A piezoelectric motor and its camera module

Abstract

A piezoelectric motor is disclosed, comprising a fixed component, a movable component, a piezoelectric actuator, an elastic support, and a circuit board. The movable component is movably connected to the fixed component, and the piezoelectric actuator abuts against the movable component. The piezoelectric actuator includes a piezoelectric vibrator and a piezoelectric friction head, the piezoelectric friction head being disposed on the side of the piezoelectric vibrator near the movable component. The elastic support provides potential energy perpendicular to the direction of movement of the piezoelectric actuator and also provides potential energy along the height direction of the movable component. The circuit board is connected to the surface of the piezoelectric vibrator opposite to where the piezoelectric friction head is disposed, and the elastic support is partially disposed on the side of the circuit board away from the piezoelectric vibrator, thereby maintaining the planarity of the piezoelectric motor's movement.

Description

Technical Field

[0001] This solution relates to a piezoelectric motor and its camera module, and more particularly to a piezoelectric motor capable of realizing multi-degree-of-freedom motion. Background Technology

[0002] As users increasingly demand image stabilization, they are placing greater emphasis on image stabilization performance in video recording. Users expect camera modules with high resolution, small size, and image stabilization capabilities. However, generally speaking, the number of pixels in a camera module increases with the size of the image sensor, and the total track length (TTL) of the optical components also increases with the image sensor size. This leads to larger optical components or image sensors, and consequently, larger motor stroke and driving force requirements, ultimately resulting in a larger camera module size.

[0003] Current technologies commonly use voice coil spring motors, but due to the limited load-bearing capacity of the spring, they cannot adequately meet the large stroke and heavy weight requirements of optical components or photosensitive devices. While ball motors are also used for motor anti-vibration, their low response frequency makes them unsuitable for high-precision, high-frequency anti-vibration requirements and can easily cause abnormal noise. Piezoelectric motors can significantly improve these issues. However, as a contact actuator, piezoelectric motors require frictional actuation between the motor and the driven component. Therefore, the design of piezoelectric motors necessitates careful attention to assembly yield, reliability during use, product performance, and miniaturization. Consequently, piezoelectric motor designs require specific design considerations to achieve superior performance. Summary of the Invention

[0004] To address the above problems, the present invention provides a piezoelectric motor and its camera module, which can achieve at least one or more of the following beneficial effects:

[0005] 1. Achieved high-precision image stabilization;

[0006] 2. Structural improvements and optimizations have increased the installation yield of piezoelectric motors;

[0007] 3. Improved product reliability;

[0008] 4. The product size has been reduced.

[0009] The further objects and advantages of the invention will become fully apparent from the following description and accompanying drawings.

[0010] This invention provides a piezoelectric motor, comprising:

[0011] Fixed components;

[0012] A movable component, which is movably connected to the fixed component;

[0013] A piezoelectric actuator abutting against the movable component;

[0014] The piezoelectric actuator includes a piezoelectric vibrator and a piezoelectric friction head;

[0015] The piezoelectric friction head is disposed on the side of the piezoelectric vibrator near the movable component;

[0016] The elastic support provides potential energy perpendicular to the direction of movement of the piezoelectric actuator, and also provides potential energy along the height direction of the movable component.

[0017] The circuit board is connected to the opposite surface of the piezoelectric vibrator on which the piezoelectric friction head is located, and the elastic support portion is partially disposed on the side of the circuit board away from the piezoelectric vibrator.

[0018] In some embodiments, the present invention provides a piezoelectric motor, wherein a friction plate is fixedly connected to one side of the movable component, the friction plate is fixed to the movable component, the friction plate is arranged parallel to one side of the piezoelectric vibrator, and the piezoelectric friction head is located at the center of the friction plate.

[0019] In some embodiments, the present invention provides a piezoelectric motor, wherein the circuit board and the spring have through holes at the same location, and the movable component has through holes accommodating the size of a piezoelectric vibrator.

[0020] In some embodiments, the present invention provides a piezoelectric motor, wherein the spring has a first through hole, wherein the size of the first through hole is smaller than the size of one side of the piezoelectric vibrator.

[0021] In some embodiments, the present invention provides a piezoelectric motor, wherein the size of the first through hole of the spring is smaller than the size of the through hole of the circuit board.

[0022] In some embodiments, the present invention provides a piezoelectric motor, wherein the spring further includes a second through hole and a third through hole, and the size of the first through hole is larger than the second through hole and the third through hole.

[0023] In some embodiments, the present invention provides a piezoelectric motor, wherein the second through hole and the third through hole of the spring have the same area, and the area of ​​the first through hole of the spring is more than twice the area of ​​the second through hole of the spring.

[0024] In some embodiments, the present invention provides a piezoelectric motor, wherein the spring further includes a set of spring connecting arms that provide pressure to at least two sides of the piezoelectric vibrator.

[0025] In some embodiments, the present invention provides a piezoelectric motor, wherein the spring further has at least one spring positioning hole, and the spring is pressed onto the movable component through the spring positioning hole.

[0026] In some embodiments, the present invention provides a piezoelectric motor, wherein the circuit board further has at least one mounting portion for positioning the circuit board on the movable component, and the circuit board is located inside the spring.

[0027] Compared with the prior art, this application has at least one of the following technical effects:

[0028] 1. By setting a spring on the piezoelectric vibrator, a preload is provided to the piezoelectric vibrator.

[0029] 2. By optimizing the structure of the spring, pressure is always provided to at least two sides of the piezoelectric vibrator.

[0030] 3. By optimizing the structure of the spring, the circuit board will also deform to a certain extent when the piezoelectric vibrator moves after being energized. The spring can provide a certain inward potential energy, thereby making the spring, the circuit board and the piezoelectric vibrator in the first direction press more tightly, thus reducing the degree of deformation of the circuit board.

[0031] Further embodiments and features are set forth in part in the following description, and will be understood by those skilled in the art upon review of the specification or through practice of the disclosed subject matter. Further understanding of the features and advantages of this disclosure may be achieved by referring to the remainder of the specification and drawings, which form part of this application. Attached Figure Description

[0032] Figure 1 A cross-sectional view of the camera module structure with a piezoelectric motor according to this application is shown.

[0033] Figure 2 An exploded disassembly diagram of the piezoelectric motor in this application is shown.

[0034] Figure 3 An exploded view of the piezoelectric motor in this application is shown.

[0035] Figure 4A A schematic diagram of the torque of the piezoelectric actuator in the piezoelectric motor of this application is shown.

[0036] Figure 4BA schematic diagram of the torque of the piezoelectric actuator in the piezoelectric motor of this application is shown.

[0037] Figure 5 A schematic diagram of the piezoelectric actuator in the piezoelectric motor of this application is shown.

[0038] Figure 6 A schematic diagram of the piezoelectric actuator in the piezoelectric motor of this application is shown.

[0039] Figure 7 A schematic diagram of the piezoelectric actuator in the piezoelectric motor of this application is shown.

[0040] Figure 8 A cross-sectional structural schematic diagram of the piezoelectric motor in this application is shown.

[0041] Figure 9 An exploded view of the structure of the piezoelectric motor in this application is shown.

[0042] Figure 10 A schematic diagram of the frame of the piezoelectric motor in this application is shown.

[0043] Figure 11 A schematic diagram of the circuit board structure of the piezoelectric motor in this application is shown.

[0044] The above and other objects, features, and advantages of the present invention will become more apparent from the more detailed description of the embodiments of the invention in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts or steps. Detailed Implementation

[0045] Hereinafter, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments of the present invention. It should be understood that the present invention is not limited to the exemplary embodiments described herein.

[0046] In the description of this invention, it should be noted that directional terms such as "center," "lateral," "longitudinal," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise" indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limiting the specific protection scope of this invention.

[0047] It should be noted that the terms "first," "second," etc., in the specification and claims of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0048] The terms “comprising” and “having”, and any variations thereof, in the specification and claims of this application are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0049] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection, a contact connection, or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] Application Overview

[0051] As described in the background section, piezoelectric motors, as a type of contact actuator, require a tight connection between the drive end and the carrier. However, interference must be avoided during assembly and operation. Therefore, the piezoelectric motor and its components need to be optimized. The piezoelectric motor components must be easy to assemble, prevent component interference, improve drive performance, and increase product reliability.

[0052] In addition, miniaturization of motor size has always been one of the core requirements of manufacturers. How to reduce the size of piezoelectric motors without affecting performance is also an important product improvement.

[0053] On the other hand, it is even more challenging to reduce the size and improve the assembly yield of piezoelectric motor components while meeting functional and reliability requirements.

[0054] Reference Appendix Figure 1An exemplary camera module including a piezoelectric motor will be described, comprising a piezoelectric motor 1, a lens assembly 2, and a photosensitive component 3. The lens assembly 2 has an optical axis, and the piezoelectric motor 1 is disposed outside the lens assembly 2. The photosensitive component 3 is located below the lens assembly 2, and the lens assembly 2 is held in the light-sensing path of the photosensitive component 3. The lens assembly 2 is used to capture imaging light from a subject and propagate the imaging light to the photosensitive component 3, which receives the light passing through the lens assembly 2 to generate image information.

[0055] For example, the piezoelectric motor 1 can drive the lens assembly 2 to move along the optical axis to adjust the distance between the lens assembly 2 and the photosensitive element 3, thereby achieving focusing. The piezoelectric motor 1 can also drive the lens assembly 2 to move in a plane perpendicular to the optical axis, causing the lens assembly 2 to translate relative to the photosensitive element 3, thereby achieving image stabilization. Many improvements in this application involve improvements to the piezoelectric motor 1 assembly technology. In the subsequent descriptions of various specific structural improvements to the piezoelectric motor, the specific component names and positional relationships do not constitute a limitation on the technical solutions described in this invention, provided that the inventive concept and the achieved technical effects remain unchanged.

[0056] Reference Appendix Figure 2 -Appendix Figure 8 An exemplary piezoelectric motor 1 will be described. This application proposes a piezoelectric motor 1, which includes a circuit board 10, a fixed assembly 20, a movable assembly 30, a piezoelectric actuator assembly 40, a ball bearing 50, an elastic support portion 60, and a position sensing assembly 70. The movable assembly 30 is housed within the fixed assembly 20. The driving end of the piezoelectric actuator assembly 40 abuts against one end of the movable assembly 30. The movable assembly 30 is movably supported within the fixed assembly 20 by the ball bearing 50, so that the movable assembly 30 can move with minimal frictional resistance when driven by the piezoelectric actuator assembly 40.

[0057] A portion of the circuit board 10 is fixedly connected to the fixed component 20, and another portion is fixedly connected to the movable component 30. The circuit board 10 is bent and flexible between the portion fixed to the fixed component 20 and the portion fixed to the movable component 30, so that the circuit board 10 has little obstruction to the movement of the movable component 30. At least one piezoelectric actuator assembly 40 is disposed on and electrically connected to one side surface of the circuit board 10. In some optional embodiments, at least a portion of the piezoelectric actuator assembly 40 is disposed on the side of the circuit board facing the movable component. Furthermore, at least one position sensing component 70 is disposed on and electrically connected to the same side surface of the circuit board 10 where the piezoelectric actuator assembly 40 is mounted. The position sensing component 70 is used to detect the relative position of the movable component 30 and the fixed component 20, so that the driving speed of the piezoelectric motor 1 is faster.

[0058] At least one of the elastic support portions 60 is disposed on the circuit board 10. In some alternative embodiments, the elastic support portion 60 is disposed on the surface of the circuit board 10 opposite to the surface where the piezoelectric actuator assembly 40 is disposed; in other words, the elastic support portion 60 is disposed on the surface of the circuit board 10 relatively away from the optical axis. The elastic support portion 60 provides potential energy perpendicular to the driving direction of the piezoelectric actuator assembly 40, that is, it provides pre-pressure for the driving end of the piezoelectric actuator assembly 40 to abut against the movable component 30, thereby improving the driving performance and response frequency of the piezoelectric motor 1.

[0059] The fixing assembly 20 includes a base 21 and a housing 22, with the housing 22 located above the base 21. The base 21 and housing 22 are interlocked for a fixed connection. The housing 22 has an internal cavity to accommodate components such as the movable assembly 30, the circuit board 10, the piezoelectric actuator assembly 40, the ball bearing 50, the elastic support 60, and the position sensing assembly 70. The housing 22 prevents internal components from being damaged by external impacts.

[0060] Reference Appendix Figure 3 As shown, the circuit board 10 fixed on the base 21 is electrically connected to the photosensitive component 3 via pin 15, thereby enabling the circuit board in the photosensitive component 3 to perform signal control on the piezoelectric motor 1, etc.

[0061] The lower end of the movable component 20 and the upper surface of the base 21 are movably connected together by at least one ball bearing 50. The movable component 20 is movably connected to the housing 22 by a portion of the ball bearing 50 located at its upper end. In some optional embodiments, at least three ball bearings are provided between the lower end of the movable component 20 and the upper surface of the base 21 to maintain the stability of the movable interface. In some optional embodiments, ball bearings are provided at both the upper and lower ends of the movable component 30, which are movably connected to the base 21 and the housing 22, respectively. The ball bearings support the clearance height between the movable component 30 and the base 21 and the housing 22, thereby making the movable component 30 less prone to vibration or tilting relative to the base 21 and the housing 22 in the optical axis direction, increasing impact resistance and improving product reliability.

[0062] In some optional embodiments, the elastic support 60 includes a transverse spring 61 and a longitudinal spring 62, which are sheet-like structures. The transverse spring 61 extends in the direction perpendicular to the optical axis and is disposed on the top side of the inner surface of the housing 22, providing downward potential energy along the optical axis. The longitudinal spring 62 extends in a direction parallel to the mounting surface of the piezoelectric motor 1 and provides potential energy in the direction toward the optical axis. Multiple longitudinal springs 62 are respectively attached to multiple piezoelectric actuators 40 disposed in different orientations to provide potential energy in different directions, which can improve the integration of the piezoelectric motor 1 and improve the flatness of the components in the piezoelectric motor 1.

[0063] The upper surface of the transverse spring 61 is fixedly connected to the inner wall of the housing 22, and the lower surface of the transverse spring 61 is pre-pressed onto the ball bearing 50 between the movable component 30 and the housing 22, so that the movable component 20 is supported by the elastic force of the transverse spring 61. The transverse spring 61 provides potential energy in the optical axis direction, so that the movable component 20 is subjected to a pre-force downward in the optical axis direction. In some optional embodiments, the lower surface of the transverse spring 61 is pre-pressed onto at least three of the ball bearings 50, thereby ensuring that the movable component 20 can be assembled flat, which helps to improve the structural stability of the piezoelectric motor 1.

[0064] Specifically, the movable component 30 includes a first frame 31, a second frame 32, and a third frame 33. The first frame 31 is located on the upper side of the base 21, and the first frame 31 is movably connected to the base 20 via at least one ball bearing 50. In some optional embodiments, at least three ball bearings 50 are provided between the first frame 31 and the base 20. The first frame 31 can have a degree of freedom of movement relative to the base 20 in a first direction. The second frame 32 is disposed inside the first frame 31, and the second frame 32 is movably connected to the first frame 31 via at least one ball bearing 50. The second frame 32 has a degree of freedom of movement relative to the first frame 31 in a second direction.

[0065] Specifically, the piezoelectric actuator assembly 40 includes a first piezoelectric actuator 41, a second piezoelectric actuator 42, and a third piezoelectric actuator 43. One end of the first piezoelectric actuator 41 is fixedly connected to the circuit board 10, and the other end of the first piezoelectric actuator 41 abuts against the first frame 31, so that the first frame 31 moves along a first direction under the drive of the first piezoelectric actuator 41.

[0066] One end of the second piezoelectric actuator 42 is fixed to the circuit board 10, and the other end of the second piezoelectric actuator 42 is abutted against the second frame 32, so that the second frame 32 moves along the second direction under the drive of the second piezoelectric actuator 41.

[0067] Specifically, the first direction of the second frame 32's degree of freedom relative to the first frame 31 is orthogonal to the second direction of the first frame 31's degree of freedom relative to the base 20, so that in this application, the second frame 32 has the ability to move relative to the base 20 in a plane perpendicular to the optical axis. When performing image stabilization, the second frame 32 can be driven to move relative to the base 20 in a planar direction. That is, the piezoelectric motor 1 can realize the optical image stabilization function.

[0068] The third frame 33 is disposed inside the second frame 32, and the third frame 33 and the second frame 32 are movably connected together by a portion of the ball bearing 50. The third frame 33 has a third degree of freedom of movement relative to the second frame 32. This third degree of freedom is parallel to the optical axis.

[0069] The driving direction of the second piezoelectric actuator 43 is orthogonal to the driving direction of the first piezoelectric actuator 41, and the driving direction of the third piezoelectric actuator 43 is orthogonal to the driving directions of the first piezoelectric actuator 41 and the second piezoelectric actuator 42, respectively. This allows the third frame 33 to achieve image stabilization on the plane perpendicular to the optical axis, as well as focusing along the optical axis. Therefore, in this embodiment, the camera module 4 with the piezoelectric motor 1 can not only meet the horizontal movement required for image stabilization, but also perform image focusing.

[0070] In this application, the piezoelectric drive method requires a frictional connection between the drive end and the driven component to reduce resistance during movement and reduce frictional resistance loss of the piezoelectric motor 1. The ball bearings, as motor retaining devices, can improve the parallelism of movement. The point contact of the ball bearings can also reduce friction. Compared with planar contact friction, it can reduce actuator friction loss, thereby increasing the service life of the piezoelectric actuator 40 and the piezoelectric motor 1.

[0071] For easier understanding, please refer to the appendix. Figure 2 To illustrate, the first direction can be the x-axis direction in a three-dimensional coordinate system, the second direction is the y-axis direction which is perpendicular to the x-axis direction and forms a horizontal plane with the x-axis direction, and the third direction can be represented as the z-axis direction which is perpendicular to both the x-axis and y-axis, and the z-axis is parallel to the optical axis direction.

[0072] Reference Appendix Figure 2 As shown, to facilitate the demonstration of the structure of the piezoelectric actuator assembly 40, the attached diagram is provided. Figure 2 The enlarged view of the piezoelectric actuator group 40 is shown in the figure with dashed boxes and arrows, and the first piezoelectric actuator 41, the second piezoelectric actuator 42 and the third piezoelectric actuator 43 included in the piezoelectric actuator group 40 are also enlarged.

[0073] In this application, the first, second, and third piezoelectric actuators 41, 42, and 43 further include first, second, and third piezoelectric oscillators 410, 420, and 430, respectively. The piezoelectric oscillator is a substrate exhibiting the inverse piezoelectric effect and contracting or expanding according to the polarization direction and electric field direction. It can be used by polarizing the substrate in the thickness direction of single crystals, polycrystalline ceramics, polymers, etc. The inverse piezoelectric effect refers to the mechanical deformation of a dielectric when an electric field is applied in the polarization direction, resulting in a potential difference. The piezoelectric oscillator has the function of ultrasonic oscillation, enabling it to achieve oscillating reciprocating motion or elliptical motion on a specifically configured electrode layer, thereby driving the driving end of the piezoelectric actuator. In the embodiments of this application, the piezoelectric oscillator is composed of piezoelectric material and is connected to the circuit board 10 to achieve circuit conduction, thereby providing power excitation to the piezoelectric actuator 41.

[0074] First, second, and third friction heads 411, 421, and 431 are fixedly connected to one surface of the first, second, and third piezoelectric vibrators 410, 420, and 430, respectively. The friction heads achieve a unit motion trajectory of elliptical or oscillating reciprocating motion due to the deformation of the piezoelectric vibrators.

[0075] Specifically, the second frame 32 has the same degree of freedom of movement relative to the outer shell 22 as the second frame 32 has the same degree of freedom of movement relative to the base 21. The ball bearing 50 provided between the second frame 32 and the outer shell 60 can support the second frame 32 without hindering its movement.

[0076] The outer casing 22 further includes a pressure plate 222 and an outer casing body 221. The upper surface of the transverse spring 61 is mounted on the lower surface of the pressure plate 222, and the outer casing body 221 is fixedly connected to the upper side of the pressure plate 222. Both the upper and lower surfaces of the pressure plate 222 are provided with pressure plate positioning structures 2221, such as positioning holes and grooves, for better positioning and connection with the outer casing body 221.

[0077] The upper surface of the second frame 32 is provided with at least three upper ball grooves 3212. In some optional embodiments of this application, the number of upper ball grooves 3212 is four. The second frame 32 is movably connected to the interior of the outer shell 22 by ball bearings 50 confined in the upper ball grooves 3212. When the number of ball bearings is greater than three, a rolling plane is formed by three points forming a surface, which can ensure the flatness of the moving part during rolling. (See attached figure) Figure 7 As shown, the four ball bearing grooves 3212 on the second frame are located at the center of the four sides of the upper surface of the second frame 32 along the projection view. By setting the ball bearing grooves at the center of the four sides of the second frame, the focusing mechanism and circuit components located at the four corners are avoided, which can reduce the size of the second frame 32 and further reduce the size of the piezoelectric motor 1. Each ball bearing groove 3212 on the second frame contains a ball bearing, which is movably connected to the inside of the housing 22 in a four-point support manner. In this application, the ball groove 3212 on the second frame and the ball placed in the ball groove 3212 on the second frame are connected by a ball groove, that is, the width and length of the ball groove 3212 on the second frame are both greater than the volume of the ball 50, so as to allow the ball in the ball groove 3212 on the second frame to move in multiple directions. At the same time, the ball groove structure makes the second frame 32 and the outer shell 22 have at least first and second degrees of freedom of movement, so that the second frame 32 has the same first and second degrees of freedom of movement relative to the outer shell 22 as the second frame 32 has the same degrees of freedom of movement relative to the base 21.

[0078] The transverse spring 61 is connected to the lower side of the pressure plate 222. The lower surface of the transverse spring 61 abuts against the balls in the ball groove 3212 on the second frame, so that the transverse spring 61, as a force-applying device, always provides a preload to the balls in the ball groove 3212 on the second frame, to ensure that the second frame 32, the first frame 31 and the base 20 are leveled and corrected by the preload of the transverse spring 61 after assembly. For ease of explanation, the preload provided by the transverse spring 61 to the second frame 32 is represented by a dotted line (labeled F2).

[0079] More specifically, the lateral spring 61 can provide the second frame 32 with downward potential energy. Since the frames acted upon by the lateral spring 61 are the first frame 31 and the second frame 32, the lateral spring 61 actually provides potential energy perpendicular to the direction of movement of the first frame 31 and the second frame 32, thereby making the second frame 32 tightly assembled with the first frame 31 and preventing the first frame and the second frame 32 from tilting relative to the base 20.

[0080] On the other hand, when the pressure plate 222 is assembled from top to bottom, it provides a pre-pressure along the optical axis to the transverse spring 61, which corrects the transverse spring 61 to a horizontal position. The balls in the ball groove 3212 on the second frame abut against the lower surface of the transverse spring 61. The transverse spring 61 has a certain strength, which limits the upper end of the second frame 32, increases the installation strength of the housing 60 assembled onto the second frame 32, and at the same time, the degree of freedom between the housing 22 and the second frame 32 does not hinder the movement of the second frame 32 relative to the base 20, thereby increasing the reliability of the piezoelectric motor 1.

[0081] For ease of understanding, in this application, the outer casing 22 provides a limiting function for the second frame 32 via the ball bearing 50, preventing the second frame 32 from freely detaching from the first frame 31. Furthermore, during assembly, when the outer casing 22 is assembled from top to bottom, the ball bearing 50 applies a downward compressive force to the second frame 32, thereby correcting the assembly level of the second frame 32 relative to the first frame 31. Additionally, the compressive force can also be transmitted to the first frame 31, correcting its assembly level relative to the base 20. Overall, the outer casing 22 serves to limit the upper end of the movable component 30; more specifically, it can be considered to limit the upper ends of both the first frame 31 and the second frame 32, or to provide upper-end retention for both the first and second frames 31.

[0082] Still refer to the appendix Figure 2As shown, since the base 20 is movably disposed at the lower end of the first frame 31, both the first frame 31 and the second frame 32 are supported by the base 20. Simultaneously, the movable support is achieved by a plurality of ball bearings 50 disposed on the base 20, the first frame 31, and the second frame 32, ensuring that the first frame 31 and the second frame 32 do not tilt along the optical axis, and that their operation in the plane perpendicular to the optical axis is not restricted.

[0083] The base 21 further includes a base body 211 and base side plates 213 extending upward from at least two sides of the base body 211. The base body 211 is located on the bottom side of the base 21, serving as a base support, and is positioned and fixed to the outer casing 221. The base body 211 provides a mounting reference for components mounted on the base 21. A base ball groove 212 is formed on the upper surface of the base body 211. The base side plates 213 extend from both sides of the base body 211 along the optical axis. Viewed from the side, each base side plate 213 is approximately flat. One side plate 213 is narrower than the other side plate 213. At least two base ball grooves 212 are provided on the base body 211 on one side of the base side plate 213, and at least three base side wall ball grooves 220 are provided on the side wall of the other side of the base side plate 213. The base side plate 213 and the movable component 30 are movably connected by the balls 50 disposed in the base ball grooves 212 and the base side wall ball grooves 220.

[0084] The circuit board 10 is fixedly connected to the base side plate 213. The circuit board 10 includes a first body 11, a second body 12, and a third body 13, wherein the first piezoelectric actuator 41 is electrically connected to the first body 11, the second piezoelectric actuator 42 is electrically connected to the second body 12, and the third piezoelectric actuator 43 is electrically connected to the third body 13.

[0085] The base side plate 213 further includes a side plate mounting portion 2132, wherein the side plate mounting portion 2132 is disposed on at least one side of the base side plate 213. In one optional embodiment of this application, the side plate mounting portion 2132 is disposed on a relatively narrow base side plate 213. The side plate mounting portion 2132 includes a set of positioning posts for positioning and assembling the first body 11 and the longitudinal spring piece 62 of the circuit board 10. The side plate mounting portion 2132 also includes an area on the side for attaching the first body 11 of the circuit board 10.

[0086] Reference Appendix Figure 2As shown, the base side plate 213 has a first through hole 2130 and a second through hole 2131. The first through hole 2130 is formed in the middle part of the base side plate and is approximately rectangular. The size of the first through hole 2130 is larger than that of the first piezoelectric actuator 41, so that the piezoelectric actuator 41 can be accommodated within the first through hole 2130. The second through hole 2131 is used to accommodate the first position sensor 72.

[0087] The first through hole 2130 and the second through hole 2131 of the base are located on the same side of the base side plate 213, and the side plate mounting portion 2132 is located around the first through hole 2130. In one embodiment of this application, the side plate mounting portion 2132 is a set of mounting posts, providing a positioning and mounting area for assembling the circuit board 10 on the base 21. (See attached drawing.) Figure 2 As shown, in one embodiment of this application, the side plate mounting portion 2132 is disposed on the outer side of the base side plate 23. The side plate mounting portion 2132, the first through hole 2130, and the second through hole 2132 of the base are disposed on the same base side plate 23. Simultaneously, through the first through hole 2130, the second through hole 2132, and the side plate mounting portion 2132 located on the outer side of the base side plate 213, the first piezoelectric actuator 41 and the first position sensor 72 can be mounted on the same side of the circuit board 10. This reduces the size required for the base 20 due to positioning and avoiding the piezoelectric motor 1, thus lowering the overall size of the piezoelectric motor 1. In some optional embodiments, the first position sensor 72 can detect the position of the first frame 31 relative to the base 20 by detecting the magnitude of the magnetic flux. In this solution, the position sensor is placed near the piezoelectric actuator 40 on the same side, which improves the accuracy of the position sensor detection, thereby increasing the response frequency of the piezoelectric motor 1.

[0088] The position sensing component 70 includes a first magnet 71 and a first position sensor 72. The first position sensor 72 is fixedly mounted on the first main body 11. The second through hole 2131 of the base has a larger size than the first position sensor 72. The first magnet 71 is fixedly disposed on the side of the first frame 31. The first position sensor 72 can detect changes in magnetic flux, thereby detecting the relative position of the first magnet 71 with respect to the first position sensor 72. When the first frame 31 moves relative to the base 21 in a predetermined direction, the first frame 31 drives the first magnet 71 to move, and the magnetic field generated by the first magnet 71 changes. The magnetic flux received by the first position sensor 72 changes, and the position difference of the first magnet 71 relative to the first position sensor 72 can be obtained by calibrating the magnetic flux of the first position sensor 72.

[0089] The position sensing component also includes a second magnet 73 and a second position sensor 74, wherein the second position sensor 74 is fixedly mounted on the second main body. Similar to the first magnet 71, the second magnet 73 is fixedly mounted on the second frame 32. A first frame first through hole 3120 and a first frame second through hole 3121 are formed on one side of the first frame 31. The second piezoelectric vibrator 420 is accommodated in the first frame first through hole 3120, and the second position sensor 74 is accommodated in the first frame second through hole 3120. For the specific structural relationship, please refer to the above description of the first magnet 71 and the first position sensor 72.

[0090] The position sensing component also includes a third magnet 75 and a third position sensor 76, wherein the third position sensor 76 is fixedly mounted on the third body 30.

[0091] It is understandable that by placing a position sensor near the piezoelectric actuator, the position sensor can detect the relative position change of the piezoelectric actuator more accurately. By accommodating the position sensor in a through hole and placing a magnet opposite the position sensor, the position sensor can be brought closer to the magnet, the detected magnetic field strength is greater, and the position sensor is more sensitive, so that the piezoelectric motor 1 has a faster response frequency or control accuracy.

[0092] Reference Appendix Figure 2 , attached Figure 5 , attached Figure 6 As shown, the first frame 31 includes a first frame mounting portion 310 and a first frame ball groove 311 formed on the first frame. The first frame mounting portion 310 is disposed on the outer surface of the first frame 31, and the first frame ball groove 311 cooperates with the base ball groove 22 to form a unidirectional guiding space for the ball, thereby enabling the first frame 31 and the base 20 to have a degree of freedom of movement along a first direction.

[0093] Reference Appendix Figure 6 As shown, the first frame 31 also includes a first frame first through hole 3120 formed on one side wall of the first frame 31 and a first friction plate 314 disposed on an adjacent side wall of the first frame 31. The first frame first through hole 3120 is a rectangular through hole. The size of the first frame first through hole 3120 is larger than that of the second piezoelectric vibrator 420, so that the second piezoelectric actuator 42 is accommodated in the first frame first through hole 3120 in a manner that is directly opposite to the first frame first through hole 3120. On the side near the second piezoelectric actuator 42, the first frame also forms a first frame second through hole 3121, which is adjacent to the first frame first through hole 3120.

[0094] A first friction plate 314 is fixedly disposed on the side wall of the first frame 31. The first friction plate 314 is disposed opposite to the first piezoelectric actuator 41, wherein the first friction plate 314 is accommodated in a groove on the side of the first frame 31 to reduce the size of the piezoelectric motor 1. The first friction plate 314 abuts against the first friction head 411 of the first piezoelectric actuator 41.

[0095] A second friction plate 324 is fixedly disposed on one side wall of the second frame 32. The second friction plate 324 is disposed opposite to the second piezoelectric actuator 42. The second friction plate 324 is accommodated in a groove on the side of the second frame 32 to reduce the size of the piezoelectric motor 1.

[0096] A third friction plate 333 is fixedly disposed on one corner of the third frame 33. The third friction plate 333 is disposed opposite to the third piezoelectric actuator 43. The third friction plate 333 is housed in the opposite corner sidewall of the third frame 33 to better integrate the outer actuator structure and circuit components, thereby achieving a more integrated product design.

[0097] The aforementioned friction plate can be made of alumina material, which reduces the loss of friction connection and thus increases the working life of the piezoelectric motor 1. On the other hand, the friction plate can provide better flatness, which facilitates the driving of the piezoelectric actuator.

[0098] Reference Appendix Figure 2 As shown, the first piezoelectric vibrator 410 is a rectangular strip. The first piezoelectric vibrator 410 is fixedly connected to the first main body 11, and one side of the first main body 11 is fixedly mounted on the side plate mounting portion 232. A first piezoelectric friction head 411 is fixedly connected to the inner surface of the first piezoelectric vibrator 410. The first piezoelectric friction head 411 protrudes and is fixedly disposed at the center position of the inner surface of the first piezoelectric vibrator 410, which can increase the unit driving stroke of the first piezoelectric friction head 411.

[0099] In its initial state (i.e., when the motor is reset), the first piezoelectric friction head 411 abuts against the center of the first friction plate 413. When the first piezoelectric vibrator 410 is excited by a power signal, it vibrates or deforms, causing the first piezoelectric friction head 411 to vibrate or deflect. The first piezoelectric vibrator 410 and the first friction plate 413 are in close contact, allowing the first piezoelectric friction head 411 to generate friction relative to the first friction plate 413, thereby driving the first frame. In this embodiment, the friction head can be considered the driving end of the piezoelectric actuator. Similarly, in the initial state, the second piezoelectric friction head 421 and the second friction plate 324, and the third piezoelectric friction head 431 and the third friction plate 333 are all connected in this manner.

[0100] The longitudinal spring 62 further includes a first spring 621, a second spring 622, and a third spring 623. The first spring 621 is pre-pressed on the outside of the first body 11, the second spring 622 is pre-pressed on the outside of the second body 12, and the third spring 623 is pre-pressed on the outside of the third body 13. The first spring 621, the second spring 622, and the third spring 623 respectively provide potential energy perpendicular to the driving directions of the first piezoelectric actuator 41, the second piezoelectric actuator 42, and the third piezoelectric actuator 43, thereby providing a pre-pressure force for the driving end of the piezoelectric actuator assembly 40 to abut against the movable component 30, resulting in better motion performance and a better response frequency for the piezoelectric motor 1.

[0101] The first-direction piezoelectric vibrator 410 is housed within the first through hole 2130 of the base, reducing the size increase caused by the external placement of the piezoelectric vibrator 410 and thus reducing the size of the piezoelectric motor 1. By accommodating the first-direction piezoelectric vibrator 410, its outer surface is fixed to the first body 11, and its inner surface serves as the deformation driving surface of the first-direction friction head 411. The potential energy of the first spring 621 increases the clearance of the piezoelectric motor 1, that is, it more tightly presses the piezoelectric actuator against the movable frame, thereby increasing the deformation range of the deformation driving surface design.

[0102] Reference Appendix Figure 2As shown, the first main body 11 of the circuit board 10 is plate-shaped, and the first main body 11 further includes a first mounting portion 110, a first connecting arm 112, and a first positioning portion 113. The first mounting portion 110 is annular, with a first through hole 111 forming a rectangular opening in the middle. The first piezoelectric vibrator 410 can be attached to the annular solid portion of the first mounting portion 110. The rectangular opening of the first mounting portion 110 is disposed on the back side of the first piezoelectric vibrator 410 to avoid gaps, which can increase the reliability of the piezoelectric motor 1 and reduce the risk of detachment due to vibration or resonance. The deformation of the back side of the first piezoelectric vibrator 410 is avoided by the first through hole 111 of the first mounting portion 110, which increases the installation reliability.

[0103] The first positioning part 113 is fixedly connected to the mounting part 2132 of the base side plate, and the first positioning part 113 serves to position and attach the first main body 11. The first positioning part 113 is configured as a plate-shaped structure with positioning holes. The first positioning part 113 is located on the outside of the first mounting part 110. The two first connecting arms 112 are flexible, and the first mounting part 110 extends to the first positioning part 113 of the first main body 11 through the first connecting arms 112 on both sides. The first main body 11 is connected to the positioning post on the outer surface of the base side plate 23 through the positioning holes provided in the first positioning part 113, thereby improving the assembly accuracy of the camera module. The first connecting arms 112 allow for a certain installation margin adjustment when assembling the first piezoelectric actuator 41 with the first main body 11, reducing the reliability risks caused by tight assembly and vibration of the piezoelectric actuator.

[0104] Furthermore, the first mounting portion 110 has a first extension portion 114 along the optical axis direction. Therefore, the first mounting portion 110 has a degree of freedom relative to the first main body 11 in the direction of extension of the two connecting arms, as well as a degree of freedom along the optical axis direction. Thus, the first mounting portion 110 can have at least a degree of freedom perpendicular to the optical axis direction relative to the first positioning portion 113, thereby satisfying the required movable margin for the rotational deflection of the friction head when the piezoelectric vibrator is working.

[0105] Similarly, the second mounting portion 120 may also be provided with a second extension portion 124 in the optical axis direction, which can also be considered as the height direction. Therefore, in this application, the first and second main bodies also include a first and a second extension portion, wherein the first and the second extension portions extend along the height direction and are perpendicular to the first and the second connecting arms, respectively, so that the circuit board can provide movable space in two directions for each piezoelectric actuator.

[0106] Reference Appendix Figure 7 and attached Figure 9As shown, the first spring 621 includes a first spring preload portion 6210, wherein the first spring preload portion 6210 is disposed in the middle of the first spring 621 and is disposed on the back side of the first piezoelectric vibrator 410. The first spring preload portion 6210 provides preload force to the back side of the first piezoelectric vibrator 410. A first spring first through hole 6211 is formed in the middle of the first spring preload portion 6210, wherein the first spring preload portion 6210 surrounds... Four first spring connecting arms 6212 are provided, which provide planar support for the first piezoelectric vibrator 410. The first spring first through hole 6211 is located on the back of the first piezoelectric vibrator 410. The first spring first through hole 6211 serves to prevent deformation of the back of the first piezoelectric vibrator 410 and prevent the first piezoelectric vibrator 410 from interfering with the first spring 621 during operation, thereby increasing the reliability of the piezoelectric motor.

[0107] In addition, the first spring contact connecting arm 6212 includes a pair of first spring longitudinal connecting arms 62120 extending along the optical axis direction and a pair of first spring transverse connecting arms 62121 extending perpendicular to the optical axis direction. The first spring longitudinal connecting arms 62120 and the first spring transverse connecting arms 62121 extend integrally with each other to form a mouth-shaped frame pre-pressurize and support the first main body of the circuit board 10, thereby providing a mouth-shaped pre-pressure to the back of the first piezoelectric vibrator 410 to support the back of the first piezoelectric vibrator 410 and ensuring that the first piezoelectric friction head 411 on the first piezoelectric vibrator 410 always abuts against the first friction plate 314.

[0108] The first spring preload portion 6210 has integrally extended first spring side portions 6213 on both sides. Each of the two first spring side portions 6213 has a first spring second through hole 6214 and a first spring third through hole 6215, respectively, wherein the first spring second through hole 6214 and the first spring third through hole 6215 are of the same size. The first spring side portion 6213 is provided with mounting holes, allowing the first spring 621 to be fixed to the base side plate 213 through the mounting holes of the first spring side portion 6213. Furthermore, the arrangement of the first spring second through holes 6214 and the first spring third through holes 6215 on both sides of the first spring preload portion 6210 increases the allowable movement of the first spring preload portion 6210.

[0109] The first spring piece 621 is elastic. The longitudinal connecting arm 62120 of the first spring piece divides the portion between the second through hole 6214, the third through hole 6215 and the first through hole 6211 of the first spring piece. The through hole reduces the deformation of the spring piece and correspondingly increases the elastic potential energy of the longitudinal connecting arm 62120 of the first spring piece.

[0110] It is understandable that a piezoelectric vibrator will deform under electrical signal excitation. In some embodiments, the piezoelectric vibrator is composed of multiple stacked electrode layers. After inputting signals to each electrode layer, the piezoelectric vibrator as a whole vibrates, driving the friction head to move. Generally, the deformation of the middle region of the piezoelectric vibrator is the largest, so the stroke of the friction head is also large. Sometimes, in order to increase the unit stroke of the piezoelectric vibrator, the deformation of the middle region of the inner and outer surfaces of the piezoelectric vibrator will be designed to have a larger vibration amplitude, requiring a larger preload to reduce assembly interference. In this application, the first through hole 6211, the second through hole 6214, and the third through hole 6215 of the first spring 621 can prevent the circuit board from colliding and interfering with the piezoelectric vibrator, thereby improving the reliability of the piezoelectric motor 1. The larger the elastic deformation stroke provided by the spring, the higher the working efficiency of the piezoelectric motor 1.

[0111] It is understood that the pre-pressure provided by the first spring 621 is perpendicular to the driving direction of the first piezoelectric actuator 41, thereby enabling the piezoelectric actuator 41 to move freely and always be subject to the pre-pressure of the first spring 621, maintaining the contact state required for the driving of the first piezoelectric actuator 41.

[0112] Specifically, the area of ​​the first through hole 6211 of the first spring is more than twice the area of ​​the second through hole 6214 and the third through hole 6215 of the first spring, thereby increasing the elastic restoring force of the first spring 621 and maintaining the contact state required for the drive of the first piezoelectric actuator 41.

[0113] The first spring contact 621 has four corners with first spring contact positioning holes 62130. These first spring contact positioning holes 62130 are through holes, making it easy for the first spring contact 621 to be installed onto the mounting portion 2132 of the base side plate. The first spring contact 621 is directly fixed to the base side plate 213. In addition, the first spring contact positioning holes 62130 used to fix the first spring contact 621 are separate from the positioning holes on the first positioning portion 113 of the circuit board 10. Therefore, the fixing relationship between the first spring contact 621 and the base side plate 213 is not affected by the assembly of the circuit board 10. Furthermore, the dimensional variations caused by the working vibration of the first piezoelectric actuator 41 will not affect the assembly stability of the first spring contact 621, ensuring a relatively stable connection between the first spring contact 621 and the base side plate 23.

[0114] In summary, the first spring 621 in this application can fix and limit the first piezoelectric vibrator 410, and at the same time provide a certain preload.

[0115] To facilitate the description of the embodiments of this application, the ball bearing 50 may further include at least one first ball bearing 51, at least one second ball bearing 52, and at least one third ball bearing 53. The first ball bearing 51 is disposed in a ball groove between the first frame 31 and the base 21, and primarily serves to movably connect the first frame 31 and the base 21, allowing the first frame 31 to move relative to the base 21 along a first line. The second ball bearing 52 is disposed in a ball groove between the first frame 31 and the first frame 32, and also between the second frame 32 and the outer shell 22. The second ball bearing 52 primarily serves to movably connect the first frame 31 and the second frame 32, and also serves to movably connect the second frame 32 and the outer shell 22. The third ball 53 is disposed in the ball groove between the second frame 32 and the third frame 33. The third ball 53 mainly serves to movably connect the second frame 32 and the third frame 33, so that the third frame 33 can move relative to the second frame 32 in a third direction.

[0116] Reference Appendix Figure 2 As shown, the base ball groove 212 further includes a base side wall ball groove 2120 and at least one set of base end face ball grooves 2121. The base side wall ball groove 2120 is formed on the inner wall of the base side plate 213, and there are three of them. At least two of the three base side wall ball grooves 2120 are set at the height position of the base side plate 213 along the optical axis direction, so that when the first frame 31 is supported by the balls 50 set in the three base side wall ball grooves 2120, the two connected sides use balls of different heights as support points, so that the torque generated by the support force is more dispersed and planarized, and it is not easy for the single ball or single row of balls to rotate due to support, thereby ensuring the flatness between the frames when the piezoelectric motor 1 is working.

[0117] On the other hand, the base end face ball groove 2121 is disposed on the upper surface of the base body 211 and located at the two corners of the base body 21. The first ball 51 further includes a first side wall ball 510 and a first end face ball 511. The first side wall ball 510 is disposed in the base side wall ball groove 220, and the first end face ball 511 is disposed in the base end face ball groove 221. There are three first side wall balls 510. One first side wall ball 510 is disposed in each base side wall ball groove 220, and one first end face ball 511 is disposed in each base end face ball groove 221. That is to say, one ball is disposed in each ball groove between the first frame 31 and the base 20, thereby reducing the friction between the first frame 31 and the base 20.

[0118] like Figure 7 and Figure 8 and Figure 9 As shown, the top side of the first end face ball 511 abuts against and flexibly rubs against the bottom side of the first frame 31, while the first side wall ball 510 flexibly rubs against the outer side wall of the first frame 31. In a specific embodiment of this application, the side wall of the first frame 31 extends outward to form a first frame top side extension 315 and at least two first frame side wall extensions 316. The first side wall ball 510 located at a relatively high position flexibly rubs against the lower surface of the top side extension 315 of the first frame 31, and the first side wall ball 510 located at a relatively low position flexibly rubs against the lower surfaces of the two first frame side wall extensions 316 on the bottom side of the first frame 31. At the same time, the width of the pre-set clearance groove above the relatively low-height base side wall ball groove 220 is slightly larger than the width of the side wall extension 316, which is used to limit the movable stroke of the first frame 31.

[0119] In one embodiment of this application, the first sidewall ball bearing 510 and the first end face ball bearing 511 have the same volume, thus facilitating the assembly of universal ball bearings. The depth of the base end face ball bearing groove 2121 is less than the depth of the base sidewall ball bearing groove 2120, thereby reducing the wall thickness in certain areas, reducing the thickness of the base, and consequently reducing the size of the piezoelectric motor. The two first sidewall ball bearings 510 and the two first end face ball bearings 511 located at the same height have the same height, so that the bottom surface of the first frame 31 and the base 20 are supported in a planar manner by four ball bearings of the same height, ensuring the flatness between the first frame 31 and the base 20. Meanwhile, the depth of the side wall ball groove 2120 at the same height is greater than that of the base end face ball groove 2121, so as to ensure that the first side wall ball 510 set in the side wall ball groove 2120 at the same height rubs against both the outer side wall of the first frame 31 and the bottom side of the first frame side wall extension 316, while reducing the overall size.

[0120] like Figure 3As shown, in one embodiment of this application, the inwardly extending width of the ball groove 2120 on the base sidewall is smaller than the diameter of the first sidewall ball 510, and the width of the ball groove 2121 on the base end face is larger than the diameter of the first end face ball 511. This allows the ball to act as a point support when the first frame 31 is assembled onto the base 21, so that the first sidewall ball 510 can be adjusted when the first frame 31 is assembled onto the base 21, allowing the apex and side of the first sidewall ball 510 to rest against the first frame 31 without interference. The width and length of the ball groove 2121 on the base end face are both greater than the diameter of the first end face ball 511, thus allowing the first end face ball 511 to have free movement space in the ball groove 2121. When the first frame 31 is assembled to the base 21, the movable clearance of the first end face ball 511 in the ball groove 2121 can be adjusted, so that the apex and side of the first end face ball 511 can rest against the first frame 31 without interference. In one embodiment of this application, the width of the ball groove 2120 on the base side wall is shown to be 0.9 mm, the width and length of the ball groove 2121 on the base end face are 1.5 mm, and the diameter of the first side wall ball 510 is 1 mm, thus allowing the first end face ball 511 to have 0.5 mm of adjustment space in the ball groove 2121 on the base end face.

[0121] The first sidewall ball 510 is disposed on the opposite side of the first piezoelectric actuator 41. Preferably, there are three first sidewall balls 510 (for ease of illustration, only the case of one ball in cross-section is shown in the figure), and the line connecting the first sidewall balls 510 forms a triangle. At least one of the first sidewall balls 510 is located on the upper part of the base side plate 23 and on the axis of the line connecting the centers of the other two first sidewall balls 510.

[0122] Reference Appendix Figure 5 As shown, the first spring 621 provides lateral preload to the first piezoelectric actuator 41, and the first piezoelectric friction head 411 of the first piezoelectric actuator 41 provides lateral preload to the first frame 31. Figure 5 The preload is indicated by a dotted line with an arrow (labeled F1), where the first frame 31 is connected to the base 20 via three first sidewall balls 510. On the opposite side of the first piezoelectric actuator 41, there is a gap between the first frame 31 and the base side plate 23 not larger than the diameter of the sidewall balls 510. Figure 3The symbol ① is used to indicate that the first frame 31 and the base side plate 23 are always supported by ball bearings, so that there is no interference or surface friction between the first frame 31 and the base side plate 23, which would cause excessive friction. This ensures that the first piezoelectric actuator 41 moves more smoothly during operation, reduces friction, and at the same time, the workload required by the first piezoelectric actuator 41 is not very high, thus increasing the service life of the piezoelectric actuator.

[0123] Reference Appendix Figure 2 and attached Figure 3 As shown, in a preferred embodiment of this application, similarly, the downward potential energy provided by the upper spring 611 is transmitted to the first frame 31 via the ball bearings disposed between the second frame 32 and the first frame 31. Therefore, the first frame 31 can be tightly assembled relative to the base 20. Overall, the specific position of the movable component 30 in the piezoelectric motor 1 is provided by the downward potential energy provided by the upper spring 611, and the longitudinal spring 62 disposed on the outside of the piezoelectric actuator 40 provides horizontal potential energy for pre-compression of elastic potential energy, thereby increasing the assembly yield of the piezoelectric motor 1 and improving the reliability of the piezoelectric motor 1.

[0124] On the other hand, specifically, when the first frame 31 and the second frame 32 of the movable component 30 are pre-pressed by the upper spring 611, the outer shell 22 acts as an upper holding device. When the outer shell 22 is assembled from top to bottom, it can play a flattening role for the piezoelectric motor 1. The first frame 31 is subjected to the left and right potential energy of the spring of the piezoelectric actuator 41, so that the first and second positions between the first frame 31 and the second frame 32 are both subjected to the potential energy of the spring. This makes it easier to assemble the movable component 30 plane, the motor assembly yield is higher, and the stability of the assembled product is higher.

[0125] A detailed advantage will be illustrated by the ball bearings acting as support elements, connecting the upper spring 611 to the first frame 31 and / or the second frame 32. When the housing 22 is assembled onto the base 21, the base 21 defines the lower end of the piezoelectric motor 1, and the upper end of the second frame 32 is held in place by the ball bearings. If manufacturing or assembly issues cause deviations in the dimensions of the first frame 31, the second frame 32, and the base 21 from their intended values, the ball bearings can correct the leveling. For example, if the height of the first frame 31 or the second frame 32 is slightly higher than designed, the rigidity of the upper spring 611 will still contact the ball bearings, causing the upper spring 611 to deform upwards. However, the restoring force of the spring bearings provides downward force to the ball bearings, thereby holding the second frame 32 inside the housing 22 and on the base 21.

[0126] In another scenario, when the actual height of the second frame 32 is slightly lower than the designed height, it will actually lead to the pre-tightening process of the upper spring 611 and the pressure plate 222. Although the height of the second frame 32 is slightly lower than the designed height, the rigidity of the upper spring 611 itself will still contact the ball, and the restoring force of the upper spring 611 itself can still provide the ball with downward force, thereby keeping the second frame 32 inside the outer shell 22 and on the base 21.

[0127] Reference Appendix Figure 4A As shown, there are three first sidewall balls 510 disposed on the side plate 213 of the base, and their arrangement forms an isosceles triangle. The isosceles triangle formed by the first sidewall balls 510 corresponds to the first piezoelectric friction head 411 on the opposite side. The first piezoelectric vibrator 410 extends or deforms during its stroke, causing the first piezoelectric friction head 411 to tilt elliptically during the extension and contraction of the first piezoelectric vibrator 410. This causes the first piezoelectric friction head 411 to generate a tilting torque on the inner sidewall of the base during its stroke trajectory. The arrangement of multiple first sidewall balls can disperse this tilting torque, thereby making the overall structure more stable.

[0128] Figure 4A The piezoelectric motor 1 of this application is shown in a projection view along a certain direction. The three base sidewall ball grooves 221 are disposed on one side of the base side plate 23. This ensures that when the first frame 31 and the base 20 are connected by the first sidewall balls 510, the lateral support pressure can be evenly transmitted to the horizontal surface formed by the first sidewall balls 510. This avoids excessive support pressure on a single ball, which could cause reliability problems, and excessive support pressure could also cause material deformation, thus affecting the various performance characteristics of the piezoelectric motor 1.

[0129] Still as Figure 4A The piezoelectric motor 1 of this application is shown in a projection view along a certain path. In one embodiment of this application, the piezoelectric motor 1 produces an elliptical unit trajectory on a plane, or further, a plane parallel to a third plane, as represented by the arrowed elliptical trajectory line in the figure. Reference Figure 4A The projection view of XX in the figure shows that the first piezoelectric actuator 41 of the piezoelectric motor 1 provides a non-vertical force to the side of the first frame 31 throughout the entire stroke, and the contact force of the piezoelectric motor 1 against the first frame 31 will be tilted throughout the entire elliptical trajectory.

[0130] To reduce the risk of tilting and improve the reliability of motor operation, it is necessary to ensure good parallelism of the piezoelectric motor 1 throughout its entire stroke to prevent tilting. To reduce the occurrence of this phenomenon, refer to... Figure 4AThe upper and lower parts of the YY projection view show the extrusion force of the drive end of the piezoelectric motor 1 in the instantaneous state of the entire motion trajectory and the extrusion force trajectory in the full stroke. Specifically, in one embodiment of this application, in a certain projection view, the drive end running trajectory 9A of the piezoelectric motor 1 in this application is always within the line area 19A of the ball groove 2120 on the side wall of the base within the drive stroke. On the other hand, the drive running trajectory 9A can also be regarded as the drive trajectory of the first piezoelectric friction head 411. Therefore, it can be ensured that the contact force of the first friction head 411 against the first frame 31 during the entire movement of the piezoelectric motor 1 is always dispersed by the plane composed of the three first side wall balls 510, thereby enabling the first frame 31 to remain stable during the movement and ensuring the reliability of the piezoelectric motor 1.

[0131] As shown in projection view 4A, the piezoelectric motor 1 of this application is mounted on a base side plate 213 opposite to the base side plate 213 on which the base side wall ball groove 2120 is mounted. More specifically, the first piezoelectric actuator 41 is located in the middle of the high and low ball grooves of the base side wall ball groove 2120 in the projection view opposite to the base side plate 213. This ensures that when the first piezoelectric actuator 41 moves, the ball support area formed by the higher base side wall ball groove 2120 and the two lower base side wall ball grooves 2120 is always larger than the driving area 9A of the first piezoelectric actuator 41. This reduces the generation of tilting torque and prevents the force applied by the piezoelectric actuator 40 from tilting the outer edge of the base 21 and the first frame 31 because the force range of the piezoelectric actuator 40 exceeds the ball support range.

[0132] like Figure 4B Another modified embodiment of the piezoelectric motor 1 of this application is shown. In one embodiment of this application, along a certain projected view, the piezoelectric motor 1 may be a reciprocating stick-slip piezoelectric motor 1, which may have multiple displacements relative to its original state. (See reference...) Figure 4BThe upper and lower parts of the ZZ projection view show the instantaneous position of the drive end of the piezoelectric motor 1 and its range throughout the entire motion trajectory. The drive end of the piezoelectric motor 1 will tilt within a unit cycle when applying pressure to the first frame 31, easily resulting in a tilting torque and causing tilting of the relative position of the first frame 31 to the base 20. Since the piezoelectric motor 1 reciprocates to drive the first frame 31, although it is a reciprocating motion, the deformation of the piezoelectric material is never uniform. Furthermore, because the stick-slip motor always has a tilt angle when moving upwards away from the driven component, the force exerted by the first piezoelectric actuator 41 on the first frame 31 will not only sway but also cause the force endpoint to move. To reduce this phenomenon, in this design, the first piezoelectric actuator 41 is equidistant from a higher base sidewall ball groove 220 and two lower base sidewall ball grooves 220, meaning the three base sidewall ball grooves 220 form an equilateral triangle. (Refer to...) Figure 4B The upper part of the projection view of YY shows the drive end of the stick-slip piezoelectric motor 1 throughout the entire motion trajectory 9B. It shows that the squeezing force of the stick-slip piezoelectric motor 1 during the entire stroke is greater than the actual stroke of the piezoelectric motor 1, and there is a certain tilt.

[0133] Referring to the multiple dashed lines in the entire motion trajectory 9B of the drive end of the stick-slip piezoelectric motor 1, this drive trajectory 9B can also be considered as the contact trajectory of the first piezoelectric friction head 411 relative to the first frame 31. When the compressive force exceeds the area 19B connecting the three ball grooves 2120 on the side wall of the base, it is easy to cause the compressive force to tilt the first frame 31. Referring to this... Figure 4B In the YY projection view, the ball groove 2120 on the side wall of the base forms an equilateral triangle. The centroid of the equilateral triangle is the same as the center. Therefore, at points within a certain range from the center of the equilateral triangle, circles of different sizes can be used to represent the contact state of the first piezoelectric friction head 411 relative to the first frame 31. Regardless of the contact state, the equilateral triangle arrangement makes it easier to disperse the tilting torque of the first piezoelectric friction head 411 relative to the first frame 31 relative to the balls in the three ball grooves 2120 on the side wall of the base.

[0134] In other words, in a certain projection, the line connecting the sidewall balls forms an isosceles or equilateral triangular region. The piezoelectric actuator 40 of the piezoelectric motor 1 is in a stick-slip extrusion state. Regardless of its location, the torque of the extrusion force is more easily dispersed and uniformized relative to the support of each ball. (Referring to this...) Figure 4B In the YY projection view, using an equilateral triangle makes it easier to reduce tilting moments.

[0135] In summary, piezoelectric actuators require a friction head for contact during operation. During the vibration of the piezoelectric oscillator, the friction head inevitably detaches from the contacted part, causing the friction head to tilt relative to the contacted part. Therefore, reducing this tilt is crucial for improving the smoothness of the piezoelectric actuator's operation and enhancing the reliability of the piezoelectric motor. One technical solution summarized above involves using the housing 22 and the base 21 as fixed components, and the first, second, and third frames as movable components 30. This invention proposes a piezoelectric motor 1 comprising a fixed component 20, a movable component 30 movably connected to the fixed component, and a piezoelectric actuator 40 abutting against the movable component 30. The movable component 30 is supported on the fixed component by ball bearings 50 disposed on one side of the movable component 30. The ball bearings 50 form at least one plane, and the piezoelectric actuator 40 is located on this plane. This method reduces the tilting torque generated by the piezoelectric actuator 40 on the movable component 30.

[0136] On the other hand, the ball 50 includes a sidewall ball disposed between the outer side of the movable component 30 and the inner side of the fixed component 20, and the piezoelectric actuator 40 abuts against the movable component 30 and is located on the opposite side of the sidewall ball.

[0137] On the other hand, referring to the foregoing portion of this application, the force provided by the drive end of the piezoelectric actuator 40 to the movable component 30 throughout its entire stroke trajectory is inclined to the plane of the ball connection line, which allows the sidewall balls provided in this application to effectively reduce the inclination. (Refer to the attached...) Figures 4A-4B When the piezoelectric motor 40 provides the vertical frame with the extrusion force of the frame 30, there will be no tilting torque of the drive end on the ball. Therefore, the force provided by the drive end of the piezoelectric actuator 40 to the movable component 30 in the entire stroke trajectory is inclined to the plane of the ball connection line, thereby reducing the situation where the drive end of the piezoelectric actuator 40 generates a tilting torque on the movable component 30.

[0138] In summary, the above content can be summarized as follows: the piezoelectric actuator 40 and the ball bearing are optimized in this application. The piezoelectric actuator 40 abuts against the movable component 30. The movable component 30 is supported on the fixed component 20 by the ball bearing disposed on one side of the movable component 30. The ball bearing forms at least one support plane. The driving end of the piezoelectric actuator 40 acts on the support plane formed by the ball bearing.

[0139] In detail, the movable component 30 is supported on the base by a sidewall ball bearing disposed on one side of the movable component 30. The ball bearing forms at least one plane, and the piezoelectric actuator 40 is located on a projection of the plane region of the ball bearing. This technical solution indicates that by disposing the piezoelectric actuator 40 on the plane region of the ball bearing, the tilting torque of the piezoelectric actuator on the movable component 30 relative to the base 21 can be reduced.

[0140] Reference Appendix Figure 5 Appendix Figure 6 and attached Figure 7 As shown, the first frame mounting part 310 includes a first frame first mounting structure 3100, wherein the first frame first mounting structure 3100 is disposed on the outer side of the first frame, and the first frame first mounting structure 3100 is specifically a pair of mounting posts. The first frame second mounting structure 3101 is disposed on the upper surface of the first frame 31, and the first frame second mounting structure 3101 is a set of mounting posts. The first frame first mounting structure 3100 is used to fix the second piezoelectric actuator 42 or the circuit board 10 on which the second piezoelectric actuator 42 is mounted and / or the second spring 622. The first frame second mounting structure 3101 is used to fix the circuit board 10. The first frame first mounting structure 3100 is disposed on the upper surface of the first frame 31, and the first frame second mounting structure 3101 is disposed on the side surface of the first frame 31. The first frame first mounting structure 3100 and the first frame second mounting structure 3101 are both a set of mounting posts. The first frame first mounting structure 3100 is positioned and connected to the second main body shaft hole of the circuit board 10, and the first frame second mounting structure 3101 is positioned and connected to the bending body 14 of the circuit board 10 through shaft hole to fix the second main body 12 of the circuit board 10.

[0141] The first frame ball groove 311 further includes a first frame outer ball groove 3110 and a first frame inner ball groove 3111, wherein the first frame outer ball groove 3110 is formed on the outer surface of the first frame 31, and the first frame inner ball groove 3111 is disposed on the inner surface of the first frame 31. The first frame outer ball groove 3110, the base ball groove 212 and the ball 50 cooperate with each other, so that the first frame 31 and the base 21 have a first degree of freedom of motion under the action of the first piezoelectric actuator 41. The first frame outer ball groove 3110 also includes a first frame first height outer ball groove 31100 formed at least on the bottom side of the first frame 31 and a first frame second height outer ball groove 31101 formed on the top side extension 315. The first frame second height outer ball groove 31101 is positioned at a higher height than the first frame first height outer ball groove 31100, thereby making the movement smoother and reducing the likelihood of rotational torque after the balls are placed in the ball grooves of the first frame 31. For specific details, please refer to the appendix. Figures 4A-4B The details regarding reducing tilting torque using planar ball bearings will not be elaborated upon here.

[0142] This application demonstrates that the piezoelectric motor is configured with sidewall balls and end face balls, and the driving direction of the driving end of the piezoelectric actuator is perpendicular to the support plane formed by the sidewall balls, while the driving direction of the driving end of the piezoelectric actuator is parallel to the support plane formed by the end face balls. This ensures smoother driving of the piezoelectric motor, reduces tilting torque, and improves motion planarity.

[0143] The first frame 31 further has a first frame first through hole 312 and a first frame second through hole 313, wherein the first frame first through hole 312 is formed on one side surface of the first frame 31, and the first frame second through hole 313 is formed near the first frame first through hole 312. The first frame first through hole 312 is disposed in the middle of the first frame 31. In one embodiment of this application, the first frame first through hole 312 is used to allow the second piezoelectric actuator 42 mounted on the first frame 31 to extend into the first frame 31 and abut against the second frame 32.

[0144] In one embodiment of this application, the second through hole 313 of the first frame is used to accommodate the second position sensor 74 or a magnet. In some embodiments, the second position sensor 74 detects the magnitude of the magnetic flux, thereby detecting the relative position of the second frame 32.

[0145] Reference Appendix Figure 7As shown, in this embodiment, the first frame first height outer ball bearing groove 31100 is formed at the lower end of the first frame 31. Preferably, there are four first frame first height outer ball bearing grooves 31100 with the same height. Among them, two first frame first height outer ball bearing grooves 31100 are formed at the two corners of the bottom side of the first frame 31, and two first height outer ball bearing grooves 31100 are formed on the bottom side of the sidewall extension 316 of one side of the first frame 31. The second-height outer ball bearing groove 31101 of the first frame is formed on the top side extension 315 of the first frame 31. This second-height outer ball bearing groove 31101 and at least two first-height outer ball bearing grooves 31100 are formed on the same side of the first frame. This arrangement creates a triangular support structure where the two first-height outer ball bearing grooves 31100 and the first frame 31100 on the same side form a triangular support. When the bottom plate side plate 23 and the first frame 31 are supported by ball bearings, this triangular support structure provides a rolling plane, resulting in smoother movement and reducing the likelihood of rotational torque. For specific details, please refer to the appendix. Figures 4A-4B The details regarding reducing tilting torque using planar ball bearings will not be elaborated upon here.

[0146] Reference Appendix Figure 7 As shown, in one embodiment of this application, the first frame has one first height outer ball bearing groove 31100. This first frame first height outer ball bearing groove 31100 is disposed in the middle of the line connecting two first frame second height outer ball bearing grooves 31101 on the same side, in the third projection. Furthermore, the first frame first height outer ball bearing groove 31100 is equidistant from its adjacent first frame second height outer ball bearing groove 31101. This ensures that when the first frame 31 and the base 20 are connected by ball bearings, the lateral support pressure can be evenly transmitted to the surface, avoiding excessive support pressure on a single ball bearing groove, which could lead to reliability issues, deformation problems, etc. For specific functions, please refer to the appendix. Figures 4A-4B The details regarding reducing tilting torque using planar ball bearings will not be elaborated upon here.

[0147] Reference Appendix Figure 7 As shown, the ball groove 3111 in the first frame is connected to the second frame 32. The ball groove 3111 in the first frame further includes a first-height ball groove 31110 and a second-height ball groove 31111. The second-height ball groove 31111 is positioned higher than the first-height ball groove 31110. This ensures that after the first frame 31 and the second frame 32 are connected, the ball grooves at different heights provide different torques when balls are inserted, resulting in smoother movement and reducing the likelihood of rotational torque. For specific details, please refer to the appendix. Figures 4A-4BThe details regarding reducing tilting torque using planar ball bearings will not be elaborated upon here.

[0148] Each of the first height inner ball groove 31110 and the second height inner ball groove 31111 of the first frame can be equipped with one ball, thereby preventing interference between the two balls during movement when the number of balls in a single ball groove is greater than or equal to two. For specific functions, please refer to the appendix. Figures 4A-4B The details regarding reducing tilting torque using planar ball bearings will not be elaborated upon here.

[0149] Reference Appendix Figure 7 As shown, in this application, the first frame has at least three inner ball grooves 31111 at the second height of the first frame. In some embodiments, there are four inner ball grooves 31111 at the second height of the first frame, with two of them forming on one side of the inner wall of the first frame 31, and the remaining two forming on the opposite side of the inner wall of the first frame 31. In one embodiment of this application, using four balls to form a rolling plane can increase the flatness during rolling. When the number of ball grooves is greater than three, three balls can also form a rolling plane to ensure the flatness of rolling.

[0150] The first frame has one inner ball groove 31110 at its first height. The first frame has one inner ball groove 31110 at its first height. The first frame has one inner ball groove 31110 at its first height is located in the middle of the line connecting the second inner ball groove 31111 at its second height in the third projection and is lower than the second inner ball groove 31111 at its second height. Furthermore, the first frame has one inner ball groove 31110 at its first height is equidistant from the adjacent second inner ball groove 31111 at its second height. This ensures that the lateral support pressure can be evenly transmitted when the first frame 31 and the second frame 32 are connected, avoiding reliability problems, deformation problems, etc. caused by excessive support pressure on a single ball groove.

[0151] Reference Appendix Figure 6As shown, the second frame 32 further includes a second frame mounting portion 320 and a second frame top side extension 325. The second frame mounting portion 320 is disposed on the side wall surface of the second frame 32 for mounting the third piezoelectric actuator 43 or the third spring 623 and / or the circuit board 10. The second frame mounting portion 320 includes a second frame first mounting structure 3200, which is disposed on the outer side surface of the second frame 32. In some specific embodiments, it is disposed at the outer corner of the second frame 32. The second frame first mounting structure 3200 is used to fix the third piezoelectric actuator 43 or the third spring 623 and the circuit board 10. The second frame second mounting structure 3201 is disposed on the top side surface of the second frame 32, specifically as at least one mounting post, for fixing the third body 13 of the circuit board 10.

[0152] Reference Appendix Figure 6 As shown, the second frame ball groove 321 is further divided into an outer ball groove 3210, an inner ball groove 3211, and an upper ball groove 3212. The outer ball groove 3210 is located on the outer surface of the second frame, the inner ball groove 3211 is located on the inner surface of the second frame, and the upper ball groove 3212 is located on the upper surface of the second frame. Using ball grooves on different surfaces reduces the increase in size caused by stacking balls on one side. It also utilizes the injection space of different surfaces, preventing the ball grooves from shrinking significantly during injection molding due to aggregation. Furthermore, the different forces applied to the balls make the second frame 32 more securely mounted.

[0153] Reference Appendix Figure 8 As shown, the second frame outer ball groove 3210 cooperates with the first frame inner ball groove 3111 and the balls, thereby giving the second frame 32 and the first frame 31 a second degree of freedom of movement. The second frame outer ball groove 3210 also includes a second frame first height outer ball groove 32100 and a second frame second height outer ball groove 32101. The second frame second height outer ball groove 32101 is positioned at a higher height than the second frame first height outer ball groove 32100 on the second frame 32. The different ball heights allow for smoother, more planar movement and reduce the likelihood of rotational torque after the balls are placed in the ball grooves. For specific functions, please refer to the appendix. Figures 4A-4B The details regarding reducing tilting torque using planar ball bearings will not be elaborated upon here.

[0154] At least three second-frame second-height outer ball bearing grooves 32101 are formed on the outer side of the second frame 32. In this embodiment, four second-frame second-height outer ball bearing grooves 32101 located at the same height are preferably formed. Two of the second-frame second-height outer ball bearing grooves 32101 are formed on one side of the outer surface of the second frame 32, and the other two are formed on the other side of the outer surface of the second frame 32. For specific functions, please refer to the appendix. Figures 4A-4B The details regarding reducing tilting torque using planar ball bearings will not be elaborated upon here.

[0155] For ease of understanding, in one embodiment of this application, the distance between the two outer ball grooves 32101 of the second frame near the second piezoelectric actuator 42 and the two outer ball grooves 32101 of the second frame on the opposite side is the same, forming an isosceles trapezoid. This ensures that the supporting pressure is evenly transmitted when the second frame outer ball grooves 32101 are supporting the device, avoiding reliability issues and deformation problems caused by excessive supporting pressure on a single ball groove. On the other hand, the distance between the two outer ball grooves 3210 of the second frame near the second piezoelectric actuator 42 is greater than the length of the second piezoelectric actuator. This ensures that when the second piezoelectric actuator 42 is working, the deformation caused by overall vibration is always supported by the two outer ball grooves 3210 of the second frame located outside the piezoelectric actuator. This prevents the vibration amplitude of the piezoelectric actuator from exceeding the supporting distance between the two outer ball grooves 3210, which could lead to vibration and warping of the edge portion of the second frame 32. For specific functions, please refer to the appendix. Figures 4A-4B The details regarding reducing tilting torque using planar ball bearings will not be elaborated upon here.

[0156] For ease of overview, the balls disposed on the outside of the piezoelectric actuator in this application can be summarized as balls on the same side of the piezoelectric actuator, and the two balls on the same side of the piezoelectric actuator are disposed on the upper side of the piezoelectric actuator, which can increase the running flatness of the piezoelectric actuator during driving.

[0157] Similarly, a sidewall ball bearing is also provided between the first frame 31 and the second frame 32, connecting the first frame 31 and the base 20. This sidewall ball bearing is disposed within ball bearing grooves 31110 and 31111 at the first height and second height of the first frame, respectively, and has the same function and effect as the aforementioned portion. For specific functions, please refer to the appendix. Figures 4A-4B The details regarding reducing tilting torque using planar ball bearings will not be elaborated upon here.

[0158] Reference Appendix Figure 8As shown, the second frame has one first-height outer ball bearing groove 32100. This first-height outer ball bearing groove 32100 is located in the middle of the line connecting two second-height outer ball bearing grooves 32101 on the same side of the third projection. Furthermore, the distance between the first-height outer ball bearing groove 32100 and its adjacent second-height outer ball bearing groove 32101 is the same. This ensures that when the first frame 31 and the second frame 32 are connected by ball bearings, the lateral support pressure can be evenly transmitted to the surface, avoiding excessive support pressure on a single ball bearing groove, which could lead to reliability issues, deformation problems, etc. For specific functions, please refer to the appendix. Figures 4A-4B The details regarding reducing tilting torque using planar ball bearings will not be elaborated upon here.

[0159] The ball grooves 3211 within the second frame are two ball grooves extending along the optical axis, located at opposite corners inside the second frame 32. The third frame is movably connected to the interior of the second frame 32 via the ball grooves 3211 and the balls housed within them, driven by the third piezoelectric actuator 43. The third frame 33 possesses a third degree of freedom of motion relative to the second frame 32, namely, the degree of freedom of motion along the optical axis.

[0160] Reference Appendix Figure 8 As shown, the second frame 322 further has a second frame first through hole 322, wherein the second frame first through hole 322 is disposed at one corner of the second frame 32, and the second frame first mounting structure 3200 is located around the second frame first through hole 322. In one embodiment of this application, the second frame first through hole 322 is used to allow the insertion of a third actuator 43 mounted on the second frame 32, wherein the second piezoelectric friction head 421 of the second piezoelectric actuator 42 can extend into the second frame 32 and abut against the third friction plate 333 disposed on the outer side wall of the third frame 43.

[0161] Reference Appendix Figure 11 A circuit board 10 for mounting a frame for a stabilization motor will be described, see attached diagram. Figure 11As shown, a circuit board 10 includes a first body 11, a second body 12, and a third body 13. The plane containing the second body 12 is orthogonal to the plane containing the first body 11; the plane containing the third body 13 is not parallel to the planes containing the first body 11 and the second body 12; a transition body 140 is disposed between at least two bodies to provide planar extension between the different bodies. The transition body 14 includes a first transition body 140 and a second transition body 141. The first transition body 140 connects the first body 11 and the second body 12, and the second transition body 141 connects the second body 12. The second transition body 141 is mounted on the upper surface of the second frame 32. The second transition body 141 is folded in at least two different directions, so that the upper surface of the second transition body 141 has at least two degrees of freedom relative to the side of the second body 12.

[0162] Reference Appendix Figure 6 As shown, the third frame 33 in this application further includes a third frame ball groove 330, a third frame clearance portion 331, a third friction piece 333 disposed on the side wall of the third frame 33, and a third frame mounting portion 332. The third frame ball groove 330 is formed on the opposite two corner side walls of the third frame 33, and the third frame ball groove 330 extends along a third direction, that is, along the optical axis direction. Therefore, the third frame 33 can be movably connected to the inside of the second frame 32 through the action of the third frame ball groove 330 and the ball. By providing ball grooves on opposite sides, tilting torque caused by ball support on one side can be prevented, so that the third frame maintains a better vertical performance when moving along the optical axis direction. The third frame clearance portion 331 is formed on one corner sidewall of the third frame. In one embodiment of this application, the third frame clearance portion 331 is a groove provided on the sidewall of the third frame 33. A third position sensor 76 is provided in the third frame clearance portion 331 to detect the positional change of the third frame relative to the second frame 32. The third frame mounting portion 332 is provided on the top side surface of the third frame 33. In one embodiment of this application, the third frame mounting portion 332 is specifically a set of positioning holes or grooves for assembling the circuit board 10, especially assembling the third body 30 of the circuit board.

[0163] The driving position of the first piezoelectric actuator 41 is determined by the first position sensor 72, which is located on one side of the first piezoelectric vibrator 410. The first position sensor 72 can sense the displacement of the movable component.

[0164] Furthermore, the second piezoelectric actuator 42 includes a second piezoelectric vibrator 420 and a second piezoelectric friction head 421. The second piezoelectric vibrator 420 is rectangular, with its long rectangular side perpendicular to the optical axis. The second piezoelectric vibrator 420 is disposed on the second frame 32, and is located within the second frame 32. The side of the second piezoelectric vibrator 420 facing the lens assembly is its first surface, and the side of the second piezoelectric vibrator 420 away from the lens assembly is its second surface, with the first and second surfaces positioned opposite each other.

[0165] Reference Appendix Figure 5 , attached Figure 6 and attached Figure 8 As shown, the first surface of the second piezoelectric vibrator 420 has a second piezoelectric friction head 421, which is located at the center of the first surface of the second piezoelectric vibrator 420. A second friction plate 324 is disposed on the other side of the second piezoelectric friction head 421. The second friction plate 324 is a rectangular sheet structure and is arranged parallel to the first surface of the second piezoelectric vibrator 420. The second piezoelectric friction head 421 is located at the center of the second friction plate 324, making the force on the second friction head 421 and the second friction plate 324 more uniform. The second piezoelectric friction head 421 is in close contact with the second piezoelectric vibrator 420 and the second friction plate 324, generating friction to drive the device. The second surface of the second piezoelectric vibrator 420 is attached to the second body 12 of the circuit board 10, and the second surface of the second piezoelectric vibrator 420 corresponds to the second through hole 120 of the second body 12. The second through hole 120 can prevent the second piezoelectric vibrator 420 from interfering.

[0166] Reference Appendix Figure 2 As shown in one embodiment of this application, the outer casing 22 further includes an outer casing body 221 and a pressure plate 222. The pressure plate 222 is installed at the lower end of the outer casing body 221. The upper and lower surfaces of the pressure plate 222 are provided with positioning parts, such as positioning holes and grooves, for better connection with the outer casing body 221. The transverse spring 61 includes an upper spring 611, which is connected to the lower side of the pressure plate 222. The lower surface of the upper spring 611 abuts against the balls provided in the ball groove 3212 on the second frame. This allows the transverse spring to act as a force-applying device, always providing a preload to the balls provided in the ball groove 3212 on the second frame. This ensures that after the second frame 32, the first frame, and the base 20 are assembled, the preload of the spring and gravity act as a whole under the third support force, ensuring that the assembled height is always maintained and preventing the first frame 31 and the second frame 32 from tilting relative to the base 20.

[0167] In another embodiment, the transverse spring 61 also includes a lower spring, wherein the lower spring can be installed on the lower side of the planar ball between the first frame 31 and the base 21, thereby providing the movable component 30 with greater elastic potential energy and position in the fixed component 20 through the combined action of the upper and lower springs, thus realizing the central placement of the movable component 30.

[0168] Reference Appendix Figure 2 As shown, a second spring 622 is provided in the area where the second piezoelectric actuator 42 is installed on the second main body 12. The second spring 622 includes a second spring preload portion 6220, which is located in the middle of the second spring 622. The second spring preload portion 6220 is located on the back side of the second piezoelectric vibrator 420 and provides preload to the back side of the second piezoelectric vibrator 420. A second spring first through hole 62 is formed in the middle of the second spring preload portion 6220. 21, wherein the second spring preload part 6220 is surrounded by four second spring connecting arms 6222, the four second spring connecting arms 6222 provide support for the second piezoelectric vibrator 420 in the planar direction, the second spring first through hole 6221 is located on the back of the second piezoelectric vibrator 420, the second spring first through hole 6221 serves to avoid deformation of the back of the second piezoelectric vibrator 420, and prevent the second piezoelectric vibrator 420 from interfering with the first spring 622 during operation, thereby increasing the reliability of the piezoelectric motor.

[0169] In addition, the second spring connecting arm 6222 includes a pair of second spring longitudinal connecting arms 62220 extending along the optical axis direction and a pair of second spring transverse connecting arms 62221 extending perpendicular to the optical axis direction. The second spring longitudinal connecting arms 62220 and the second spring transverse connecting arms 62221 extend integrally with each other to form a mouth-shaped frame pre-pressurizes the second main body 12 of the circuit board 10, thereby providing a mouth-shaped pre-pressure to the back of the second piezoelectric vibrator 420 to support the back of the second piezoelectric vibrator 420 and ensuring that the second piezoelectric friction head 421 on the second piezoelectric vibrator 420 always abuts against the second friction plate 324.

[0170] The second spring preload portion 6220 has integrally extended second spring side portions 6223 on both sides. Each of the two second spring side portions 6223 has a second spring second through hole 6224 and a second spring third through hole 6225, wherein the second spring second through hole 6224 and the second spring third through hole 6225 are of the same size. The second spring side portion 6223 is provided with mounting holes, allowing the second spring 622 to be fixed to the first frame 31 through these mounting holes. Furthermore, the through holes on both sides of the second spring preload portion 6220 increase the allowable movement of the second spring preload portion 6210.

[0171] The second spring 622 is elastic. The longitudinal connecting arm 62220 of the second spring divides the portion between the second through hole 6224, the third through hole 6225 and the first through hole 6221 of the second spring. The through holes reduce the deformation coefficient of the spring and correspondingly increase the elasticity of the longitudinal connecting arm 62220 of the second spring.

[0172] Understandably, the pre-pressure provided by the second spring 622 enables the piezoelectric actuator 41 to move freely, but it is always subjected to the pre-pressure of the first spring 622 in the direction perpendicular to the movement, maintaining the contact state required for the first piezoelectric actuator 41 to be driven.

[0173] Specifically, the area of ​​the first through hole 6221 of the second spring is at least twice the area of ​​the second through hole 6224 of the first spring, thereby increasing the restoring force of the second spring and always maintaining the contact state required for the drive of the second piezoelectric actuator 42.

[0174] The second spring piece 6223 has a second spring piece positioning hole 62230 formed at each of its four corners. The second spring piece positioning hole 62230 is a through hole structure, which makes it easy for the second spring piece 622 to be installed into the first frame 31. In addition, the connection hole for fixing the second spring piece 622 is separate from the positioning hole on the second positioning part 123 of the circuit board 10. Therefore, the fixing relationship between the second spring piece 622 and the first frame 31 will not be affected by the assembly of the circuit board 10. Furthermore, the dimensional variation caused by the working vibration of the first piezoelectric vibration actuator 41 will not affect the assembly stability of the second spring piece 622, ensuring a relatively stable connection between the second spring piece 622 and the base side plate 23.

[0175] In summary, the second spring 622 in this application can fix and limit the second piezoelectric vibrator 420, and at the same time provide a certain preload.

[0176] For brevity, similarly, the third piezoelectric vibrator 430 is a rectangular strip, with its long side extending along the optical axis. The third piezoelectric vibrator 430 is disposed on the third body 13 of the circuit board 10, above the third spring 623, which is disposed on the sidewall of the second frame 32. The side of the third piezoelectric vibrator 430 facing the lens assembly or the third frame 33 is its first surface, and the side of the third piezoelectric vibrator 430 away from the lens assembly or the third frame 33 is its second surface. Reference numerals are provided opposite to the first and second surfaces. Figure 7 , attached Figure 8 and attached Figure 9 As shown, the first surface of the third piezoelectric vibrator 430 has a third piezoelectric friction head 431, which is located at the center of the first surface. A third friction plate 333 extends along the optical axis from a corner sidewall of the third frame 33, directly opposite the area of ​​the third piezoelectric friction head 431. The third friction plate 333 is a rectangular sheet structure and is parallel to the first surface of the third piezoelectric vibrator 430. The third piezoelectric friction head 431 is positioned directly opposite the center area of ​​the third friction plate 333, resulting in more uniform force distribution between the two surfaces. The third piezoelectric friction head 431 and the third friction plate 333 are in close contact, generating friction for driving. The second surface of the third piezoelectric vibrator 430 abuts against the second frame 623. In some optional embodiments, the second surface of the third piezoelectric vibrator 430 is mounted on the third spring 623, which is further disposed at the outer corner of the second frame 32. The third friction plate 333 can be mounted on the third frame mounting portion 332.

[0177] Similar to the structure of the first spring 621 and the second spring 622, the third spring 623 also includes a third spring preload portion 6230, a third spring first through hole 6231, a third spring connecting arm 6232, a third spring side portion 6233, a third spring second through hole 6234, a third spring third through hole 6235, and a third spring preload portion 6230. The relationship between these components can be referred to the description of the first spring 621 and the second spring 622.

[0178] Taking the first piezoelectric actuator 41 as an example, after providing power / voltage excitation to the first piezoelectric actuator 41, the first piezoelectric vibrator 410 undergoes different surface shape changes in the first state of standing wave or traveling wave, thereby driving the first piezoelectric friction head 411 to generate oscillating reciprocating motion or elliptical motion along the first. Due to the frictional contact between the first piezoelectric friction head 411 and the first friction plate 314, the first friction plate 314 is moved. Specifically, when the first piezoelectric actuator 41 is excited by a power source, the first piezoelectric vibrator 410 will generate a first telescopic motion pattern. Driven by the first piezoelectric vibrator 410, the first piezoelectric friction head 411 will oscillate and reciprocate along the first plane, thereby driving the first friction plate 314 to move along the first plane. When the first piezoelectric actuator 41 is excited by another power source / voltage, the first piezoelectric vibrator 410 will generate both a first telescopic motion pattern and a second stretching motion pattern. Driven by the first piezoelectric vibrator 410, the first piezoelectric friction head 411 will undergo elliptical motion on the first plane, thereby driving the first friction plate 314 to move along the first plane. Therefore, the first, second, and third piezoelectric actuators (41, 42, 43) have degrees of freedom in the first, second, and third planes, respectively, and can drive the movable component 30 to move in the first, second, and third planes to adjust the relative positional relationship between the lens assembly and the photosensitive assembly, thereby achieving optical image stabilization. In this device, each spring of the piezoelectric actuator also provides a certain degree of support, as shown in the attached figure. Figure 2 As shown, a pre-pressure in the vertical driving direction is provided to the first piezoelectric actuator 41, and a pre-pressure in the vertical driving direction is also provided to the second piezoelectric actuator 42, thereby improving the stability of the piezoelectric actuator's motion during optical image stabilization and improving image quality.

[0179] Reference Appendix Figure 11 As shown, this application proposes a circuit for connecting different drive frames of a shake-stabilizing motor. In one embodiment of this application, the circuit board 10 is configured with different circuit board 10 bodies, so that the circuit board 10 can be installed on different frames of the motor after multiple bends / turns. The turning process of the circuit board 10 can increase the movable stroke of the circuit board 10, and the turning body 140 provided on the circuit board 10 can play a role in resetting.

[0180] Reference Appendix Figure 11 As shown, the first main body 11, the second main body 12 and the third main body 13 of the circuit board 10 are respectively fixed on different surfaces of the motor frame. The different circuit boards 10 provide the mounting base for the anti-shake motor and are connected to the anti-shake motor.

[0181] Continuing from the preceding description, the bending body 14 includes a first bending body 140 and a second bending body 141. The first bending body 140 connects the first main body 11 and the second main body 12, and the second bending body 141 connects the second main body 12. The second bending body 141 is mounted on the upper surface of the second frame 32. The second bending body 141 undergoes at least two folds in different directions, giving its upper surface at least two degrees of freedom relative to the side of the second main body 12. (See attached diagram.) Figure 7 and attached Figure 8 As shown, the turning body 140 includes a first turning body 140 and a second turning body 141. The first turning body 140 is disposed between the first body 11 and the second body 12, that is, the first body 11 is flipped in a direction perpendicular to the plane where the first body is located to form the second body 12.

[0182] The second bending body 141 is folded in at least two different directions, so that the upper surface of the third bending body 13 is mounted on the upper surface of the second frame 32. The second bending body 141 has at least two degrees of freedom relative to the second main body 12, that is, the second main body 12 can be flipped to the upper surface of the second frame 32 in two and / or three directions. Specifically, the second bending body 141 includes a first bending portion 1410, a second bending portion 1411, and a third bending portion 1412, wherein the first bending portion 1410, the second bending portion 1411, and the third bending portion 1412 are respectively flexibly bent, which can buffer the circuit board 10 body and have a certain restoring force, providing the movable component 30 with degrees of freedom of movement.

[0183] In one embodiment of this application, the second bend 141 is connected to the upper surface of the second frame 32, wherein the second bend 141 further includes a first bend 1410, a second bend 1411 and a third bend 1412, wherein the first bend 1410 and the second bend 1411 are orthogonal, wherein the first bend 1410 is disposed near the second body 12 and the second bend 1411 is disposed near the third body 13 to provide a planar extension between the second body 12 and the third body 13.

[0184] Reference Appendix Figure 11 As shown, the second bending body 141 includes a second bending body mounting part 143, which is mounted on the upper surface of the second frame 32. The plane of the second bending body mounting part 143 is parallel to the plane of the second body, and the second bending body mounting part 143 is fixedly connected to the upper surface of the second body 12 and can provide the adjustment margin, increasing the movable stroke of the movable component 30.

[0185] Reference Appendix Figure 11As shown, the second body 12 and the third body 13 are respectively formed with a second through hole 121 and a third through hole 131, wherein the second and third bodies 11 and 12 are plate-shaped, and the first body 11 further includes a second mounting part 120, a second connecting arm 122 and a second positioning part 123. The second mounting part 110 is attached to the outer side of the first piezoelectric actuator 41, and a first through hole 111 with a rectangular opening is formed in the middle of the first mounting part 110. The first mounting portion 110 is annular, and the first piezoelectric vibrator 410 can be attached to the annular solid portion of the first mounting portion 110. The rectangular opening of the first mounting portion 110 is provided on the back of the first piezoelectric vibrator to increase the reliability of the piezoelectric motor 1 and prevent it from falling off due to impact or vibration. The deformation of the back of the first piezoelectric vibrator 410 is avoided by the rectangular opening formed in the middle of the first mounting portion 110, which can firmly fix the first piezoelectric vibrator 410 to the first body 11.

[0186] The first positioning part 113 is fixedly connected to the mounting part 2132 of the base side plate, and the first positioning part 113 serves to attach the first main body 11. The first positioning part 113 is configured as a plate-shaped structure with positioning holes. The first positioning part 113 is located on the outside of the first mounting part 110. The two first connectors 112 are flexible. The first mounting part 110 is integrally connected to the first positioning part 113 of the first main body 11 through the first connecting arms 112 on both sides. The first mounting part 110 extends to the first positioning part through the connecting arms 112 on both sides. The first main body 11 is connected to the positioning post on the outer surface of the base side plate 23 through the positioning holes, thereby improving the assembly accuracy of the camera module. The connecting arms 112 allow for a certain margin of adjustment when the first main body 11 is assembled with the first piezoelectric actuator 41.

[0187] Specifically, along the optical axis, the first mounting portion 110 does not extend integrally with the first main board 11. It can be understood that the first mounting portion 110 only extends to the first main board via the two outer connecting arms 112. Therefore, the first mounting portion 110 has a degree of freedom relative to the first main board in the direction of extension of the two connecting arms, as well as a degree of freedom along the optical axis. Thus, the first mounting portion 110 can have at least a degree of freedom perpendicular to the optical axis relative to the first positioning portion, thereby satisfying the required movable margin for the rotational deflection of the friction head when the first piezoelectric vibrator is working.

[0188] The first spring 621 includes a first spring preload portion 6210, wherein the first spring preload portion 6210 is disposed in the middle of the first spring 621 and is disposed on the back side of the first piezoelectric vibrator 410. The first spring preload portion 6210 provides preload force to the back side of the first piezoelectric vibrator 410. A first spring first through hole 6211 is formed in the middle of the first spring preload portion 6210, wherein the first spring preload portion 6210 surrounds the first spring 6210. Four first spring connecting arms 6212 are provided, which provide planar support for the first piezoelectric vibrator 410. The first spring first through hole 6211 is located on the back of the first piezoelectric vibrator 410. The first spring first through hole 6211 serves to prevent deformation of the back of the first piezoelectric vibrator 410 and prevent the first piezoelectric vibrator 410 from interfering with the first spring 621 during operation, thereby increasing the reliability of the piezoelectric motor.

[0189] Reference Appendix Figure 11 As shown, the first mounting part 110, the second mounting part 120, and the third mounting part 131 are formed with positioning holes. The first mounting part 110, the second mounting part 120, and the third mounting part 131 are respectively fixed to the base side plate 213, the first frame 31, and the second frame 32 through the positioning holes.

[0190] Reference Appendix Figure 11 As shown, the first through hole 111 and the second through hole 121 are both rectangular through holes. The symmetry line of each rectangular through hole is consistent with the center line of the adjacent connecting arm. For example, the center line of the first through hole 111 is consistent with the center line of the first connecting arm, thereby increasing the restoring force of the circuit board.

[0191] The first through hole 110 and the second through hole 120 can prevent the piezoelectric vibrator from interfering with the piezoelectric vibrator during its extension and retraction. The above situation also applies to the third body 13.

[0192] In one embodiment of this application, the circuit board 10 further includes a transition portion 16, which is mounted on the upper surface of the second frame 32. The circuit board 10 also includes a set of notches 162, and the transition portion 16 further includes a plurality of solder holes 161, which are symmetrically arranged with respect to the centerline of the second body 12. The solder holes 161 are distributed on both sides of at least one of the notches 162, thereby reducing the size of the circuit board and the size of the piezoelectric motor. The welding holes 161 of the several adapter parts are located on one side of the adapter part 16. The welding holes 161 are used to weld the connecting circuit board. In this application, after the second bending body 141 is flipped to the upper side of the second frame 32, the second bending body 141 is welded to the adapter part 16 through the welding holes to conduct electricity. One side of the adapter part 16 is electrically connected to the third body 13, so that the internal circuits of the piezoelectric motor 1, such as the circuits of the third body 13, are all connected through the adapter part 16. The adapter part 16 is connected to the second body 13, and finally the entire circuit is connected by a single circuit.

[0193] Reference Appendix Figure 11 As shown, the first main body 11 and the second main body 12 further include a first connecting arm 112 and a second connecting arm 122. The first connecting arm 112 and the second connecting arm 122 extend inward from both ends of the first main body 11 and the second main body 12 to the first mounting portion 110 and the second mounting portion 120, respectively, forming a pair of arm-shaped structures with anti-torsion function, so that the first connecting arm 112 and the second connecting arm 122 can reduce the reaction force of the circuit board 10 body.

[0194] The first connecting arm 112 and the second connecting arm 122 are symmetrically arranged with respect to the first through hole 111 and the second through hole 121. This arrangement enhances the flexibility of the circuit board and reduces the likelihood of interference during the assembly of the piezoelectric motor.

Claims

1. A piezoelectric motor, characterized in that, include: Fixed components; A movable component, which is movably connected to the fixed component; A piezoelectric actuator abuts against the movable component; The piezoelectric actuator includes a piezoelectric vibrator and a piezoelectric friction head; The piezoelectric friction head is disposed on the side of the piezoelectric vibrator near the movable component; An elastic support portion provides potential energy perpendicular to the direction of movement of the piezoelectric actuator and also provides potential energy along the height direction of the movable component. The elastic support portion includes a transverse spring and a longitudinal spring. The transverse spring extends in a plane perpendicular to the height direction, and the longitudinal spring extends in a direction parallel to the mounting surface of the piezoelectric actuator. The transverse spring provides potential energy in the height direction to subject the movable component to a downward preload along the height direction. The longitudinal spring provides potential energy perpendicular to the direction of movement of the piezoelectric actuator, thereby providing a preload for the drive end of the piezoelectric actuator to abut against the movable component. A through hole is formed in the middle of the back surface of the piezoelectric vibrator corresponding to the longitudinal spring. A circuit board is connected to the opposite surface of the piezoelectric vibrator on which the piezoelectric friction head is located, and the elastic support portion is partially located on the side of the circuit board away from the piezoelectric vibrator.

2. The piezoelectric motor according to claim 1, wherein, A friction plate is fixedly connected to one side of the movable component. The friction plate is fixed to the movable component and is arranged parallel to one side of the piezoelectric vibrator. The piezoelectric friction head is located at the center of the friction plate.

3. The piezoelectric motor according to claim 2, wherein, The circuit board and the longitudinal spring have through holes at the same position, and the movable component has through holes that can accommodate the size of a piezoelectric vibrator.

4. The piezoelectric motor according to claim 3, wherein, The longitudinal spring sheet has a first through hole, the size of which is smaller than the size of the mating surface between the piezoelectric vibrator and the longitudinal spring sheet.

5. The piezoelectric motor according to claim 4, wherein, The size of the first through hole of the spring is smaller than the size of the through hole of the circuit board.

6. The piezoelectric motor according to claim 5, wherein, The longitudinal spring sheet also includes a second through hole and a third through hole, wherein the size of the first through hole is larger than the size of the second and third through holes.

7. The piezoelectric motor according to claim 6, wherein, The second and third through holes of the spring sheet have the same area, and the area of ​​the first through hole of the spring sheet is more than twice the area of ​​the second through hole of the spring sheet.

8. The piezoelectric motor according to claim 7, wherein, The longitudinal spring also includes a set of spring connecting arms, which provide pressure acting on at least two sides of the piezoelectric vibrator.

9. The piezoelectric motor according to claim 8, wherein, The longitudinal spring also has at least one spring positioning hole, through which the longitudinal spring presses itself onto the movable component.

10. The piezoelectric motor according to claim 9, wherein, The circuit board also has at least one mounting portion, through which the circuit board is positioned on the movable component, and the circuit board is located inside the spring.

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