket plate 6250, and an image sensor is located in the center hole of the bracket plate 6250. The base frame 6220 and the bracket plate 6250 may be molded from plastic, for example.

[0424] Camera device 6201 includes four SMA cables 6231, 6232, 6233, and 6234, each cable arranged in a V-shape on one of the four sides of camera device 6201. Figure 40 The image shows two SMA lines 6231 and 6232, while the other SMA lines 6233 and 6234 on the opposite side of the camera device 6201 are mirror images of them in a vertical plane passing through the optical axis (through the hole in the base 6220). The first pair of SMA lines 6231, 623 are parallel to each other on the opposite sides of the camera device 6201 and extend perpendicular to the second pair of SMA lines 6232, 6234, which are also parallel to each other on the opposite sides of the camera unit. The first pair of SMA lines 6231 and 6233 are each connected at each end by a crimping member (in... Figure 40 (Not shown) is fixed to the base frame 6220, and hooked at the middle of their ends to the pivot element 6257 of the bracket plate 6250. The second pair of SMA lines 6232, 6234 are each secured at each end by a crimping member (in... Figure 40 (Not shown) is fixed to the bracket plate 6250 and hooked at the middle of their ends onto the pivot element 6261 of the base frame 6220.

[0425] The differential contraction of the first pair of SMA lines 6231 and 6233 drives the camera unit supported on the bracket plate 6250 (in... Figure 40 (Not shown) rotates about a pivot axis defined by a pivot element 6261 of the second pair of SMA lines 6232, 6234. Similarly, the differential contraction of the second pair of SMA lines 6232, 6234 drives the camera unit (in Figure 40 (Not shown) Rotates about a pivot axis defined by pivot element 6257 of the first pair of SMA lines 6231, 6233. Due to the arrangement of SMA lines 6231, 6232, 6233, 6234, these two pivot axes are perpendicular to each other and perpendicular to the optical axis. Furthermore, SMA lines 6231, 6232, 6233, 6234 are positioned along the optical axis with pivot elements 6257, 6261 such that the two pivot axes lie in a common plane along the optical axis. The configuration of SMA lines 6231, 6232, 6233, 6234 creates the required virtual pivot for the camera unit mounted on bracket 6250 by operating all SMA lines 6231, 6232, 6233, 6234 with controlled drive signals, without requiring any pivot or gimbal mechanism. Therefore, by driving the first pair of SMA lines and the second pair of SMA lines 6231, 6232, 6233, 6234 in combination, the actuator can be driven to provide tilt about any notional axis perpendicular to the optical axis.

[0426] Camera device 6201 includes a flexible printed circuit (FPC) substrate 6240. The FPC substrate 6240 is formed of a sheet of non-conductive material and is connected between a bracket plate 6250 and a support structure. The FPC substrate 6240 is fixed to the top surface of the bracket plate 6250. The FPC substrate 6240 includes two sensor tabs 6248 that deform at the edge of the bracket plate 6250 to extend downwards to the bottom surface of the bracket plate 6250 to abut against the PCB (in...). Figure 40 (Not shown in the image). Conductive tracks (in...) Figure 40 (Not shown in the image) Extends on sensor tab 6248 to connect to the PCB (in... Figure 40 (not shown in the image), thereby enabling interaction with the image sensor (in...) Figure 40 An electrical connection (not shown in the image) is provided through this electrical connection to the image sensor (in...). Figure 40 (Not shown) Power supply, information exchange, and image data transmission. In this example, the FPC substrate 6240 also includes a gyroscope tab 6249, similar to the sensor tab 6248. The gyroscope tab 6249 extends from the bracket plate 6250, but is deformed upwards and located outside and spaced apart from the edge of the base 6220. The gyroscope sensor 6270 is attached to the gyroscope tab 6249.

[0427] FPC substrate 6240 includes a body 6244, on which an integrated circuit (IC) chip (43 in WO 2012 / 020212 A1) is supported in the example described in WO 2012 / 020212 A1.

[0428] Also refer to Figure 41 The modified camera device 6201' can use the above-mentioned... Figures 37 to 39 Described flexible electrical connector wiring configuration.

[0429] Compared to the camera device 6201 of WO 2012 / 020212 A1, the body 6244 of the FPC substrate 6240 bends back through the bending region 6102 to pass under the modified camera device 6201' for connection to control and / or power electronic devices (e.g., IC chips).

[0430] Furthermore, in some examples, the FPC substrate 6240 may extend from the lower surface of the camera unit and may not have any such bends or folds.

[0431] -Electrical connection wiring using flexible arms-

[0432] Wiring for electrical connections used for power and / or data connections is not limited to flexible connectors in the form of flexible connectors 4100, 5100, FPC substrate 6240, etc. In other examples, flexible connectors may take the form of flexible arms that provide or support one or more conductors.

[0433] Also refer to Figure 42 The image shows a cross-section of the second modified third actuator assembly 4001c.

[0434] The second modified third actuator assembly 4001c is the same as the third actuator assembly 4001 except for the following differences: the electrical connection from the second (moving) member 4004 to the first (stationary) member 4002 is achieved using a series of first flexible arms 4201 and second flexible arms 4202, and each protruding edge 40251, 40252, 40253, 40254 includes a corresponding lip 42031, 42032, 42033, 42034.

[0435] Also refer to Figure 43 A plan view of the second component 4004, the lips 42031, 42032, 42033, 42034 of the second modified third actuator assembly 4001c, and the first flexible arm and the second flexible arms 4201, 4202 are shown from below (relative to the z-axis shown).

[0436] Each flexible arm 4201, 4202 includes a pair of straight segments that meet at a bend (or corner) 4204. Each first flexible arm 4201 connects a conductive pad (not shown) of a second lip 42032 to a corresponding conductive pad (not shown) on the underside 4018 of the second component 4004. The first flexible arms 4201 are arranged in a linear array along the x-axis as illustrated, wherein the corresponding straight segments are parallel to each other and all bends point in the same direction (positive x as illustrated). Similarly, each second flexible arm 4202 connects a conductive pad (not shown) of a fourth lip 42034 to a corresponding conductive pad (not shown) on the underside 4018 of the second component 4004. The second flexible arms 4201 are arranged in a linear array along the x-axis as illustrated, wherein their straight segments are parallel to each other and all bends point in the same direction (negative x as illustrated).

[0437] The electrical connection between the lower side 4018 and the upper side 4019 of the second component 4004 can be achieved by wiring conductors around the edge of the second component 4004 and / or through the thickness of the second component 4004. For example, the second component 4004 may include a multilayer PCB, or take the form of a multilayer PCB, and the connection via the multilayer PCB can be manufactured using conventional methods such as through-holes.

[0438] Each flexible arm 4201, 4202 may be formed from a sheet or foil of metal. For example, a sheet of steel or other suitable metal may be etched or stamped to form the first flexible arm and the second flexible arm 4201, 4202. Optionally, one or both sets of flexible arms 4201, 4202 may be attached to a movable frame to maintain their relative positions prior to attachment. Electrical connection of the metal flexible arms 4201, 4202 to the conductive pad at either end may be performed using one or a combination of methods, including but not limited to welding, brazing, spot welding, anisotropic conductive adhesive layers, etc.

[0439] The flexible arms 4201 and 4202 should have a thickness that, in combination with their shape including the bend 4204, provides relatively high mechanical compliance (equivalent to low stiffness). The flexible arms 4201 and 4202 should also have a mechanical compliance low enough that the mechanical effect of the flexible arms 4201 and 4202 on the tilting of the second component 4004 relative to the first component 4002 is negligible, or at least minimized.

[0440] Flexible arms 4201, 4202 can provide power and / or data connectivity to image sensor 4020. Additionally or alternatively, flexible arms 4201, 4202 can conduct current to or from SMA lines 40101, 40102, 40103, 40104. Optionally, any conductive tracks (not shown) supported on the lower side 4018 and / or the upper side 4019 can be configured to follow the angled shape of flexible arms 4201, 4202 to minimize current loops for any pulse width modulation (PWM) signals (e.g., signals powering SMA lines 40101, 40102, 40103, 40104) conducted by flexible arms 4201, 4202.

[0441] Instead of providing a single electrical connection, each flexible arm 4201, 4202 can support two or more electrical connections. For example, when the flexible arms 4201, 4202 are formed of metal or another conductor, a thin insulating layer (not shown) can be deposited or laminated on a surface, and a pattern of conductive tracks (not shown) can be formed on the thin insulating layer. The conductive tracks supported on the flexible arms can provide electrical connections for powering the image sensor 4020, reading data from the image sensor 4020, powering the SMA lines 40101, 40102, 40103, 40104, or a combination of these functions.

[0442] Although illustrated as connecting from lips 42031, 42032, 42033, 42034 to the lower side 4018 of the second component 4004, the flexible arms 4201, 4202 may instead connect the lower side 4018 of the second component 4004 directly to the upper side of the first component 4002, or directly to any other structure disposed below the lower side 4018 (relative to the z-axis as illustrated). Preferably, when viewed along the principal axis z, each flexible arm 4201, 4202 is connected to the first component 4002 at a location outside the lateral range of the second component 4004.

[0443] Although the flexible arms 4201, 4202 have been illustrated as having a pair of vertical straight segments connected by a 90-degree bend 4204, this shape is not mandatory. For example, the bend 4204 can be formed with different angles, such as between 30 degrees and 150 degrees. Alternatively, the flexible arms 4201, 4202 are not limited to two straight segments, but may include additional segments such that each flexible arm 4201, 4202 forms a zigzag or serpentine shape. Similarly, the flexible arms 4201, 4202 are not limited to two or more straight segments connected at certain angles, but in other examples, curved flexible arms may be used. The only limitation on the shape, size, and material of the flexible arms 4201, 4202 is that they should not significantly interfere with the tilt of the second component 4004, and they should provide or support a conductive path for electrical connection to the image sensor 4020 and / or the SMA line 4010.

[0444] Although sixteen first flexible arms 4021 and sixteen second flexible arms 4022 have been illustrated, any number can be used. Preferably, these numbers will be balanced on either side of pivot point 4008. In practice, the number of flexible arms 4201, 4202 can be determined by the number of electrical connections required between the first component and the second components 4002, 4004. In some examples, the number of flexible arms 4201, 4202 may exceed the number of electrical connections required. In other words, some of the flexible arms 4201, 4202 may be unused or “virtual” connections. This can help maintain the balance of pivot point 4008.

[0445] The wiring configuration using flexible arms 4201, 4202 described in the second modification of the third actuator assembly 4001c is also applicable to any of the previously described actuator assemblies 2001, 3001, 4001 (and their variations), or virtually applicable to any such actuator (not limited to the actuator assemblies 2001, 3001, 4001, 5001 (and their variations) described above). For example, the camera device 6201 originally described in WO 2012 / 020212A1 and discussed above can be modified to use flexible arms 4201, 4202 instead of the FPC substrate 6240.

[0446] The configurations of the two sets of flexible arms 4201 and 4202 are merely exemplary, and in other examples, the flexible arms may be configured as three, four, five or more sets.

[0447] For example, also refer to Figure 44 This shows the Figure 43 Alternative flexible arm layouts 42051, 42052, 42053, and 42054 to the illustrated flexible arm layout.

[0448] The first set of flexible arms 42051 connects the first lip 42031 to the first quadrant of the lower side 4018 of the second component 4004, with the elbow 4204 pointing in the positive y-direction as illustrated. Similarly, the second set of flexible arms 42052 connects the second lip 42032 to the second quadrant of the lower side 4018, with the elbow 4204 pointing in the positive x-direction as illustrated; the third set of flexible arms 42053 connects the third lip 42033 to the third quadrant of the lower side 4018, with the elbow 4204 pointing in the negative y-direction as illustrated; and the fourth set of flexible arms 42054 connects the fourth lip 42034 to the fourth quadrant of the lower side 4018, with the elbow 4204 pointing in the negative x-direction as illustrated. In this way, the group of flexible arms 42051, 42052, 42053, and 42054 essentially has fourfold rotational symmetry about the pivot point 4008. Alternatively, groups of more or fewer flexible arms 4205 can be used in rotationally symmetric or non-rotationally symmetric arrangements of any order of magnitude, which can help maintain the balance of pivot point 4008. Similarly, no symmetry of the flexible arms (of any kind) is required.

[0449] Also refer to Figure 43 The figure shows a cross-section of a third modified third actuator assembly 4001d. This actuator assembly is similar to the second modified third actuator assembly 4001c, except that flexible arms 4201, 4202 are connected to the lower surface of a first member 4002 having an annular shape. As shown, the first member 4002 overlaps with the second member 4004 along the main axis z. Flexible arms 4201, 4202 pass below the image sensor 4020 relative to the main axis z. The first modified third actuator assembly 4001b or the fourth actuator assembly 5001 may have a similar arrangement of the first member and the second members 4002, 4004, and the flexible electrical connector. The third modified third actuator assembly 4001d may include any of the drive and support mechanisms indicated herein.

[0450] The wiring for the electrical connections of the modified third actuator assemblies 4001b, 4001c, 4001d, the fourth actuator assembly 5001, and the modified camera device 6201', as described above, can also be applied to the actuators described in WO 2011 / 104518 A1. In such actuators, eight SMA lines are arranged obliquely relative to the main axis, with a pair of SMA lines on each of the four sides around the main axis. The SMA lines are connected such that the force provided by the two sets of four SMA lines during contraction has components in opposite directions along the main axis, enabling these sets to provide movement along the main axis. Each set of SMA lines has double rotational symmetry about the main axis, and there are opposing SMA lines capable of providing lateral movement or tilting.

[0451] Revise

[0452] It should be understood that many other variations of the above embodiments may exist.

[0453] For example, the different SMA drive components and different support components described above can be appropriately used in the actuator components described above.

[0454] In the above description, the component is described as rectangular, which should be interpreted as including a square shape. In the above description, the component is described as circular, which should be interpreted as including an elliptical shape.

[0455] The first to fourth SMA lines have been described and shown as directly connecting the first and second components. However, in some examples, the first to fourth SMA lines may connect the first and second components indirectly, for example, via one or more intermediate structures (not shown). The intermediate structures (not shown) may be configured to facilitate the extension of the travel of one or more SMA lines.

[0456] The actuator assembly can be any type of assembly, comprising a first component and a second component movable relative to the first component. The actuator assembly can be or can 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, cameras with foldable optics, image capture devices, array cameras, 3D sensing devices or systems, servo motors, consumer electronics, 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, 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. A camera assembly, comprising: First component; A second component, which is tiltable relative to the first component, includes an image sensor and a lens system, wherein the lens system is located above the image sensor relative to the main axis passing through the image sensor; A drive system configured to tilt the second component relative to the first component in response to a drive signal, wherein the tilting is about a first axis and / or a second axis that are not parallel and that are perpendicular to the main axis; and One or more flexible connectors operatively connected to the second component, wherein the one or more flexible connectors are wired to pass between the second component and the first component below the image sensor relative to the main axis; Each flexible connector is wired to pass above one or more lowest points of the envelope of the movement of the second component relative to the first component, at least partially relative to the main axis. Wherein, the one or more lowest points of the envelope of the movement of the second component are located at one or more corners of the second component, and wherein, when viewed along the main axis, the flexible connector does not occupy the corner area of ​​the second component.

2. The camera assembly of claim 1, wherein, The neutral axis of each flexible connector passes through or is close to the first axis and / or the second axis.

3. The camera assembly of claim 1 or 2, wherein, For at least a portion of each flexible connector, the normal to the main surface of the flexible connector forms an acute angle with the main axis.

4. The camera assembly of any preceding claim, wherein, For at least a portion of each flexible connector, the flexible connector does not include a fold that makes the normal of the main surface of the flexible connector perpendicular to the main axis.

5. The camera assembly of claim 3 or 4, wherein, The portion corresponds to the part of the flexible connector whose main surface is not attached to any other component of the camera assembly.

6. The camera assembly according to any one of claims 1 to 4, wherein, The second component includes a first surface and a second surface opposite to the first surface, wherein the image sensor is located on the first surface; Each flexible connector extends from the second component along a first direction and bends back along a second direction substantially opposite to the first direction to cross the second surface.

7. The camera assembly according to any of the preceding claims, comprising a plurality of flexible arms, each flexible arm providing or supporting at least one of the one or more flexible connectors.

8. The camera assembly according to any of the preceding claims, wherein, When viewed along the main axis, each flexible connector is connected to the first component at a location outside the lateral range of the second component.

9. The camera assembly according to any of the preceding claims, wherein, The lens system also includes: Lens bracket; A lens mechanism, the lens mechanism comprising at least one lens; and An autofocus system that mechanically connects the lens mechanism and the lens holder to allow the lens mechanism to move relative to the sensor.

Images