Actuator assembly

Abstract

An actuator assembly comprising: a first component wherein a main axis is defined with respect to the first component; a second member movable relative to the first member; and a plurality of actuation units, each actuation unit comprising a shape memory alloy (SMA) element, and each actuation unit configured to apply an actuation force to the second component, where the actuation units are capable of rotating the second component relative to the first component about a first axis and a second axis, wherein the first axis and the second axis are perpendicular to the main axis and perpendicular to each other, and wherein there is at least one position of the second component relative to the first component at which each actuating force is in a direction perpendicular to the main axis.

Description

Technical Field

[0001] This application relates to an actuator assembly having multiple actuation units, each actuation unit comprising a shape memory alloy SMA element. Such an actuator assembly can be used, for example, in a camera to tilt a camera module including a lens assembly and an image sensor to provide optical image stabilization (OIS). background

[0002] SMA actuator assemblies can be used in a variety of applications to move movable parts relative to a supporting structure.

[0003] For example, WO2013 / 175197A1 describes a camera in which four SMA lines are arranged to move a lens element relative to an image sensor in a plane perpendicular to the optical axis of the lens element, thereby achieving optical image stabilization (OIS). WO2010 / 029316A1 describes SMA lines for providing OIS in a camera by tilting the camera module. WO2011 / 104518A1 describes an actuator assembly with eight SMA lines that enables position control of a movable element in multiple degrees of freedom. WO2022 / 084699A1 discloses an actuator assembly including at least one actuation unit containing SMA lines that, upon actuation, move a movable part relative to a support structure, wherein at least one actuation unit is configured to increase the range of motion (also referred to as "stroke") or actuation force and / or redirect the force applied by the SMA lines.

[0004] This application provides alternative SMA actuator components, which are suitable, for example, for providing OIS in a camera via a tilting camera module. Invention Overview

[0005] According to one aspect of the invention, an actuator assembly is provided, comprising: a first component (e.g., a support structure) wherein a main axis is defined with reference to the first component; a second component (e.g., a movable component) movable relative to the first component; and a plurality of actuation units (e.g., eight actuation units, or a total of eight actuation units), each actuation unit comprising a shape memory alloy SMA element, and each actuation unit being configured to (e.g., when its SMA element contracts) apply an actuating force to the second component. The actuation units are capable of rotating (e.g., tilting) the second component relative to the first component about a first axis and a second axis, wherein the first axis and the second axis are perpendicular to the main axis and to each other. There are at least one position of the second component relative to the first component where each actuating force is in a direction perpendicular to the main axis.

[0006] Such actuator assemblies can offer a variety of advantages over the prior art in terms of ease of manufacture, compactness (e.g., minimizing the height of the actuator assembly in the main axis direction), robustness (e.g., reducing the risk of damage to SMA elements due to having SMA elements that cross and therefore may rub against each other), and performance (e.g., providing efficiency for tilting OIS).

[0007] Each actuation unit can be configured to apply its actuation force directly to the second component.

[0008] Multiple actuation units can be configured such that the rotational movement of the second component relative to the first component about each of the first and second axes is independently controllable. Therefore, the actuation units are configured such that the second component can rotate relative to the first component about any axis perpendicular to the main axis and located in the plane defined by the first and second axes.

[0009] It should be understood that when the second component is in the at least one position relative to the first component, mentioning that each actuating force is in a direction “perpendicular” to the main axis may mean that each actuating force can be tilted at an angle of less than, for example, 10 degrees relative to a plane perpendicular to the main axis.

[0010] Optionally, the plurality of actuation units includes eight actuation units.

[0011] The plurality of actuation units can consist of eight actuation units. In other words, the plurality of actuation units can include a total of eight actuation units.

[0012] Optionally, the actuator assembly includes: a first set of actuation units configured together to apply a first total actuation force to the second component; and a second set of actuation units configured together to apply a second total actuation force to the second component; wherein the first total actuation force and the second total actuation force are each in any direction in a plane perpendicular to the main axis and are offset from each other along the main axis.

[0013] The first set of actuation units can be configured together to apply a first total actuation force to the second component without applying any torque about the main axis (or any axis parallel to it). The second set of actuation units can be configured together to apply a second total actuation force to the second component without applying any torque about the main axis (or any axis parallel to it).

[0014] Optionally, the first group of actuation units and the second group of actuation units each include four actuation units.

[0015] Optionally, the first set of actuation units applies actuating force to the second component at a point in the first plane, and the second set of actuation units applies actuating force to the second component at a point in the second plane, wherein the first plane and the second plane are parallel to each other and offset from each other along the main axis.

[0016] Optionally, the actuator assembly has four sides arranged in a ring around the main axis, and two actuation units are arranged at least partially along each of the four sides.

[0017] Multiple actuation units can be arranged in a doubly rotationally symmetrical manner around the main axis. The first group of actuation units and the second group of actuation units can each be arranged in a doubly rotationally symmetrical manner around the main axis.

[0018] Optionally, the first pair of actuation units in the actuation unit is configured to apply torque to the second component to drive the second component to rotate relative to the first component about the first axis in a first direction; the second pair of actuation units in the actuation unit is configured to apply torque to the second component to drive the second component to rotate relative to the first component about the first axis in a second opposite direction; the third pair of actuation units in the actuation unit is configured to apply torque to the second component to drive the second component to rotate relative to the first component about the second axis in a first direction; and the fourth pair of actuation units in the actuation unit is configured to apply torque to the second component to drive the second component to rotate relative to the first component about the second axis in a second opposite direction.

[0019] Optionally, the first pair of actuating units, the second pair of actuating units, the third pair of actuating units, and the fourth pair of actuating units are arranged at least partially along the first side, the second side, the third side, and the fourth side of the actuator assembly, respectively, wherein the first side and the second side are opposite sides through which the first axis extends, and the third side and the fourth side are opposite sides through which the second axis extends. Alternatively, the first pair of actuating units and the second pair of actuating units are each arranged at least partially along the first side and the second side of the actuator assembly, wherein the first side and the second side are opposite sides through which the first axis extends; and the third pair of actuating units and the fourth pair of actuating units are each arranged at least partially along the third side and the fourth side of the actuator assembly, wherein the third side and the fourth side are opposite sides through which the second axis extends.

[0020] Alternatively, the actuation unit is arranged such that the second component can be supported (e.g., suspended) on the first component solely by the actuation unit. For example, the actuation unit may be arranged such that the second component can be positioned relative to the first component in at least one location solely by means of the actuation unit.

[0021] Optionally, the second component is supported on the first component by a support arrangement.

[0022] The support arrangement can be configured to allow relative movement between the first component and the second component. For example, the support arrangement can be configured to allow the second component to rotate relative to the first component about a first axis and a second axis. The support arrangement can also be configured to allow the second component to rotate relative to the first component about a main axis. The support arrangement can also be configured to allow the second component to move relative to the first component in any direction (translation) in a plane perpendicular to the main axis.

[0023] The support arrangement can be configured to prevent the second component from translating relative to the first component along the main axis in a first direction when the second component is in at least one position relative to the first component.

[0024] The actuator assembly may include a biasing arrangement configured to bias a first component and a second component toward each other, for example, such that when the actuation unit is not energized, the second component is biased to engage with one or more end stops of the first component.

[0025] The actuator assembly may include a biasing arrangement configured to bias the second component toward a predetermined position and / or relative to the orientation of the first component when the actuation unit is not energized.

[0026] Optionally, one or more of the actuation units (e.g., all of the actuation units) each include an SMA element having a first end connected to a first component and a second end connected to a second component.

[0027] It should be understood that reference to a component being “connected to” another component can mean that the component is directly or indirectly connected to the other component. Similarly, it should be understood that reference to a component being “connected” between two other components means, for example, that the component is directly or indirectly connected to each of the other components. Such indirect connection can involve a connection via another component (e.g., a connector) having a fixed position relative to the other components. For example, an SMA element can be connected to movable part 20 and / or support structure 10 via another flexure, as described, for example, in WO2022 / 144541A1, which is incorporated herein by reference to the fullest extent permitted by law.

[0028] When the second component is in the at least one position relative to the first component, the SMA elements of one or more actuation units can each extend from the first end to the second end in a direction perpendicular to the main axis.

[0029] Optionally, at least one of the actuation units (e.g., all of the plurality of actuation units) includes: a body portion; a shape memory alloy SMA element connected between the body portion and one of the first and second components and configured to apply an input force to the body portion upon actuation; a force adjustment element connected between the body portion and the one of the first and second components and configured to adjust the input force to generate an actuating force of at least one actuation unit; and a connecting link connected between the body portion and the other of the first and second components, wherein the connecting link is configured to transmit the actuating force of at least one actuation unit from the body portion to the other of the first and second components, and wherein the connecting link is flexible in a direction perpendicular to the actuating force of at least one actuation unit.

[0030] When the second component is in at least one position relative to the first component, the connecting rod of at least one actuating unit can each extend in a direction perpendicular to the main axis between the end of the connecting rod connected to the main body and the end connected to the other of the first and second components.

[0031] At least one actuation unit can be configured to increase the stroke or actuation force and / or redirect the force applied by the SMA element.

[0032] Alternatively, the force-adjusting element may include a force-modifying flexure or a force-modifying flexure. The force-adjusting element may be elongated and may be rigid along its length and flexible in a direction perpendicular to its length.

[0033] Optionally, the connecting link includes a connecting flexure or a connecting flexure. The connecting link may be elongated and may be rigid along its length and compliant in a direction perpendicular to its length.

[0034] The main body, connecting rods, and / or force adjustment elements can be integrally formed.

[0035] The connecting rod may include or may be an SMA element.

[0036] Optionally, the actuation unit can cause the second component to rotate relative to the first component about the main axis.

[0037] Alternatively, the actuation unit can move the second component relative to the first component (translationalally) in any direction in a plane perpendicular to the main axis.

[0038] Optionally, the second component includes an image sensor and one or more lenses configured to focus an image onto the image sensor.

[0039] The actuator assembly may include another (“AF” or “autofocus”) actuator assembly configured to move one or more lenses relative to the image sensor along an axis parallel to the optical axis of the one or more lenses (e.g., along the optical axis itself).

[0040] Optionally, when the second component is in the at least one position relative to the first component, the main axis is parallel (e.g., collinear) to the optical axis of one or more lenses and / or perpendicular to the photosensitive area of ​​the image sensor.

[0041] The second component may include electronic components, such as a transmitter, a display, or a portion thereof.

[0042] The main axis may be perpendicular to the plane defined by the display and / or parallel to the approximate direction of radiation emitted from the transmitter. Brief description of the attached diagram

[0043] Some embodiments of the invention will now be described by way of example only with reference to the accompanying drawings, in which: Figure 1 This is a schematic cross-sectional view of a camera assembly that incorporates actuator components; Figure 2 This is a schematic perspective view of the actuator assembly; Figure 3 It is a schematic perspective view of the arrangement of eight actuation units; Figure 4 It is a schematic perspective view of the arrangement of eight actuation units; Figure 5A and Figure 5B These are perspective views and plan views of the actuation unit; and Figure 5C This is a plan view of the actuation unit. Detailed description

[0044] Camera components Figure 1 The diagram schematically illustrates a device 1 incorporating an actuator assembly 2. Device 1 is, for example, a camera assembly 1. Typically, device 1 will be included in portable electronic devices such as smartphones. Therefore, miniaturization can be an important design criterion.

[0045] Figure 2Actuator assembly 2 is schematically shown. Actuator assembly 2 includes a support structure 10 (also referred to herein as first component 10) and a movable component 20 (also referred to herein as second component 20). The movable component 20 is movable relative to the support structure 10. When actuator assembly 2 is included in, for example, device 1, the support structure 10 may be fixed relative to the body of device 1. However, typically, the support structure 10 does not need to be stationary and may be movable relative to device 1 or within device 1. Actuator assembly 2 includes a plurality of actuation units 30. Each actuation unit 30 is configured to apply an actuating force F that enables the movable component 20 to move relative to the support structure 10.

[0046] Each of the actuation units 30 includes a shape memory alloy (SMA) element and is configured to apply an actuation force F to the movable part 20 when its SMA element contracts.

[0047] The actuation unit 30 can be arranged such that the movable part 20 can be supported (i.e., suspended) on the support structure 10 solely by the actuation unit 30. In other words, the actuation unit 30 can be arranged such that the movable part 20 can be positioned by the actuation unit 30 in a suspended position relative to the support structure 10 (e.g., a position where the movable part 20 is not in contact with the support structure 10), such as... Figure 1 As shown.

[0048] The main axis P may be defined with reference to actuator assembly 2 and / or support structure 10. The main axis P may extend through actuator assembly 2, for example, through the center of actuator assembly 2. In some examples, actuator assembly 2, support structure 10, and / or movable member 20 extend primarily in a direction perpendicular to the main axis P. In other words, the extent of actuator assembly 2, support structure 10, and / or movable member 20 along the main axis P is less than its extent along any direction perpendicular to the main axis P. The main axis P may be the longitudinal axis of actuator assembly 2 and / or support structure 10. Alternatively or additionally, support structure 10 and / or movable member 20 may include planar members extending perpendicular to the main axis P. Alternatively or additionally, in examples where device 1 includes an optical element (such as lens assembly 3) having an optical axis O or an imaging element (such as imager sensor 4) having an imaging axis I, when movable member 20 is in a central position or orientation, the main axis P may be parallel to such an axis and / or coincide with or be collinear with such an axis (e.g., Figure 1 As shown in A).

[0049] The actuation unit 30 enables the movable component 20 to rotate (e.g., tilt) relative to the support structure 10 about a first axis x and a second axis y (also referred to herein as the x-axis and y-axis), wherein the first axis x and the second axis y are perpendicular to the principal axis P and to each other. Multiple actuation units 30 can be configured such that the rotational movement of the movable component 20 relative to the support structure 10 about each of the first axis x and the second axis y is independently controllable. In other words, the movable component 20 can move relative to the support structure 10 in the following degrees of freedom (DOF): - Rx and Ry: Rotational movement (or simply rotation or tilt) about the x-axis and y-axis. In other words, the movable part 20 can rotate about any line perpendicular to the principal axis P and, for example, located in the plane defined by the x-axis and y-axis. The movable part 20 can rotate about the x-axis and y-axis to any rotational position (i.e., any orientation) within its range of motion.

[0050] The actuation unit 30 also enables the movable part 20 to rotate relative to the support structure 10 about the main axis P. In other words, the movable part 20 can be moved relative to the support structure 10 in the following DOF by the actuation unit 30: - Rz: Rotational movement (or simply rotation) about the z-axis. The movable part 20 can rotate about the main axis P to any rotational position within the range of movement (i.e., any orientation).

[0051] The actuation unit 30 is also capable of moving the movable member 20 relative to the support structure 10 in any direction in a plane perpendicular to the main axis P. In other words, the actuation unit 30 is capable of moving the movable member 20 relative to the support structure 10 along the first axis x and the second axis y. In other words, the movable member 20 can be moved relative to the support structure 10 at the following DOFs via the actuation unit 30: - Tx and Ty: Translational movement in the xy plane (i.e., the plane defined by the first axis x and the second axis y). In other words, the movable part 20 can move independently along the x-axis and y-axis. The movable part 20 can move to any position within the xy plane within its range of motion.

[0052] Actuation unit 30 is connected between support structure 10 and movable member 20. Actuation unit 30 is arranged to apply actuating force F between movable member 20 and support structure 10 (e.g., see...). Figure 3 and Figure 4 Selectively changing the actuation force F causes the movable part 20 to move relative to the support structure 10 on the aforementioned DOF.

[0053] Camera assembly 1 also includes lens assembly 3 and image sensor 4. Lens assembly 3 includes one or more lenses configured to focus an image onto image sensor 4. Lens assembly 3 defines an optical axis O. Lens assembly 3 may include a lens holder (e.g., in the form of a cylindrical body) supporting one or more lenses. Image sensor 4 captures images and can be of any suitable type, such as a charge-connected device (CCD) or complementary metal-oxide-semiconductor (CMOS) device. Camera assembly 1 can be a compact camera assembly in which each lens has a diameter of 20 mm or less, such as 12 mm or less.

[0054] like Figure 1 As shown, the movable component 20 includes both a lens assembly 3 and an image sensor 4. As discussed, the actuator assembly 2 is configured to tilt the movable component 20 about two axes x and y that are perpendicular to the main axis P and perpendicular to each other (i.e., providing Rx and Ry movements). This enables optical image stabilization (OIS) in the camera assembly 1. This type of OIS is also referred to herein as “tilt OIS”. As discussed, the actuator assembly 2 is also configured to rotate the movable component 20 about the main axis P. This also enables OIS—specifically “roll” compensation—to be implemented in the camera assembly 1. As discussed, the actuator assembly 2 is also configured to move the movable component 20 relative to the support structure 10 in any direction in a plane perpendicular to the main axis P (i.e., providing Tx and Ty movements). Combining this Tx and Ty translational movement with the Rx and Ry tilting movement allows the movable component 20 to tilt about axes spaced apart from the xy plane and perpendicular to the main axis P. As discussed in WO2023 / 007157A1, this makes it easier to control the movement of the movable part 20.

[0055] Camera assembly 1 also includes a controller 8. The controller 8 may be implemented as an integrated circuit (IC) chip. The controller 8 generates a drive signal for the actuation unit 30 (particularly for the SMA element forming part of the actuation unit 30). The SMA material has the property of undergoing a solid-state phase transition upon heating, causing the SMA material to contract. Therefore, applying the drive signal to the SMA element, thereby heating the SMA element by allowing current to flow, will cause the SMA element to contract and thus actuate the actuation unit 30 to drive relative movement of the movable part 20. The drive signal is selected to drive the relative movement of the movable part 20 in a desired manner, for example, to achieve OIS by stabilizing the image sensed by the image sensor 4. The controller 8 provides the generated drive signal to the SMA element.

[0056] Optionally, the camera assembly 1 also includes a motion sensor (not shown), which may include a 3-axis gyroscope and a 3-axis accelerometer. The motion sensor can generate signals representing the motion of the camera assembly 1 (specifically, vibration or "shake"), which can be processed to generate signals representing the desired movement of the movable part 20, thereby compensating for such shake. The controller 8 receives such signals and can generate drive signals for the SMA element to achieve OIS.

[0057] Although the actuator assembly 2 is described in conjunction with the camera assembly 1, it should be understood that the actuator assembly 2 can be used in any device in which the movable part 20 is expected to move relative to the support structure 10, for example, to provide haptic feedback in a haptic feedback device or to move a projector or display in an augmented reality (AR) or virtual reality (VR) device.

[0058] Arrangement of eight actuation units Figure 3 The diagram illustrates how the actuation unit 30 can be arranged to provide the aforementioned relative movement of the movable part 20. Figure 4 An alternative arrangement is shown in which the actuation unit 30 can also be arranged to provide the aforementioned relative movement of the movable part 20.

[0059] In the two examples shown, eight actuation units 30 are provided. The actuator assembly 2 has four sides arranged in a ring around the main axis P. Two actuation units 30 are arranged along each of the four sides.

[0060] Each actuation unit 30 includes an SMA element (e.g., an SMA line). Each actuation unit 30 is configured to apply an actuating force F to the movable member 20 when its SMA element retracts. When the movable member 20 is in a centered (suspended) position and is not tilted relative to the support structure 10 (e.g., ... Figure 3 and Figure 4 As shown), each actuating force F is in a direction perpendicular to the principal axis P.

[0061] exist Figure 3 and Figure 4 In this configuration, each actuation unit 30 consists of an SMA cable, which is connected at one end (i.e., the first end) to the movable part 20 via a first connector 30M (e.g., a first crimp) and at the other (opposite) end (i.e., the second end) to the support structure 10 via a second connector 30S (e.g., a second crimp). When the movable part 20 is positioned relative to the support structure 10... Figure 3 and Figure 4As shown in the positions and orientations, each SMA line extends from the first end to the second end in a direction perpendicular to the main axis P. However, it should be understood that one or more (e.g., all) of the actuation units 30 may differ in design. This is discussed in more detail below.

[0062] The first set of actuating units 30, i.e., the upper set of four actuating units 30, is configured to apply a first total actuating force to the movable member 20 together. The second set of actuating units 30, i.e., the lower set of four actuating units 30, is configured to apply a second total actuating force to the movable member 20 together. Each of the first set of actuating units 30 is configured to apply an actuating force F to the upper corner of the movable member 20. Each of the second set of actuating units 30 is configured to apply an actuating force F to the lower corner of the movable member 20. The first total actuating force and the second total actuating force are each in any direction in a plane perpendicular to the main axis P, and are offset from each other along the main axis P. In other words, the first set of actuating units 30 applies an actuating force F to the movable member 20 at a point in the first (upper) plane, the second set of actuating units 30 applies an actuating force F to the movable member 20 at a point in the second (lower) plane, and the first and second planes are parallel to each other and offset from each other along the main axis P.

[0063] The first set of actuation units 30 is configured to apply a first total actuating force to the movable member 20 together without applying any torque about the main axis P or any axis parallel to it. Similarly, the second set of actuation units 30 is configured to apply a second total actuating force to the movable member 20 together without applying any torque about the main axis P or any axis parallel to it.

[0064] Multiple actuation units 30 are arranged in a doubly rotationally symmetrical manner about the main axis P. The first group of actuation units 30 and the second group of actuation units 30 are each arranged in a doubly rotationally symmetrical manner about the main axis P.

[0065] The first pair of actuation units 30 is configured to apply torque to the movable member 20 to drive the movable member 20 to rotate relative to the support structure 10 about a first axis x in a first sense. The second pair of actuation units 30 is configured to apply torque to the movable member 20 to drive the movable member 20 to rotate relative to the support structure 10 about a first axis x in a second opposite sense. The third pair of actuation units 30 is configured to apply torque to the movable member 20 to drive the movable member 20 to rotate relative to the support structure 10 about a second axis y in a first sense. The fourth pair of actuation units 30 is configured to apply torque to the movable member 20 to drive the movable member 20 to rotate relative to the support structure 10 about a second axis y in a second opposite sense. Each pair of actuation units 30 consists of an actuation unit 30 from the first group of actuation units 30 and an actuation unit 30 from the second group of actuation units 30.

[0066] exist Figure 3 In the example, the first pair of actuation units 30, the second pair of actuation units 30, the third pair of actuation units 30 and the fourth pair of actuation units 30 are arranged along the first side, the second side, the third side and the fourth side of the actuator assembly 2 (that is, along each of the four sides of the actuator assembly 2 arranged in a ring around the main axis P), wherein the first side and the second side are opposite sides through which the first axis x extends, and the third side and the fourth side are opposite sides through which the second axis y extends.

[0067] exist Figure 4 In the example, with Figure 3 Unlike the previous example, the first pair of actuation units 30 and the second pair of actuation units 30 are each arranged along a first side and a second side of the actuator assembly 2, wherein the first side and the second side are opposite sides through which the first axis x extends. Furthermore, the third pair of actuation units 30 and the fourth pair of actuation units 30 are each arranged along a third side and a fourth side of the actuator assembly 2, wherein the third side and the fourth side are opposite sides through which the second axis y extends.

[0068] In both examples, the first pair of actuating units 30 and the second pair of actuating units 30 each include an actuating unit 30 configured to apply an actuating force F in an opposite direction parallel to the second axis y, the actuating force F being offset from each other along the main axis P. Similarly, in both examples, the third pair of actuating units 30 and the fourth pair of actuating units 30 each include an actuating unit 30 configured to apply an actuating force F in an opposite direction parallel to the first axis x, the actuating force F being offset from each other along the main axis P. However, in Figure 4 In the example, with Figure 3Unlike the examples, the actuation units 30 of each pair in the first and second pairs are additionally offset from each other along the first axis x, and the actuation units 30 of each pair in the third and fourth pairs are offset from each other along the second axis y.

[0069] In both examples, the movable component 20 can rotate about the first axis x in a first direction (e.g., driven along +Rx) by retracting the SMA elements of the first pair of actuation units 30, and can rotate about the first axis x in a second opposite direction (e.g., driven along -Rx) by retracting the SMA elements of the second pair of actuation units 30. Furthermore, the movable component 20 can rotate about the second axis y in a first direction (e.g., driven along +Ry) by retracting the SMA elements of the third pair of actuation units 30, and can rotate about the second axis y in a second opposite direction (e.g., driven along -Ry) by retracting the SMA elements of the fourth pair of actuation units 30.

[0070] exist Figure 3 In the example, the movable part 20 can rotate about the main axis P in the first direction (e.g., driven along +Rz) by (i) retracting two of the lower actuation units 30 in the first pair of actuation units 30 and the second pair of actuation units 30 (i.e., actuation units 30 configured to apply actuation force F to the second plane), and / or (ii) retracting two of the upper actuation units 30 in the third pair of actuation units 30 and the fourth pair of actuation units 30 (i.e., actuation units 30 configured to apply actuation force F to the first plane). Furthermore, the movable component 20 can rotate about the main axis P in the second opposite direction (e.g., driven along -Rz) by retracting two of the upper actuating units 30 in the first pair of actuating units 30 and the second pair of actuating units 30 (i.e., actuating units 30 configured to apply actuating force F to the first plane), and / or (ii) retracting two of the lower actuating units 30 in the third pair of actuating units 30 and the fourth pair of actuating units 30 (i.e., actuating units 30 configured to apply actuating force F to the second plane).

[0071] exist Figure 4 In the example, with Figure 3 Unlike other examples, the movable part 20 can rotate about the main axis P in the first direction (e.g., driven along +Rz) by, for example, retracting the third pair of actuating units 30 and the fourth pair of actuating units 30, and rotate about the main axis P in the second direction (e.g., driven along -Rz) by, for example, retracting the first pair of actuating units 30 and the second pair of actuating units 30.

[0072] exist Figure 3In the example, by retracting the lower actuating unit 30 of the third pair of actuating units 30 and the upper actuating unit 30 of the fourth pair of actuating units 30, the movable member 20 can translate along the first axis x in a first direction (e.g., driven along +Tx). By retracting the upper actuating unit 30 of the third pair of actuating units 30 and the lower actuating unit 30 of the fourth pair of actuating units 30, the movable member 20 can translate along the first axis x in a second opposite direction (e.g., driven along -Tx). Similarly, by retracting the lower actuating unit 30 of the first pair of actuating units 30 and the upper actuating unit 30 of the second pair of actuating units 30, the movable member 20 can translate along the second axis y in a first direction (e.g., driven along +Ty). By retracting the upper actuating unit 30 of the first pair of actuating units 30 and the lower actuating unit 30 of the second pair of actuating units 30, the movable member 20 can translate along the second axis y in a second opposite direction (e.g., driven along -Ty).

[0073] exist Figure 4 In the example, with Figure 3 Unlike other examples, the movable part 20 can be translated along the first axis x in a first direction (e.g., driven along +Tx) by retracting two actuation units 30 (forming part of the third pair of actuation units 30 and the fourth pair of actuation units 30) configured to apply actuation force F to the third side of the actuator assembly 2, and can be translated along the first axis x in a second opposite direction (e.g., driven along -Tx) by retracting two actuation units 30 (forming part of the third pair of actuation units 30 and the fourth pair of actuation units 30) configured to apply actuation force F to the fourth side of the actuator assembly 2. Similarly, the movable part 20 can be translated along the second axis y in a first direction (e.g., driven along +Ty) by retracting two actuation units 30 (forming part of the first pair of actuation units 30 and the second pair of actuation units 30) configured to apply an actuation force F to the second side of the actuator assembly 2, and can also be translated along the second axis y in a second opposite direction (e.g., driven along -Ty) by retracting two actuation units 30 (forming part of the first pair of actuation units 30 and the second pair of actuation units 30) configured to apply an actuation force F to the first side of the actuator assembly 2.

[0074] exist Figure 3 and Figure 4In this configuration, the movable component 20 is suspended from the support structure 10 solely by the actuation unit 30, positioned centrally and in a non-tilted state. When the movable component 20 is in this centrally positioned and non-tilted orientation relative to the support structure 10, the main axis P is parallel (e.g., collinear) and / or perpendicular to the photosensitive area of ​​the image sensor 4 and the optical axes O of one or more lenses of the lens assembly 3. Furthermore, as described above, at this position and orientation, each actuating force F of the actuation unit 30 is in a direction perpendicular to the main axis P. It should be understood that when the movable component 20 moves from this central position along Tx, Ty, and / or Rz, the actuating force F will remain in a direction perpendicular to the main axis P as long as there is no tilt about the first axis x and / or the second axis y. Therefore, it should be understood that there can be more than one position of the movable component 20 relative to the support structure 10, at which each actuating force F is in a direction perpendicular to the main axis P.

[0075] like Figure 3 and Figure 4 As shown, each actuation unit 30 can be configured to apply its actuating force F directly to the movable part 20.

[0076] The described actuator assembly 2 can offer various advantages over the prior art in terms of ease of manufacture, compactness (e.g., minimizing the height of the actuator assembly in the main axis direction), robustness (e.g., reducing the risk of damage to SMA elements due to SMA elements having crosses and therefore potentially rubbing against each other), and performance (e.g., providing efficiency for tilting OIS).

[0077] Actuation unit exist Figure 3 and Figure 4 In this embodiment, each actuation unit 30 includes an SMA element (e.g., an SMA line) having a first end connected to the support structure 10 and a second end connected to the movable part 20. However, as stated above, it should be understood that one or more (e.g., all) of the actuation units 30 may have different designs.

[0078] Figure 5A A perspective view of the alternative actuation unit 30 design is shown. Figure 5B A portion of the alternative actuation unit 30 is shown in a plan view.

[0079] The actuation unit 30 includes a main body portion 31 to which several other components of the actuation unit 30 are connected, as described below. Typically, the main body portion 31 is relatively rigid compared to the other components of the actuation unit 30 and does not deform significantly when the actuation unit 30 is actuated. In some examples, the main body portion 31 is not a separate component of the actuation unit 30. For example, the main body portion 31 may be defined as part of one of the other components of the actuation unit 30, or simply as a connection point between the other components of the actuation unit 30.

[0080] The actuation unit 30 also includes a force-adjustable flexure 32. The force-adjustable flexure 32 is connected between the main body portion 31 and the support structure 10. One end of the force-adjustable flexure 32 is connected to the main body portion 31. The other end of the force-adjustable flexure 32 is connected to the support structure 10, for example, via a foot portion 36. The foot portion 36 is fixed relative to the support structure 10. The force-adjustable flexure 32 allows the main body portion 31 to pivot relative to the support structure 10 about an effective pivot point V. Although the effective pivot point V is at... Figure 5B The pivot point V is shown as being positioned in the middle of the force-adjusting flexure 32, but the effective pivot point V can have a different location and does not need to be located on the force-adjusting flexure 32. This pivoting movement of the main body 31 relative to the support structure 10 initially occurs in a direction substantially perpendicular to the force-adjusting flexure 32.

[0081] The actuation unit 30 also includes an SMA element 34. In this example, the SMA element 34 is an SMA wire 34. The SMA wire 34 connects between the main body portion 31 and the support structure 10. One end of the SMA wire 34 is connected to the support structure 10, for example, via a crimp 15. The other end of the SMA wire 34 is connected to the main body portion 31, for example, via a crimp 35.

[0082] The actuation unit 30 also includes a connecting link 33. In this example, the connecting link 33 is a connecting flexure 33. The connecting flexure 33 connects between the main body portion 31 and the movable member 20. One end of the connecting flexure 33 is connected to the main body portion 31. The other end of the connecting flexure 33 is connected to the movable member 20. The connecting link 33 transmits or transfers the actuating force F from the main body portion 31 to the movable member 20. The connecting link 33 is flexible (deformable) in a direction (or multiple directions) perpendicular to the actuating force F. This allows the movable member 20 to move in directions other than the direction of the connecting flexure 33 and the actuating force F.

[0083] In this example, the main body 31, the force-adjusting flexure 32, the connecting flexure 33, and the support leg 36 are integrally formed, for example, from a single sheet of material (such as metal). In other examples, one or more of these features, if present, may be formed from different parts or materials.

[0084] SMA line 34 is arranged to apply an input force Fi to the main body portion 31 during contraction. The input force Fi acts parallel to the length of the SMA line 34. Force-adjusting flexure 32 and the main body portion 31 are arranged to adjust the input force Fi to generate an actuating force F, which is transmitted from the main body portion 31 to the movable member 20 via connecting flexure 33. Specifically, the input force Fi deforms the force-adjusting flexure 32, thereby causing the main body portion 31 to pivot about an effective pivot point V. Simply put, the force-adjusting flexure 32 and the main body portion 31 act like levers. The force-adjusting flexure 32 and the main body portion 31 can adjust the direction and / or magnitude of the input force Fi to generate the actuating force F.

[0085] exist Figure 5A and Figure 5B In the example shown, the connecting flexure 33 is at an angle of approximately 90° relative to the SMA line 34. Furthermore, in this example, the force-adjusting flexure 32 is arranged at an angle α of approximately 30° relative to the SMA line 34, and the force-adjusting flexure 32 is in a tensile state when the SMA line 34 contracts. Therefore, as the SMA line 34 contracts and the resulting force-adjusting flexure 32 deforms, the main body portion 31 initially moves at an angle of approximately 60° (90°-α) relative to the length of the SMA line 34. Thus, it should be understood that in this example, the force is reduced and the stroke is amplified, while the direction of force / movement is changed by approximately 90°.

[0086] More generally, the change in the direction of the force depends on the angle between the SMA line 34 and the connecting flexure 33. Also more generally, the change in the magnitude of the force depends on the ratio of: i) the distance Ds from the effective pivot point V to the line containing the SMA line 34, and ii) the distance Dc from the effective pivot point V to the line containing the connecting flexure 33. Specifically, F / Fi is proportional to Ds / Dc. If the line containing the SMA line 34 is closer to the effective pivot point V than the line containing the connecting flexure 33, the input force Fi is reduced. Simultaneously, the relative movement of the movable member 20 is amplified, i.e., increased relative to the change in the length of the SMA line 34. Alternatively, if the line containing the SMA line 34 is farther from the effective pivot point V than the line containing the connecting flexure 33, the input force Fi is amplified. Simultaneously, the relative movement of the movable member 20 is reduced, i.e., decreased relative to the change in the length of the SMA line 34. Therefore, the actuation unit 30 can be configured to amplify the movement caused by the contraction of the SMA line 34 or to amplify the force caused by the contraction of the SMA line 34. The actuation unit 30 can also be configured to change the direction of the input force Fi. In some examples, the actuation unit 30 is configured to change the direction of the input force Fi without changing the magnitude of the force or movement.

[0087] The ratio Ds / Dc depends on the position of the SMA line 34 connected to the end of the main body 31 and the position of the connecting flexure 33 connected to the end of the main body 31. As an example, this can be achieved by further connecting the connecting flexure 33 to... Figure 5B The distance Dc is increased by moving the left side of the main body 31 shown, thereby decreasing Ds / Dc and thus increasing the stroke amplification. The ratio Ds / Dc also depends on the orientation of the SMA line 34 and the orientation of the connecting flexure 33. Such orientation can be defined with reference to the force-adjusting flexure 32 (as above) or any suitable reference line. As an example, this can be achieved by making... Figure 5B The SMA line 34 shown is deflected to extend closer to the effective pivot point V, thereby reducing the distance Ds, thus reducing Ds / Dc and therefore increasing the stroke amplification. In summary, the amount by which the force-adjusting flexure 32 amplifies or reduces the force / stroke of the SMA line 34 can be customized in the following ways: - Adjust the orientation of SMA line 34 (and thus adjust the input force Fi); - Adjust the position of the connection point between the SMA line 34 and the main body 31 (and thus adjust the position of the input force Fi acting on the main body 31). - Adjust the orientation of the connecting flexure 33 (and thus adjust the actuating force F); and / or - Adjust the position of the connection point between the connecting flexure 33 and the main body 31 (and thus adjust the position where the actuating force F is applied to the main body 31).

[0088] In some examples, at least one actuation unit 30 (preferably each actuation unit 30) is configured such that the force-adjusting flexure 32 and the main body portion 31 amplify the amount of contraction of the SMA line 34. For example, such amplification factor can be greater than 1.5, preferably greater than 2, and more preferably greater than 3. Therefore, in Figure 5A and Figure 5B In the example shown, the angle α between the SMA line 34 and the force-adjusting flexure 32 can be in the range of 0 to 45 degrees, preferably in the range of 13 to 40 degrees. However, typically, the angle α can have other values, and the connection point between the SMA line 34 and / or the connecting flexure 33 and the body portion 31 can be adjusted to achieve the desired amplification.

[0089] As mentioned above, in Figure 5A and Figure 5B In the example shown, the connecting flexure 33 is at an angle of approximately 90 degrees relative to the SMA line 34. This allows the actuation unit 30 to fold compactly around the corner of the second component 20. The angle between the connecting flexure 33 and the SMA line 34 can be in the range of 70 to 110 degrees, or in the range of 80 to 100 degrees. However, typically, the angle between the connecting flexure 33 and the SMA line 34 can be outside these ranges.

[0090] For example, in Figure 5C In the actuation unit 30 shown, the force-adjusting flexure 32, the connecting flexure 33, and the SMA line 34 are substantially parallel to each other.

[0091] In the example above, the force-adjusting deflector 32 is placed in a tensile state when the SMA line 34 contracts. This reduces the risk of buckling of the force-adjusting deflector 32, thereby reducing the risk of damage to the actuator assembly 2 and making the actuator assembly 2 more reliable. However, the force-adjusting deflector 32 can alternatively be arranged to be placed in a compressive state when the SMA line 34 contracts. (See reference...) Figure 5B For example, the force-adjusting flexure 32 can extend downward and to the right from the connection point between the main body portion 31 and the force-adjusting flexure 32, and is thus placed under compression when the SMA line 34 contracts. An arrangement in which the force-adjusting flexure 32 is placed under compression is disclosed in WO2022 / 084699A1, which is incorporated herein by reference to the fullest extent permitted by law.

[0092] In the above example, the actuation unit 30 includes a connecting link 33 in the form of a connecting flexure 33. The purpose of the connecting link 33 is to allow the movable part 20 to move relative to it, for example, in a direction perpendicular to the actuation force F. The connecting link 33 can be implemented as a component other than the connecting flexure 33, for example, as a ball bearing or plain bearing configured to transmit the actuation force F to the movable part 20 while allowing the movable part 20 to move relative to it in a direction perpendicular to the actuation force F. An alternative example of the connecting link 33 is disclosed in WO2022 / 084699A1. The connecting link 33 may (or may not) be formed of an SMA element, which may (or may not) be integral with the SMA line 34 and may (or may not) be driven together with the SMA line 34.

[0093] In addition, instead of the force-adjusting flexure 32, the actuator assembly may include different types of force-adjusting elements configured to allow the main body portion 31 to move relative to the support structure 10 as described above. Such force-adjusting elements may include, for example, a rigid member, one end of which is connected to the support structure 10 via a suitable pivoting connection (e.g., a pin joint), and the other end of which is connected to the main body portion 31.

[0094] As described above, the SMA element of the actuation unit 30 can be connected between the main body 31 and the support structure 10, the force adjustment element 32 can be connected between the main body 31 and the support structure 10, and the connecting rod 33 can be connected between the main body 31 and the movable part 20. However, it should be understood that, alternatively, the SMA element can be connected between the main body 31 and the movable part 20, the force adjustment element 32 can be connected between the main body 31 and the movable part 20, and the connecting rod 33 can be connected between the main body 31 and the support structure 10.

[0095] Other variations It will be understood that many other variations of the above example may exist.

[0096] For example, actuator assembly 2 may include actuation units 30 of a different type than those described above. Examples of such actuation units include folded SMA wire arrangements as disclosed in WO2021 / 111131A1, V-shaped SMA wires with flexible connectors as disclosed in WO2013 / 121225A1, scissor jack arrangements as disclosed in WO2021 / 156458A1, or two-stage arrangements as disclosed in WO2021 / 111181A1. To the maximum extent permitted by law, each of the documents mentioned in the foregoing sentences is incorporated herein by reference. Actuator assembly 2 may have any number of actuation units of different types, and may have any suitable number of actuation units of each type.

[0097] As described above, the movable component 20 may be supported (i.e. suspended) on the support structure 10 solely by the actuation unit 30. Alternatively, however, the actuator assembly 2 may include a support arrangement that supports the movable component 20 on the support structure 10. The actuation unit 30 and the support arrangement may together support the movable component 20 on the support structure 10. The support arrangement may have any suitable form for allowing relative movement between the movable component 20 and the support structure 10. For example, the support arrangement may be configured to allow the movable component 20 to rotate relative to the support structure 10 about a first axis X and a second axis Y. The support arrangement may also be configured to allow the movable component 20 to rotate relative to the support structure 10 about a principal axis P. The support arrangement may also be configured to allow the movable component 20 to move relative to the support structure 10 in any direction (translation) in a plane perpendicular to the principal axis P. The actuation unit 30 and / or the support arrangement may constrain (i.e. reduce or prevent) other degrees of freedom of movement of the movable component 20 relative to the support structure 10. For example, the support arrangement can be configured to prevent the movable part 20 from translating relative to the support structure 10 along the main axis P in a first direction (e.g., the +Z or -Z direction) when the movable part 20 is in at least one position relative to the support structure 10. For this purpose, the support arrangement may include, for example, one or more of the following support elements: rolling support elements (such as ball bearings), flexural support elements (i.e., an arrangement of flexural elements or other elastic elements guiding movement), or sliding (i.e., sliding contact) support elements.

[0098] Actuator assembly 2 may include a biasing arrangement configured to bias the movable member 20 and the support structure 10 toward each other, for example, such that when the actuation unit 30 is de-energized, the movable member 20 is biased to engage one or more end stops of the support structure 10. Actuator assembly 2 may include a biasing arrangement configured to bias the movable member 20 toward a predetermined (“storage”) position and / or orientation relative to the support structure 10 when the actuation unit 30 is de-energized. Examples of biasing arrangements that can be used with actuator assembly 2 are described in WO2021 / 005351A1, which is incorporated herein by reference to the fullest extent permitted by law.

[0099] Actuator assembly 2 may include another (“AF” or “autofocus”) actuator assembly configured to move one or more lenses of lens assembly 3 relative to image sensor 4 along an axis parallel to the optical axis of the one or more lenses (e.g., along the optical axis itself). The “AF” actuator assembly may be another type of SMA actuator assembly or may be a non-SMA actuator assembly, such as a voice coil motor (VCM) actuator assembly.

[0100] Although eight actuation units 30 are provided in the example shown, it should be understood that different numbers of actuation units may be provided alternatively.

[0101] As described above, although the actuator assembly 2 is described in conjunction with the camera assembly 1, it should be understood that the actuator assembly 2 can be used in any device in which the movable part 20 is expected to move relative to the support structure 10, for example, to provide haptic feedback in a haptic feedback device or to move a transmitter or display in an augmented reality (AR) or virtual reality (VR) device.

[0102] It should be understood that when the movable part 20 is in the at least one position relative to the support structure 10, the reference that each actuating force F is in a direction “perpendicular” to the main axis P may mean that each actuating force F can be tilted relative to the plane perpendicular to the main axis P at an angle of less than, for example, 10 degrees.

[0103] It should be understood that reference to a component being “connected to” another component can mean that the component is directly or indirectly connected to the other component. Similarly, it should be understood that reference to a component being “connected” between two other components means, for example, that the component is directly or indirectly connected to each of the other components. Such indirect connection can involve a connection via another component (e.g., a connector) having a fixed position relative to the other components. For example, an SMA element can be connected to the movable part 20 and / or the support structure 10 via another flexure, as described, for example, in WO2022 / 144541A1, which is incorporated herein by reference to the fullest extent permitted by law.

[0104] SMA The aforementioned SMA actuator assembly includes an SMA element. The term "shape memory alloy (SMA) element" can refer to any element that includes an SMA. An SMA element can be described as an SMA line. An SMA element can have any shape suitable for the purposes described herein. An SMA element can be elongated and can have a circular cross-section or any other cross-section shape. The cross-section can vary along the length of the SMA element. An SMA element can have relatively complex shapes, such as a helical spring shape. It is also possible that the length of the SMA element (however defined) can be similar to one or more of the other dimensions of the SMA element. An SMA element can be sheet-like, and such sheet can be planar or non-planar. An SMA element can be flexible, or in other words, a flexible SMA element. In some examples, when connected in a straight line between two members, the SMA element can only apply tension that forces the two members together. In other examples, the SMA element can bend around a member, and the SMA element can apply a force to the member when the SMA element tends to straighten under tension. SMA elements can be beam-shaped or rigid and may be capable of applying different forces (e.g., non-tensional) to the element. SMA elements may or may not include non-SMA materials and / or components. For example, an SMA element may include an SMA core and a coating of non-SMA materials. Unless the context requires otherwise, the term "SMA element" may refer to any configuration of SMA material that acts as a single actuating element, for example, which can be individually controlled to generate forces acting on the element. For example, an SMA element may include two or more portions of SMA material arranged mechanically in parallel and / or in series. In some arrangements, an SMA element may be part of a larger SMA element. Such a larger SMA element may include two or more components that can be individually controlled, thereby forming two or more SMA elements. SMA elements may include SMA wires, SMA foils, SMA films, or any other configuration of SMA material. SMA elements can be manufactured using any suitable method, such as by methods involving drawing, rolling, deposition, sintering, or powder melting. SMA elements can exhibit any shape memory effect, such as thermal shape memory or magnetic shape memory, and can be controlled in any suitable manner (e.g., by Joule heating, another heating technique, or by applying a magnetic field).

Claims

1. An actuator assembly, comprising: The first component, wherein the main axis is defined with reference to the first component; The second component is movable relative to the first component; A plurality of actuation units, each actuation unit including a shape memory alloy SMA element, and each actuation unit being configured to apply an actuating force to the second component, wherein the actuation unit is capable of rotating the second component relative to the first component about a first axis and a second axis, wherein the first axis and the second axis are perpendicular to the main axis and to each other, and wherein there is at least one position of the second component relative to the first component, at which each actuating force is in a direction perpendicular to the main axis.

2. The actuator assembly according to claim 1, wherein, The plurality of actuation units includes eight actuation units.

3. The actuator assembly according to claim 1 or 2, comprising: The first set of actuation units is configured together to apply a first total actuation force to the second component; and The second set of actuation units, together configured to apply a second total actuation force to the second component; The first total actuating force and the second total actuating force are each in any direction in a plane perpendicular to the main axis, and are offset from each other along the main axis.

4. The actuator assembly according to claim 3, wherein, The first group of actuation units and the second group of actuation units each include four actuation units.

5. The actuator assembly according to claim 3 or 4, wherein, The first set of actuation units applies actuating force to the second component at a point in the first plane, and the second set of actuation units applies actuating force to the second component at a point in the second plane, wherein the first plane and the second plane are parallel to each other and offset from each other along the main axis.

6. The actuator assembly according to claim 2 or any of the preceding claims, wherein, The actuator assembly has four sides arranged in a ring around the main axis, and two actuation units are arranged at least partially along each of the four sides.

7. The actuator assembly according to claim 2 or any of the preceding claims dependent on claim 2, wherein: The first pair of actuation units in the actuation unit is configured to apply torque to the second component to drive the second component to rotate relative to the first component about the first axis in a first direction; The second pair of actuation units in the actuation unit is configured to apply torque to the second component to drive the second component to rotate relative to the first component about the first axis in a second opposite direction; The third pair of actuation units in the actuation unit is configured to apply torque to the second component to drive the second component to rotate relative to the first component about the second axis in a first direction; and The fourth pair of actuation units in the actuation unit is configured to apply torque to the second component to drive the second component to rotate relative to the first component about the second axis in a second opposite direction.

8. The actuator assembly of claim 7, wherein, The first pair of actuation units, the second pair of actuation units, the third pair of actuation units, and the fourth pair of actuation units are arranged at least partially along the first side, the second side, the third side, and the fourth side of the actuator assembly, wherein the first side and the second side are opposite sides through which the first axis extends, and the third side and the fourth side are opposite sides through which the second axis extends.

9. The actuator assembly of claim 7, wherein: The first pair of actuation units and the second pair of actuation units are each arranged at least partially along a first side and a second side of the actuator assembly, wherein the first side and the second side are opposite sides through which the first axis extends; and The third pair of actuation units and the fourth pair of actuation units are each arranged at least partially along the third and fourth sides of the actuator assembly, wherein the third and fourth sides are opposite sides through which the second axis extends.

10. The actuator assembly according to any of the preceding claims, wherein, The actuation unit is arranged such that the second component can be supported on the first component solely by the actuation unit.

11. The actuator assembly according to any one of claims 1 to 9, wherein, The second component is supported on the first component by a support arrangement.

12. The actuator assembly according to any of the preceding claims, wherein, One or more of the actuation units each include an SMA element having a first end connected to the first component and a second end connected to the second component.

13. The actuator assembly according to any of the preceding claims, wherein, At least one of the actuation units includes: Main body; A shape memory alloy SMA element, wherein the shape memory alloy SMA element is connected between one of the first component and the second component and the body portion, and is configured to apply an input force to the body portion upon actuation; A force adjustment element, connected between one of the first and second components and the main body portion, and configured to adjust the input force to generate the actuating force of the at least one actuating unit; and A connecting link is provided between the first component and the second component and the main body portion, wherein the connecting link is configured to transmit the actuating force of the at least one actuating unit from the main body portion to the other component of the first component and the second component, and wherein the connecting link is flexible in a direction perpendicular to the actuating force of the at least one actuating unit.

14. The actuator assembly of claim 13, wherein, The force adjustment element is a force adjustment flexure, or includes a force adjustment flexure.

15. The actuator assembly according to claim 13 or 14, wherein, The connecting rod is a connecting flexure, or includes a connecting flexure.

16. The actuator assembly according to any of the preceding claims, wherein, The actuation unit enables the second component to rotate relative to the first component around the main axis.

17. The actuator assembly according to any of the preceding claims, wherein, The actuation unit enables the second component to move relative to the first component in any direction in a plane perpendicular to the main axis.

18. The actuator assembly according to any of the preceding claims, wherein, The second component includes an image sensor and one or more lenses configured to focus an image onto the image sensor.

19. The actuator assembly of claim 18, wherein, When the second component is in at least one position relative to the first component, the main axis is parallel to the optical axis of the one or more lenses and / or perpendicular to the photosensitive area of ​​the image sensor.

Images