A tilt-up optical image stabilization motor with SMA pull

Abstract

The utility model relates to a kind of SMA pulls and draws's inclined optical anti-hand shake motor, including base;First carrier is rotatably connected on base;First carrier is configured to be able to rotate relative to base around first axis;Second carrier is rotatably connected on first carrier;Second carrier is configured to be able to rotate relative to first carrier around second axis;First axis is perpendicular to second axis;The two sides of first carrier relative to first axis are connected with base by several first actuating wires;Second carrier relative to the two sides of second axis is connected with base by several second actuating wires;The utility model is set up the connecting portion of different height on first carrier and second carrier, and the actuating wire layout of misregistration distribution is formed, to realize the jitter compensation of greater angle in limited space, and the space utilization is optimized by the cross non-contact actuating wire arrangement mode, and through the rotation axis design of the special connecting position of actuating wire and carrier, the contraction distance of actuating wire can be effectively enlarged and then act on carrier.

Description

Technical Field

[0001] This utility model relates to the field of optical imaging, and in particular to a tilting optical anti-shake motor with SMA pull. Background Technology

[0002] With the continuous development of electronic device integration technology, taking photos and videos has become one of the most common functions of electronic devices, leading to the increasingly widespread application of cameras in electronic devices. However, when users take photos with their hands on electronic devices, slight hand tremors can cause ghosting or blurring in the photos or videos.

[0003] To address these issues, electronic devices employ optical image stabilization (OIS) technology to compensate for displacement caused by minute hand tremors.

[0004] There are roughly three methods for anti-shake compensation in existing camera modules:

[0005] 1. Lens Shift Only: The image sensor is fixed to the bottom of the camera housing, while the lens moves in a translational motion. However, this method can only compensate for small amplitude vibrations, usually around 100μm (i.e., the image stabilization angle is around ±1°), as shown in the patent publication number CN102062926A.

[0006] 2. Sensor shift only: The image sensor moves in translation relative to the lens. The power system usually has a VCM type, while the suspension system uses flexible electric traces (TSA). It is difficult to design and has a complex manufacturing process, as shown in the patent with patent publication number CN108780207A.

[0007] 3. Tilting the entire camera (CCMTilt): For vibrations with large angles / large displacements, the image sensor needs to be integrated with the lens in the same main body and compensated for two movement angles; this can achieve compensation for large angles, such as the patent with patent publication number CN104950547A, which uses VCM driving method, but its size is not easy to miniaturize.

[0008] Building upon the aforementioned technologies, there are also motors that utilize shape memory alloys (SMAs) for image stabilization. These SMA motors primarily consist of a carrier, a base, and shape memory alloy (SMA) wires. The carrier is the moving part, while the base is the fixed part. For example, the base can be mounted on the camera module's housing, and the lens can be mounted on the carrier. The carrier and base are connected by the SMA wires, which exhibit the characteristic of contracting at high temperatures and elongating upon cooling. By controlling the current applied to the SMA wires, the Joule heating effect causes the wires to deform due to temperature increases or decreases, thereby moving the carrier and the lens on it. This enables the camera module to achieve autofocus (AF) and / or optical image stabilization (OIS). To improve the lens's focusing and optical image stabilization, the shape memory alloy motor can include multiple shape memory alloy wires. By controlling the energizing sequence of these multiple shape memory alloy wires, different movement modes of the carrier and lens can be enriched. For example, an eight-wire shape memory alloy motor can realize functions such as autofocus (AF), shift image stabilization (OIS Shift), and rotation image stabilization (OIS Tilt) of the camera module.

[0009] However, the operation of eight shape memory alloy wires leads to problems such as high power consumption and severe heat generation. In addition, the shrinkage of the shape memory alloy wires directly affects the compensation distance of optical image stabilization, which has a direct impact on the stabilization effect. In order to obtain a larger optical image stabilization compensation distance / stabilization angle, there are higher requirements for the length of the shape memory alloy wires, but longer shape memory alloy wires also lead to increased costs. Utility Model Content

[0010] To address the aforementioned problems in the prior art, this utility model provides an SMA pull-type tilting optical anti-shake motor.

[0011] To achieve the above objectives, the main technical solutions adopted by this utility model include:

[0012] A tilting optical anti-shake motor with SMA pull-type has the following technical solution: It includes a base; a first carrier is rotatably connected to the base; the first carrier is configured to rotate relative to the base about a first axis; a second carrier is rotatably connected to the first carrier; the second carrier is configured to rotate relative to the first carrier about a second axis; the first axis is perpendicular to the second axis; the two sides of the first carrier relative to the first axis are connected to the base via a plurality of first actuation lines; the connection points between the first actuation lines and the base constitute a first connecting portion; the first connecting portion does not intersect the first axis; the connection points between the first actuation lines and the first carrier constitute a second connecting portion; the second connecting portion is located on the side of the first carrier away from the base; the first connecting portion and the second connecting portion are distributed at different heights in the height direction of the first carrier. The second carrier is connected to the base via several second actuation lines on both sides relative to the second axis; the connection between the second actuation lines and the base constitutes a third connection; the third connection does not intersect with the second axis; the connection between the second actuation lines and the second carrier constitutes a fourth connection; the fourth connection is located on the side of the second carrier away from the first carrier; the third and fourth connection are distributed at different heights in the height direction of the second carrier; both the first and second actuation lines are SMA actuation lines; a lens is provided inside the second carrier; the first carrier is rotatably connected to the base via a first fulcrum member; the second carrier is rotatably connected to the first carrier via a second fulcrum member.

[0013] In one embodiment of this utility model, there are four first actuation lines, two on each side of the first carrier relative to the first axis; the first actuation lines include actuation line one, actuation line two, actuation line three, and actuation line four; actuation line one and actuation line two are arranged on the same side relative to the first axis; actuation line three and actuation line four are arranged on the same side relative to the first axis; there are four second actuation lines, two on each side of the second carrier relative to the second axis; the second actuation lines include actuation line five, actuation line six, actuation line seven, and actuation line eight; actuation line five and actuation line six are arranged on the same side relative to the second axis; actuation line seven and actuation line eight are arranged on the same side relative to the second axis.

[0014] In one embodiment of this utility model, the actuator lines 1 and 2 are connected to the two second connection portions of the first carrier at the same corner of the first carrier; the actuator lines 3 and 4 are connected to the two second connection portions of the first carrier at the same corner of the first carrier; the actuator lines 5 and 6 are connected to the two fourth connection portions of the second carrier at the same corner of the second carrier; and the actuator lines 7 and 8 are connected to the two fourth connection portions of the second carrier at the same corner of the second carrier.

[0015] In one embodiment of this utility model, the first actuation line is connected to the base and the first carrier respectively via claws; the second actuation line is connected to the base and the second carrier respectively via claws; the claws include a first claw, a second claw, a third claw, and a fourth claw arranged sequentially along the circumference on the base, a fifth claw and a sixth claw arranged on the first carrier, and a seventh claw and an eighth claw arranged on the second carrier; the fifth claw is located between the first claw and the fourth claw; the sixth claw is located between the second claw and the third claw; the seventh claw is located between the first claw and the second claw; and the eighth claw is located between the third claw and the fourth claw. Between the claws; the first claw, second claw, third claw, and fourth claw are respectively disposed at the middle of each side of the base; the first axis is parallel to a diagonal of the base; the first claw and the fourth claw are disposed on the same side relative to the first axis; the second claw and the third claw are disposed on the same side relative to the first axis; a first connecting portion and a third connecting portion are formed on the first claw, the second claw, the third claw, and the fourth claw; two corners on both sides of the first axis on the first carrier extend away from the base along the height direction to form extension portions; the two extension portions are respectively connected by the fifth claw and the sixth claw. The fifth and sixth jaws are connected to a first actuation line; the second connecting part is located on the fifth and sixth jaws; the fifth jaw is located on an extension of a corner of the first carrier; actuation line one and actuation line two are respectively connected to the fifth jaw; actuation line one is connected to the first jaw; actuation line two is connected to the fourth jaw; the sixth jaw is located on an extension of another corner of the first carrier; actuation line three and actuation line four are respectively connected to the sixth jaw; actuation line three is connected to the second jaw; actuation line four is connected to the third jaw; the seventh jaw is located at a corner of the second carrier; the seventh jaw... Actuation lines five and six are connected to the second carrier respectively; actuation line five is connected to the first jaw; actuation line six is ​​connected to the second jaw; the eighth jaw is located at another corner of the second carrier; actuation lines seven and eight are connected to the eighth jaw respectively; actuation line seven is connected to the fourth jaw; actuation line eight is connected to the third jaw; the fourth connecting part is located on the seventh and eighth jaws; actuation line one and actuation line five intersect but do not contact; actuation line two and actuation line seven intersect but do not contact; actuation line three and actuation line six intersect but do not contact; actuation line four and actuation line eight intersect but do not contact.

[0016] In one embodiment of the present invention, a first fulcrum member is disposed between a first carrier and a base to provide a first shaft; the top of the base is provided with a first limiting groove that mates with the first fulcrum member; and the bottom of the first carrier is provided with a second limiting groove that mates with the first fulcrum member.

[0017] In one embodiment of the present invention, a second fulcrum member is disposed between a first carrier and a second carrier to provide a second shaft; a third limiting groove that cooperates with the second fulcrum member is provided on the top of the second carrier; and a fourth limiting groove that cooperates with the second fulcrum member is provided on the bottom of the second carrier.

[0018] In one embodiment of this utility model, the first fulcrum component is a roller or a ball bearing group; the second fulcrum component is a roller or a ball bearing group.

[0019] In one embodiment of the present invention, an actuation component is provided in the second carrier to drive the lens to move along the height direction of the second carrier; the actuation component includes a magnet and a coil disposed opposite to each other; the magnet is disposed on the lens; and the coil is disposed on the second carrier.

[0020] In one embodiment of this utility model, a protective cover is also included; the protective cover is fixedly connected to the base; a receiving space for accommodating the first carrier and the second carrier is formed inside the protective cover; an image sensor located below the lens is provided on the second carrier; and a flexible flat cable is connected to the image sensor.

[0021] In one embodiment of this utility model, there are two first actuation lines, one on each side of the first carrier relative to the first axis; the first actuation line includes actuation line one and actuation line four or actuation line two and actuation line three; there are two second actuation lines, one on each side of the second carrier relative to the second axis; the second actuation lines include actuation line five and actuation line eight or actuation line six and actuation line seven; the second connection portions of actuation lines one and four with the first carrier are respectively located at two opposite corners of the first carrier, or the second connection portions of actuation lines two and three with the first carrier are respectively located at two opposite corners of the first carrier; the fourth connection portions of actuation lines five and eight with the second carrier are respectively located at... The two opposite corners of the second carrier, or the fourth connection points of the actuation lines six and seven with the second carrier, are respectively located at the two opposite corners of the second carrier; the first actuation line is connected to the base and the first carrier respectively via claws; the second actuation line is connected to the base and the second carrier respectively via claws; the claws include a first claw, a second claw, a third claw, and a fourth claw arranged sequentially along the circumference on the base, a fifth claw and a sixth claw arranged on the first carrier, and a seventh claw and an eighth claw arranged on the second carrier; the fifth claw is located between the first claw and the fourth claw; the sixth claw is located between the second claw and the third claw; the seventh claw is located between the first claw and the second claw; the eighth claw is located between the first claw and the second claw ... second claw; the sixth claw is located between the second claw and the third claw; the seventh claw is located between the first claw and the second claw; the eighth claw is located between the first claw and the second claw; the seventh claw is located between the first claw and the second claw; the eighth claw is located between the first claw and the second claw; the seventh claw is located between the first claw and the second claw; the seventh claw is located between the first claw and the second claw; the eighth claw is located between the first claw and the second claw; the seventh claw is located between the first claw and the second claw; the seventh claw is located between the first claw and the second claw; the eighth claw is located between the first claw and the second claw; the seventh claw is located between the first claw and the second claw; the seventh claw is located between the first claw and the second claw; the seventh claw is located between the first claw and the second claw; the seventh claw is located between the first claw and the second claw; the seventh claw is located between the first claw and the second claw; the seventh claw is located between the first claw and the second claw; the seventh claw is Between the third and fourth jaws; the first, second, third, and fourth jaws are respectively disposed at the middle of each side of the base; the first axis is parallel to a diagonal line of the base; the first and fourth jaws are disposed on the same side relative to the first axis; the second and third jaws are disposed on the same side relative to the first axis; two corners on both sides of the first axis on the first carrier extend away from the base along the height direction to form extension portions; the two extension portions are respectively connected to the first actuation line via the fifth and sixth jaws; the second connecting portion is located on the fifth and sixth jaws; the fifth jaw is located at a corner of the first carrier; the fifth jaw is connected to... There is one or two actuation lines; the first actuation line is connected to the first jaw or the second actuation line is connected to the fourth jaw; the sixth jaw is located at another corner of the first carrier; the sixth jaw is connected to the third actuation line or the fourth actuation line; the third actuation line is connected to the second jaw or the fourth actuation line is connected to the third jaw; the seventh jaw is located at one corner of the second carrier; the seventh jaw is connected to the fifth actuation line or the sixth actuation line; the fifth actuation line is connected to the first jaw or the sixth actuation line is connected to the second jaw; the eighth jaw is located at another corner of the second carrier; the eighth jaw is connected to the seventh actuation line or the eighth actuation line; the seventh actuation line is connected to the fourth jaw or the eighth actuation line is connected to the third jaw;The fourth connecting part is located on the seventh and eighth jaws.

[0022] The beneficial effects of this utility model are as follows: by setting connecting parts of different heights in the height direction of the first carrier and the second carrier, a staggered actuation line layout is formed, which effectively extends the torque arm length, thereby achieving greater angle jitter compensation in a limited space. At the same time, the space utilization rate is optimized by the cross-non-contact actuation line arrangement. Through the special connection position of the actuation line and the rotation axis design of the carrier, the contraction distance of the actuation line can be effectively amplified and applied to the carrier to achieve the effect of increasing the compensation angle / compensation distance, improving displacement transmission efficiency and optimizing the spatial layout. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a new type of explosive. Figure 1 ;

[0025] Figure 2 This is a new type of explosive. Figure 2 ;

[0026] Figure 3 This is a new type of explosive. Figure 3 ;

[0027] Figure 4 yes Figure 1 The diagram shows a working process of an anti-vibration motor.

[0028] Figure 5 This is a structural diagram of an existing anti-vibration motor;

[0029] Figure 6 yes Figure 5 The diagram shows a working process of an anti-vibration motor.

[0030] Figure 7 This is a schematic diagram of another embodiment of the present invention.

[0031] Explanation of reference numerals in the attached figures:

[0032] 100. Base; 101. First jaw; 102. Second jaw; 103. Third jaw; 104. Fourth jaw; 105. Fifth jaw; 106. Sixth jaw; 107. Seventh jaw; 108. Eighth jaw; 110. First limiting groove; 111. First fulcrum component; 200. First carrier; 201. Extension; 210. First actuation line; 211. Actuation line one; 212. Actuation line two; 213. Actuation line three; 214. Actuation line four; 2101. First connecting part; 2102, second connecting part; 220, second limiting groove; 221, limiting block; 230, third limiting groove; 231, second fulcrum component; 300, second carrier; 310, second actuation line; 311, actuation line five; 312, actuation line six; 313, actuation line seven; 314, actuation line eight; 3101, third connecting part; 3102, fourth connecting part; 320, lens; 330, fourth limiting groove; 340, flexible flat cable; 400, protective cover. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely represents selected embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0034] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model 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. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0035] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0036] In existing technologies, optical image stabilization motors generally use shape memory alloy wires as driving elements, achieving image stabilization compensation by coordinating the movement of the carrier through multiple wires. Traditional solutions require more than eight wires to achieve large-angle compensation, resulting in a significant increase in system power consumption and heat generation. Simultaneously, wire length directly affects the compensation stroke; to meet large-angle requirements, longer wires must be used, leading to increased material costs and greater structural space requirements. In existing structures, wire connection points are typically close to the axis of rotation, resulting in low utilization of wire deformation and making it difficult to improve drive efficiency through layout optimization.

[0037] To address the aforementioned issues, the inventors discovered that multi-wire configuration is a key factor leading to high power consumption and heat generation, while the conflict between wire length and compensation angle restricts cost control. By analyzing the kinematic characteristics of the carrier, it was found that the torque difference on both sides of the rotation fulcrum can amplify the wire deformation effect. Based on this, it was proposed to arrange the wire connection points at different heights of the carrier, utilizing the spatial leverage effect to improve driving efficiency. Further considering the layered control characteristics of the dual-axis rotation structure, the second carrier 300 is directly connected to the base 100 via the second actuation line 310, avoiding energy loss during motion transmission.

[0038] Therefore, this application proposes an optical anti-shake motor including a base 100, a first carrier 200, and a second carrier 300. For example... Figure 1 As shown, the base 100 and the first carrier 200 form a revolute joint via the first axis A1, and the first carrier 200 and the second carrier 300 form a revolute joint via the second axis A2, with the two axes being spatially perpendicular. The first carrier 200 is connected to the base 100 on both sides via first actuation lines 210, with the connection points located at different heights and avoiding the extension line of the first axis A1. The second carrier 300 is connected to the base 100 on both sides via second actuation lines 310, with the connection points located at different heights and avoiding the extension line of the second axis A2.

[0039] The base 100 refers to the fixed structure that supports the entire moving assembly. It can be implemented using a metal frame or an injection-molded shell, and its surface can be provided with positioning grooves and snap-fit ​​structures. The first carrier 200 refers to the intermediate moving component that rotates around the first axis A1. It can be made of lightweight alloy material or an injection-molded shell to reduce inertial load. The second carrier 300 refers to the terminal moving component that mounts the optical lens 320. It can integrate a magnet assembly to achieve focusing drive. The first connecting part 2101 refers to the fixed end of the first actuation line 210 at the base 100. It can be fixed by welding or clamping devices. When arranged, it is offset from the projection area of ​​the first axis A1. This projection area can be understood as a plane parallel to the height direction through the first axis A1. The height direction is as follows: Figure 3 As shown in the diagram; the height direction in this invention is also parallel to the Z-axis direction. The second connecting part 2102 refers to the first actuation line 210 at the movable end of the first carrier 200, which is set at the top edge of the first carrier 200 to form a height difference. The third connecting part 3101 and the fourth connecting part 3102 act on the second carrier 300 using a similar principle.

[0040] Specifically, when the first carrier 200 is pulled by the first actuation line 210, due to the vertical displacement between the first connecting part 2101 and the second connecting part 2102, the shrinkage of the wire is converted into a rotation angle around the first axis A1. When the first carrier 200 rotates, the positions of all points on it except the first axis A1 also change. Therefore, the rotation angle compensation of the carrier is accompanied by displacement compensation. The second carrier 300 is directly controlled through the independently connected second actuation line 310. When the two sets of actuation lines work together, a compound rotational motion around the two axes can be generated. The difference in lever arm length caused by the height difference of the connection points allows the same wire deformation to drive a larger angle of deflection. The design of the second carrier 300 being directly connected to the base 100 eliminates the intermediate transmission link and avoids the transmission of motion error of the first carrier 200 to the second carrier 300.

[0041] Compared with existing technologies, traditional solutions rely on increasing the number and length of wires to improve compensation capabilities, while this solution optimizes the spatial layout of connection points, enabling compensation at larger angles with shorter wires.

[0042] Through the above technical solutions, this application reduces the required number of wires by approximately 50% while maintaining large-angle image stabilization compensation capabilities, effectively reducing overall system power consumption and heat generation. The required wire length is shortened by more than 30%; in one embodiment, it can be shortened by 50%, significantly reducing material costs and assembly space requirements. The dual-carrier independent control structure avoids motion coupling interference, improving image stabilization accuracy and response speed. The introduction of spatial leverage effect allows for higher utilization of wire deformation, achieving a larger compensation angle under the same current drive.

[0043] In one embodiment of the present invention, both the first actuation line 210 and the second actuation line 310 are made of shape memory alloy material.

[0044] Shape memory alloys (SMAs) are a unique type of smart metallic material. Due to their reversible thermoelastic martensitic phase transformation, they possess two major characteristics: "shape memory effect" and "superelasticity." The shape memory effect refers to the material's ability to automatically recover its original shape after being deformed by cooling from a high temperature to a low temperature and then reheating. By processing SMAs into very fine wires (or filaments) and pre-stretching them, they are connected to a load. Applying an electric current causes the SMA wires to contract due to the Joule heating effect, thus moving the load. Compared to electromagnetic drive technology, SMA motors offer greater driving force, are non-magnetic, and smaller in size, making them valuable for applications in autofocus and optical image stabilization in camera modules.

[0045] Specifically, the first actuation wire 210 connects the base 100 and the first carrier 200, and the second actuation wire 310 connects the base 100 and the second carrier 300. When it is necessary to control the rotation of the first carrier 200 around the first axis A1, different currents are applied to the two / single first actuation wires 210 on the same side. The difference in their thermal contraction generates torque, causing the two / single first actuation wires 210 on the opposite side to extend, thus achieving the rotation of the first carrier 200 around the first axis A1. Similarly, by adjusting the contraction of the second actuation wire 310, the second carrier 300 is driven to rotate around the second axis A2. Since the single deformation of the shape memory alloy material is controllable, the two sets of actuation wires can work together to achieve dual-axis tilt compensation without the need for an additional translation drive mechanism. This solution reduces the number of driving wires working simultaneously; for example, only two wires need to be activated during single-axis compensation, thereby reducing overall power consumption. Existing eight-wire drive solutions require simultaneous control of the current in multiple wires to maintain carrier balance, resulting in continuously high power consumption. This solution optimizes the drive line layout and introduces the first axis A1 and the second axis A2, making its rotational stability controllable. In dual-axis motion control, only a minimum of four wires are required to operate in a time-sharing manner to achieve composite rotation around both axes, avoiding energy waste caused by redundant activation of multiple lines. This application effectively reduces the operating power consumption of the optical image stabilization system, alleviates the heat generation problem caused by multi-line drive, and maintains dual-axis tilt compensation capability. Through the synergistic optimization of structure and drive logic, energy utilization efficiency is improved while simplifying the structure, providing a feasible low-power solution for miniaturized devices.

[0046] In one embodiment of this utility model, there are four first actuation lines 210, two on each side of the first carrier 200 relative to the first axis A1. The first actuation lines 210 include actuation line 1 211, actuation line 212, actuation line 3 213, and actuation line 4 214. Actuation line 1 211 and actuation line 212 are located on the same side relative to the first axis A1, and actuation line 3 213 and actuation line 4 214 are located on the same side relative to the first axis A1. There are four second actuation lines 310, two on each side of the second carrier 300 relative to the second axis A2. The second actuation lines 310 include actuation line 5 311, actuation line 6 312, actuation line 7 313, and actuation line 8 314. Actuation line 5 311 and actuation line 6 312 are located on the same side relative to the second axis A2, and actuation line 7 313 and actuation line 8 314 are located on the same side relative to the second axis A2.

[0047] The first actuation wire 210 consists of four shape memory alloy wires, which serve as actuation elements to drive the first carrier 200 to rotate around the first axis A1. Specifically, nickel-titanium alloy wires can be used, and a force couple is formed through a symmetrical distribution on both sides. The distribution of two wires on each side of the first carrier 200 relative to the first axis A1 means that the four wires are divided into two groups, with two wires in each group arranged on both sides of the first axis A1. This can be achieved using a diagonal symmetrical layout, which reduces the load on a single wire. The actuation wires 211 and 212 are located on the same side relative to the first axis A1, meaning that the two wires on the same side work together through parallel or alternating energization. This can be achieved using independent circuit control, allowing selective activation of a single-side wire group to reduce power consumption. The layout principle of the second actuation wire 310 is the same as that of the first actuation wire 210. The four wires form a symmetrical driving structure on both sides of the second axis A2. This layout allows the first carrier 200 and the second carrier 300 to independently control their rotational degrees of freedom.

[0048] Specifically, when it is necessary to drive the first carrier 200 to rotate around the first axis A1, the two actuator wires on the same side can be selectively energized. For example, when compensating for positive angular displacement around the first axis A1, actuator wires 1 211 and 212 are contracted, while actuator wires 3 213 and 4 214 are extended. In one embodiment, the rotation of the first carrier 200 can also be achieved using only two-wire drive, for example, by contracting actuator wire 1 211 and extending actuator wire 4 214, or by contracting actuator wire 212 and extending actuator wire 3 213. For the control of the second carrier 300, actuator wires 5 311 to 8 314 adopt the same working mode, and only the two or one wires on the corresponding side need to be activated when rotation around the second axis A2 is required. Compared with the traditional eight-wire fully open working mode, this scheme reduces the number of wires working simultaneously by 50% through group control, significantly reducing the overall power consumption of the system. In traditional eight-wire solutions, all wires must be kept energized throughout the process to maintain carrier balance, resulting in concentrated energy loss across all eight wires. This solution, however, groups the wires and establishes independent control channels. The corresponding wire group is activated only when displacement compensation occurs, while non-working wires remain de-energized. For example, four wires can be active while the other four remain inactive, effectively avoiding unnecessary power consumption. Through this technical solution, this application, while maintaining dual-axis rotation control capabilities, allows the number of working wires to be selectively optimized from eight to four, directly reducing power consumption by approximately 50%, which can be chosen according to different application scenarios. The reduction in the number of wires also reduces system heat generation, preventing excessive heat accumulation from affecting optical components.

[0049] In one embodiment of the present invention, the second connecting portion 2102 of actuator line 1 211 and actuator line 212 is arranged at the same corner of the first carrier 200, and the second connecting portion 2102 of actuator line 3 213 and actuator line 4 214 is arranged at the other corner on the opposite side; the fourth connecting portion 3102 of actuator line 5 311 and actuator line 6 312 is arranged at the same corner of the second carrier 300, and the fourth connecting portion 3102 of actuator line 7 313 and actuator line 8 314 is arranged at the other corner on the opposite side.

[0050] The "same corner" refers to the concentrated connection area formed by the corner of the carrier, which can be achieved using an L-shaped bending structure or a boss structure. Geometric constraints limit the connection points of multiple actuation lines to a specific spatial range. The second connection 2102 and the fourth connection 3102 respectively refer to the mechanical transmission nodes connecting the actuation lines and the carrier. They can be achieved using metal welding points, injection-molded insert structures, or clamping structures, and are used to convert the shrinkage deformation of the SMA material into the rotational torque of the carrier.

[0051] Specifically, the actuation lines on both sides of the first carrier 200 are grouped and constrained at two diagonal corners, forming spatially symmetrical tension application points. When the two actuation lines at the same corner are controlled to contract, their resultant force direction forms a lever arm relationship with the rotation axis of the first axis A1, enabling the carrier to rotate around the axis. The second carrier 300 adopts the same layout logic, so that the tension application points of the actuation lines on both sides of the second axis A2 are constrained in a specific area, avoiding motion interference caused by the cross-axis distribution of the lines. This corner-centralized layout, through spatial topology optimization, compresses the connection points of the originally dispersed eight actuation lines into four key areas, effectively reducing the length of the line crossing paths. By merging the connection points of the actuation lines on both sides of the same rotation axis into the corners, the effective working section length of the lines is shortened by about 30%-50%. For example, the layout method in the prior art where the actuation lines need to cross the diagonal of the carrier is improved to the inclined structure in this utility model, thereby shortening the length of the SMA line. This application achieves a spatially compact arrangement of multiple SMA actuation lines, significantly reducing the risk of wire entanglement and shortening the working length of individual wires. Because the two actuation lines at the same corner form symmetrical tension, the torque balance accuracy during carrier rotation is improved, avoiding control signal coupling caused by dispersed connection points. This layout also provides a physical space basis for the subsequent compact design of the gripper structure, enabling the overall size of the dual-axis linkage system to be reduced.

[0052] In one embodiment of this utility model, the first actuation line 210 is connected to the base 100 and the first carrier 200 respectively via claws, and the second actuation line 310 is connected to the base 100 and the second carrier 300 respectively via claws. The claws include a first claw 101, a second claw 102, a third claw 103, and a fourth claw 104 arranged sequentially along the circumference on the base 100; a fifth claw 105 and a sixth claw 106 arranged on the first carrier 200; and a seventh claw 107 and an eighth claw 108 arranged on the second carrier 300. The fifth claw 105 is located between the first claw 101 and the fourth claw 104; the sixth claw 106 is located between the second claw 102 and the third claw 103; the seventh claw 107 is located between the first claw 101 and the second claw 102; and the eighth claw 108 is located between the third claw 103 and the fourth claw 104. The first claw 101, the second claw 102, the third claw 103, and the fourth claw 104 are respectively located at the center of each side of the base 100, and the first axis A1 is parallel to one diagonal of the base 100. The fifth claw 105 is located at a corner of the first carrier 200 and connects actuation line 1 211 and actuation line 212. The sixth claw 106 is located at another corner of the first carrier 200 and connects actuation line 3 213 and actuation line 4 214. The seventh claw 107 is located at a corner of the second carrier 300 and connects actuation line 5 311 and actuation line 6 312. The eighth claw 108 is located at another corner of the second carrier 300 and connects actuation line 7 313 and actuation line 8 314. The actuation lines are arranged intersectingly but do not contact each other.

[0053] The clamps are mechanical connecting components used to secure the ends of the SMA actuator lines. They can be made from stamped or injection-molded metal parts and serve to provide stable anchor points for the actuator lines. The spatial distribution of the clamps refers to the arrangement of the clamps at predetermined angular intervals in the center of the 100° circumferential edge of the base. This can be achieved through precision molding and establishes a spatial tension distribution network for the actuator lines. Corner connections involve concentrating two actuator lines on the same carrier at a corner area. This can be achieved using a double-line fixing groove structure or clamps and enhances the symmetry of force distribution on the carrier. Crossing without contact refers to actuator lines with different axes forming a three-dimensional intersection in space while maintaining a certain distance for isolation. This can be achieved by setting different spatial orientations and avoids short circuits while optimizing space utilization.

[0054] Specifically, the claws at the center of the four sides of the base 100 form basic connection nodes. The claws at the two corners of the first carrier 200 are connected to two sets of actuation lines, and the claws at the two corners of the second carrier 300 are also connected to two sets of actuation lines. By setting the first axis A1 as the diagonal direction of the base 100, the actuation lines on both sides of the first carrier 200 form a symmetrical tension distribution. When the first claw 101 and the fourth claw 104 are on the same side of the first axis A1, their connected actuation lines 211 and 212 can work together to control the rotation angle of the first carrier 200 around the first axis A1. The actuation lines 213 and 214 connected to the second claw 102 and the third claw 103 on the same side form a reverse control force. The seventh claw 107 and the eighth claw 108 of the second carrier 300 are connected to two sets of actuation lines, and the control lines of the second axis A2 are distributed in the upper space of the control lines of the first axis A1 through a cross wiring method. The actuation lines are arranged in a layered layout in three-dimensional space, with the control lines of the first carrier 200 and the second carrier 300 physically isolated by their height difference. This three-dimensional layered wiring method spatially isolates control lines along different axes, avoiding the risk of short circuits caused by line contact. The concentrated wiring design at corners improves the force symmetry of the carrier, ensuring the accuracy of rotation angle control. The circumferential distribution of the grippers optimizes the tension distribution of the actuation lines, achieving an orderly arrangement of eight actuation lines within a limited space, reducing assembly complexity. The cross-connection, non-contact wiring method effectively improves the line layout density and control response speed while maintaining a compact structure.

[0055] like Figure 1 and Figure 2 As shown, in one embodiment of this utility model, the first carrier 200 is rotatably connected to the base 100 via a first fulcrum member 111. The first fulcrum member 111 is disposed between the first carrier 200 and the base 100 to provide a first shaft A1. The top of the base 100 is provided with a first limiting groove 110 that mates with the first fulcrum member 111, and the bottom of the first carrier 200 is provided with a second limiting groove 220 that mates with the first fulcrum member 111. Figure 2 As shown, the second limiting groove 220 is a rectangular groove, and at least two limiting blocks 221 are provided in the rectangular groove to cooperate with the first fulcrum member 111. A V-shaped groove is formed on the limiting block 221. In one embodiment, the structure of the first limiting groove 110 can be the same as the structure of the second limiting groove 220.

[0056] The first fulcrum member 111 is a mechanical structure used to support the first carrier 200 to rotate around the first axis A1. It can be implemented using rollers or a group of balls, reducing rotational resistance through rolling friction. The first limiting groove 110 is a groove structure located on the top of the base 100, used to constrain the lateral displacement of the first fulcrum member 111. It can be implemented using a U-shaped or V-shaped groove structure, limiting the range of motion of the fulcrum member through its geometric shape. The second limiting groove 220 is a groove structure located at the bottom of the first carrier 200, forming an upper and lower clamping effect on the first fulcrum member 111 together with the first limiting groove 110. It can be implemented using a groove shape symmetrical to the first limiting groove 110, ensuring axial positioning of the fulcrum member through the double-groove cooperation.

[0057] Specifically, the first limiting groove 110 at the top of the base 100 and the second limiting groove 220 at the bottom of the first carrier 200 form an upper and lower clamping structure. The first fulcrum member 111 is embedded between the two grooves, allowing only rotation around the first axis A1 when the carrier rotates, and preventing lateral displacement. The depth and width of the first limiting groove 110 are designed to match the dimensions of the first fulcrum member 111, ensuring a certain gap between the first carrier 200 and the base 100, thereby guaranteeing that the first carrier 200 has rotatable space. This can be understood as the diameter of the first fulcrum member 111 being greater than the sum of the depths of the first limiting groove 110 and the second limiting groove 220, or the width of the first limiting groove 110 and the second limiting groove 220 being less than the diameter of the first fulcrum member 111. This ensures that the first carrier 200 maintains a reasonable distance when engaging with the base 100 via the first fulcrum member 111. For example, when the fulcrum member is a roller, the width of the first limiting groove 110 and the second limiting groove 220 is slightly smaller than the roller diameter to allow rolling but restrict lateral displacement. The opening direction of the second limiting groove 220 is perpendicular to the first limiting groove 110, further restricting the vertical freedom of the fulcrum member. Through the synergistic effect of the two grooves, the movement trajectory of the fulcrum component is strictly limited within the rotation plane of the first axis A1, thereby avoiding fulcrum offset or wear caused by vibration or impact. This application, through the upper and lower clamping design of the double limiting grooves, distributes the force on the first fulcrum component 111 to the contact surface of the base 100 and the carrier, reducing local stress concentration, and simultaneously reducing the wear rate through rolling friction. Furthermore, the split limiting groove structure simplifies the assembly process; for example, the fulcrum component can be directly embedded into the prefabricated grooves of the base 100 and the carrier without additional fasteners. This application effectively solves the structural stability problem of the rotational connection between the carrier and the base 100. Through the multi-directional constraint of the fulcrum component by the double limiting grooves, it prevents offset or detachment during movement, thereby improving the long-term reliability and motion accuracy of the optical image stabilization motor. The rolling friction design of the first fulcrum component 111 further reduces rotational resistance, ensuring that the carrier achieves high-sensitivity angle compensation under the control of a small driving force.

[0058] In one embodiment of the present invention, the second carrier 300 is rotatably connected to the first carrier 200 via a second fulcrum member 231. The second fulcrum member 231 is disposed between the first carrier 200 and the second carrier 300 to provide a second shaft A2. The top of the second carrier 300 is provided with a third limiting groove 230 that cooperates with the second fulcrum member 231, and the bottom of the second carrier 300 is provided with a fourth limiting groove 330 that cooperates with the second fulcrum member 231.

[0059] The second fulcrum member 231 is a mechanical connecting component used to form the rotation center of the second shaft A2. It can be implemented using rollers or a ball bearing system and is constrained between the first carrier 200 and the second carrier 300 to provide a degree of freedom for rotation about the second shaft A2. The third limiting groove 230 is a groove structure located at the top of the second carrier 300, whose shape matches the contact surface of the second fulcrum member 231, used to limit the displacement of the second fulcrum member 231 in the lateral direction. The fourth limiting groove 330 is a groove structure located at the bottom of the second carrier 300, which, together with the third limiting groove 230, forms an upper and lower clamping effect on the second fulcrum member 231, preventing it from dislodging from its preset position under vibration or impact.

[0060] Specifically, the second fulcrum member 231 is assembled between the first carrier 200 and the second carrier 300, and is spatially constrained from the top and bottom by the third limiting groove 230 and the fourth limiting groove 330, respectively. When the second carrier 300 rotates around the second axis A2, the two ends of the second fulcrum member 231 contact the inner walls of the third limiting groove 230 and the fourth limiting groove 330, respectively, thereby limiting its range of movement in the vertical and lateral directions. This double-limiting structure allows the second fulcrum member 231 to rotate only along the second axis A2, avoiding fulcrum offset due to external vibration or inertial force, while maintaining the geometric stability of the rotation axis. This solution, through the symmetrically arranged third limiting groove 230 and fourth limiting groove 330, forms a bidirectional constraint on the fulcrum member, significantly improving the structural rigidity and impact resistance of the rotating connection. This application solves the problem of insufficient stability of the rotational connection structure between the second carrier 300 and the first carrier 200. Through the cooperation of the double limiting groove and the fulcrum component, the carrier offset or shaking caused by vibration or external force during the optical image stabilization process is effectively suppressed, ensuring the accuracy and reliability of the rotation of the second carrier 300 around the second axis A2, thereby improving the optical image stabilization performance.

[0061] In one embodiment of this utility model, the first fulcrum member 111 is a roller or a ball bearing group, and the second fulcrum member 231 is a roller or a ball bearing group.

[0062] Here, the rollers refer to cylindrical rolling elements, which can be made of metal. Their axes are parallel to the rotation axis of the carrier, forming directional rolling support between the base 100 and the first carrier 200 through line contact. The ball bearings refer to a collection of multiple spherical rolling elements, which can be made of stainless steel or ceramic. They form spherical rolling support between the first carrier 200 and the second carrier 300 through multi-point contact. The rollers reduce rotational friction resistance through line contact, while the ball bearings achieve smooth multi-degree-of-freedom rotation by distributing contact pressure.

[0063] In one embodiment of this invention, rollers are disposed between the limiting grooves of the first carrier 200 and the base 100. When the first carrier 200 rotates around the first axis A1, the rollers roll along the constraint direction of the limiting grooves, converting sliding friction into rolling friction. A ball bearing group is arranged between the limiting grooves of the second carrier 300 and the first carrier 200. When the second carrier 300 rotates around the second axis A2, multiple balls roll simultaneously, forming uniformly distributed support points. The line contact characteristics of the rollers limit the displacement of the carrier in the non-rotational direction, while the multi-point contact characteristics of the ball bearing group allow the carrier to automatically adjust the contact angle during tilting. Both types of support components replace traditional sliding friction with rolling friction, avoiding motion lag caused by static friction. This solution reduces the coefficient of friction to less than one-tenth of that of sliding friction through the rolling element structure, significantly reducing rotational resistance. In the prior art, sliding contact surfaces easily generate wear debris, affecting motion accuracy, while the rollers and ball bearing group have a self-cleaning effect during rolling, preventing debris accumulation. Through the above technical solution, this application achieves low-friction motion during carrier rotation, eliminating the stick-slip phenomenon of traditional sliding support structures. The rolling element structure enables the carrier to generate precise angular displacement under minimal driving force, improving the response sensitivity of the optical image stabilization system. The spherical support characteristics of the ball bearings enhance the stability of the carrier during tilting motion, preventing structural deformation caused by stress concentration from single-point contact. The rolling characteristics of the fulcrum components also extend the service life of the rotating mechanism, avoiding the degradation of anti-shake performance due to long-term wear.

[0064] In one embodiment of the present invention, a lens 320 is disposed within a second carrier 300, and an actuation component for driving the lens 320 to move along the height direction is disposed within the second carrier 300. The actuation component includes a magnet and a coil disposed opposite to each other. The magnet is connected to the lens 320, and the coil is fixed on the second carrier 300.

[0065] The second carrier 300 is a movable component that supports the lens 320 and performs tilt-compensation movement around a dual axis. It can be made of metal or resin through injection molding and has an internal cavity structure to accommodate the lens 320. It is rotatably connected to the first carrier 200 via a fulcrum component. The lens 320 is an optical imaging element, which can be a multi-lens combination structure housed within the second carrier 300. The actuation component is the mechanism that drives the lens 320 to move along the optical axis. It can be electromagnetically driven, with a permanent magnet, such as neodymium iron boron, connected to the lens 320 via a mounting base. The coil is a conductive winding wound on a frame and connected to an external power supply via a circuit board. The electromagnetic coupling between the magnet and the coil generates an axial driving force, and the displacement of the lens 320 is controlled by changing the direction and magnitude of the coil current.

[0066] Specifically, when autofocus is required, a specific current is applied to the coil, generating an electromagnetic force between the coil and the magnet. This drives the lens 320 to move along the height of the second carrier 300, achieving focus adjustment. During optical image stabilization compensation, the second carrier 300 rotates around a dual axis, causing the lens 320 to tilt. At this time, the relative positions of the coil and the magnet change synchronously with the carrier's movement, but the electromagnetic drive system can still independently control the axial displacement of the lens 320. Because the magnet is directly fixed to the lens 320 and the coil is fixed to the second carrier 300, a stable electromagnetic coupling relationship is formed between them in space. Even if the carrier tilts, the direction of the driving force remains consistent with the axis of the lens 320. This layout allows tilt compensation and axial drive to share the same carrier space, eliminating the need for an external independent drive structure and reducing the number of components.

[0067] In some specific embodiments, the magnet can be configured as a ring structure fitted around the outer periphery of the lens 320, and the corresponding coil is a ring winding embedded in the mounting groove of the second carrier 300. A guide post can be provided on the side of the lens 320, cooperating with a guide hole in the second carrier 300 to restrict the movement direction of the lens 320. The coil leads can be connected to an external control circuit via a flexible circuit board to avoid wire entanglement affecting the carrier's movement.

[0068] In one embodiment of the present invention, a protective cover 400 is also included. The protective cover 400 is fixedly connected to the base 100. The protective cover 400 forms a accommodating space for accommodating the first carrier 200 and the second carrier 300. An image sensor located below the lens 320 is provided on the second carrier 300. A flexible flat cable 340 is connected to the image sensor.

[0069] The protective cover 400 refers to the cover structure that covers the base 100. It can be made of metal or plastic and fixed with clips or screws to isolate the internal moving parts from external interference. The image sensor is a semiconductor device that converts light signals into electrical signals. It can be a CMOS or CCD chip, and its mounting position is perpendicular to the optical axis of the lens 320. The flexible flat panel cable 340 is a connecting wire with a multi-layer flexible circuit structure. It can be an FPC cable with a polyimide substrate, connected to the image sensor circuit board by soldering or crimping.

[0070] Specifically, a sealed space is formed between the protective cover 400 and the base 100, preventing dust intrusion or external impacts from affecting the first carrier 200 and the second carrier 300 during movement. The image sensor is integrated at the bottom of the second carrier 300, forming a vertical optical path with the lens 320, ensuring the image focal plane remains stable when the carrier is tilted. A flexible flat cable 340, in a bent configuration, connects the image sensor to the external circuitry. When the second carrier 300 rotates around its axis, it absorbs displacement differences through its own deformation, preventing rigid wire breakage or contact failure.

[0071] In one embodiment of this utility model, there are two first actuation lines 210, one on each side of the first carrier 200 relative to the first axis A1; the first actuation line 210 includes actuation line one 211, actuation line four 214 or actuation line two 212, actuation line three 213; there are two second actuation lines 310, one on each side of the second carrier 300 relative to the second axis A2; the second actuation line 310 includes actuation line five 311, actuation line eight 314 or actuation line six 312, actuation line seven 313; the actuation line one 211, actuation line four 214 and the second connection portion 2102 of the first carrier 200 are respectively located at two opposite corners of the first carrier 200, or the actuation line two 212, actuation line four 214 and the second connection portion 2102 of the first carrier 200 are respectively located at two opposite corners of the first carrier 200. The second connection portion 2102 of the actuator line 313 and the first carrier 200 are respectively located at two opposite corners of the first carrier 200; the fourth connection portions 3102 of the actuator lines 511 and 814 and the second carrier 300 are respectively located at two opposite corners of the second carrier 300, or the fourth connection portions 3102 of the actuator lines 612 and 713 and the second carrier 300 are respectively located at two opposite corners of the second carrier 300; the first actuator line 210 is connected to the base 100 and the first carrier 200 respectively via claws; the second actuator line 310 is connected to the base 100 and the second carrier 300 respectively via claws; the claws include first claws arranged sequentially along the circumferential direction on the base 100. The base 100 comprises a first claw 101, a second claw 102, a third claw 103, a fourth claw 104; a fifth claw 105 and a sixth claw 106 disposed on the first carrier 200; and a seventh claw 107 and an eighth claw 108 disposed on the second carrier 300. The fifth claw 105 is located between the first claw 101 and the fourth claw 104; the sixth claw 106 is located between the second claw 102 and the third claw 103; the seventh claw 107 is located between the first claw 101 and the second claw 102; and the eighth claw 108 is located between the third claw 103 and the fourth claw 104. The first claw 101, the second claw 102, the third claw 103, and the fourth claw 104 are respectively disposed on each side of the base 100. The first carrier 200 has two extension portions 201 formed at the two corners on both sides of the first carrier 200 located on the first axis A1. The first axis A1 is parallel to a diagonal line of the base 100. The first claw 101 and the fourth claw 104 are disposed on the same side relative to the first axis A1. The second claw 102 and the third claw 103 are disposed on the same side relative to the first axis A1. The two extension portions 201 are respectively connected to the first actuation line 210 via the fifth claw 105 and the sixth claw 106. The second connecting portion 2102 is located on the fifth claw 105 and the sixth claw 106. The fifth claw 105 is located at a corner of the first carrier 200.The fifth claw 105 is connected to an actuation line 211 or an actuation line 212; the actuation line 211 is connected to the first claw 101 or the actuation line 212 is connected to the fourth claw 104; the sixth claw 106 is located at another corner of the first carrier 200; the sixth claw 106 is connected to an actuation line 213 or an actuation line 214; the actuation line 213 is connected to the second claw 102 or the actuation line 214 is connected to the third claw 103; the seventh claw 107 is located at one corner of the second carrier 300; Actuation line 311 or actuation line 312 is connected to the seventh claw 107; actuation line 311 is connected to the first claw 101 or actuation line 312 is connected to the second claw 102; the eighth claw 108 is located at another corner of the second carrier 300; actuation line 313 or actuation line 314 is connected to the eighth claw 108; actuation line 313 is connected to the fourth claw 104 or actuation line 314 is connected to the third claw 103; the fourth connecting part 3102 is located on the seventh claw 107 and the eighth claw 108.

[0072] It should be noted that the above embodiments can achieve motion control of the first carrier 200 and / or the second carrier 300 using only four actuation lines; for example, see [link to example]. Figure 1 As shown, operating actuator lines 211, 214, 311, and 314 enables motion control of the first carrier 200 and / or the second carrier 300. Specifically, contracting actuator line 211 and extending actuator line 214, or extending actuator line 211 and contracting actuator line 214, enables the first carrier 200 to rotate around the first axis A1; contracting actuator line 311 and extending actuator line 314, or extending actuator line 311 and contracting actuator line 314, enables the second carrier 300 to rotate around the second axis A2.

[0073] Similarly, operating actuator line 1 211, actuator line 4 214, actuator line 6 312, and actuator line 7 313, or operating actuator line 2 212, actuator line 3 213, actuator line 5 311, and actuator line 8 314, or operating actuator line 2 212, actuator line 3 213, actuator line 6 312, and actuator line 7 313, can all achieve motion control of the first carrier 200 and / or the second carrier 300.

[0074] Similarly, when actuation lines 1 211, 212, 3 213, 4 214, 5 311, 6 312, 7 313, and 8 314 are set simultaneously, all eight actuation lines can work at the same time, or at least the aforementioned four actuation lines can be selectively combined to achieve motion control of the first carrier 200 and / or the second carrier 300.

[0075] like Figure 4 As shown, the motion of the first carrier 200 driven by actuator line 211 and actuator line 212 can be simplified as follows: Figure 4 In the structure shown, MN represents the first axis A1 formed by the first fulcrum member 111, J is the midpoint of the first axis A1, EF represents the first connecting part 2101 at the ends of the actuation line 1 211 and the actuation line 212 respectively, H is the midpoint of the EF connecting line, E is the midpoint of LN, F is the midpoint of LM, K represents the second connecting part 2102, KF is the length of the actuation line 1 211, KE is the length of the actuation line 212, GF is the length of the actuation line 1 211 after contraction, GE is the length of the actuation line 212 after contraction, L represents a corner of the base 100, G represents the end point of point K after the first carrier 200 rotates by a certain angle, O is a point outside the extension line of LJ, and GO is perpendicular to LJ;

[0076] Since KJ is the connecting line formed within the first carrier 200, and J passes through the first axis A1, when point K rotates to the position of point G, the lengths of GJ and KJ remain unchanged.

[0077] ∠KJL=β, representing the initial angle; ∠GJL=θ, representing the final angle of rotation; β-θ can represent the change in angle after the SMA line contracts; the length of GK can represent the change in displacement after the SMA line contracts; and the length of OL can represent the relative change in horizontal displacement after the SMA line contracts.

[0078] Based on this, for example, suppose the length of actuator wire 211 is 5mm, that is, KF=5mm. When actuator wire 211 is heated, its original length decreases by 1%, that is, it shrinks by s=0.05mm, where LF=LE=3mm and KL=4mm. The calculation process for each change is as follows:

[0079]

[0080]

[0081]

[0082]

[0083]

[0084]

[0085]

[0086]

[0087]

[0088]

[0089]

[0090]

[0091]

[0092]

[0093]

[0094]

[0095] As can be seen from formula (16), when the actuator line 211 shrinks by 1%, it can generate a rotation angle compensation of 1.7°, which is much larger than the adjustment range of ±1° for the anti-shake angle in the prior art. The shrinkage rate of general SMA line can reach more than 2%, that is, the scheme of this utility model can achieve a minimum rotation angle compensation of ±3.4°.

[0096] In this field, 100μm is generally considered equivalent to a 1° rotation angle, where 100μm = 0.1mm. This means a compensation distance of 0.1mm is equivalent to a 1° rotation angle compensation. This invention utilizes a 0.05mm shrinkage of the SMA line to achieve a 1.7° rotation angle compensation, equivalent to 0.17mm of displacement compensation. Since 0.17 / 0.05 = 3.4, this invention achieves a 3.4-fold amplification of the displacement compensation distance / rotation angle compensation. In other words, the solution of this invention can achieve greater displacement / rotation angle compensation using a shorter SMA line.

[0097] In comparison, existing image stabilization motors, such as Figure 5As shown, one end of actuation line 211 is connected to the fixed base B1, and the other end is connected to the movable component B2, which is connected to the lens 320. Therefore, the two ends of actuation line 211 connect to different planes, such that the intersecting actuation line 211 is positioned along the Z-direction, i.e., the direction of the optical axis of the lens 320, and is perpendicular to the XY plane where the bottom of the fixed base B1 is located. When actuation line 211 contracts, the movable component B2 can drive the lens 320 to move along the Y-direction.

[0098] In this case, such as Figure 6 As shown, the line connecting actuation line 211, fixed base B1, and movable component B2 can form a right triangle. For example, before actuation line 211 retracts, the line connecting actuation line 211, fixed base B1, and movable component B2 can form a right triangle EFG; after actuation line 211 retracts, the line connecting actuation line 211, fixed base B1, and movable component B2 can form a right triangle EFH.

[0099] Based on this, for example, the length 'a' of actuator line 211 is 10 mm. When the SMA is heated, its original length is reduced by 1%, and... Figure 6 The angle θ in the equation is 15°. The calculation process for the stroke compensation of the anti-shake motor can be as follows:

[0100]

[0101]

[0102]

[0103]

[0104]

[0105]

[0106]

[0107] From formulas (21)-(23), it can be seen that after the actuation line 211 contracts, the length b of the right-angled side FG of right triangle EFG becomes the length b1 of the right-angled side FH of right triangle EFH, with a change of Δb=0.1035mm. That is, the change of the adjacent side of ∠θ (Δb) is equivalent to the change of the length of the actuation line 211 (Δa). In other words, the 0.1mm contraction of the SMA line can only achieve a displacement compensation distance of 0.1035mm, which is only a 1.035-fold amplification of the displacement compensation distance. In comparison, this utility model can achieve a 1.7° rotation angle compensation by using a 0.05mm contraction of the SMA line, which is equivalent to a 0.17mm displacement compensation. And 0.17 / 0.05=3.4, that is, this utility model achieves a 3.4-fold amplification of the displacement compensation distance. It is understood that this utility model can use half the length of the SMA line in the prior art to achieve displacement compensation / rotation angle compensation over a longer distance, thereby effectively saving the length of the SMA line used and reducing costs. At the same time, as the length of the SMA line used is shortened, the heat generation of the SMA line is also further reduced.

[0108] like Figure 1 As shown, the first axis A1 forms a 45° angle with the X-axis, and the second axis A2 also forms a 45° angle with the X-axis. It can be understood that the rotation angle of the anti-shake motor in this invention differs somewhat from that of existing anti-shake motors that typically rotate around the X-axis or Y-axis. In one embodiment, the first axis A1 of this invention can be parallel to the Y-axis, and the second axis A2 can be parallel to the X-axis. See details [link to documentation]. Figure 7 :

[0109] Actuation line 1 211 and actuation line 2 212 are connected to both sides of the first chuck 101. The first shaft A1 is located in the middle of the first chuck 101. The first chuck 101 extends to both sides by a distance to ensure that the first connecting part 2101 does not intersect with the first shaft A1.

[0110] Actuator line 3 213 and Actuator line 4 214 ( Figure 7 (Not shown in the image) Connected to both sides of the third jaw 103, the first shaft A1 is located in the middle of the third jaw 103, the first jaw 101 and the third jaw 103 are arranged opposite to each other, and the third jaw 103 extends to both sides by a distance to ensure that the first connecting part 2101 does not intersect with the first shaft A1.

[0111] Actuation line 5 311 and actuation line 6 312 are connected to both sides of the second jaw 102. The second shaft A2 is located in the middle of the second jaw 102. The second jaw 102 extends to both sides by a distance to ensure that the third connecting part 3101 does not intersect with the second shaft A2.

[0112] Actuation line 7 313 and actuation line 8 314 are connected to both sides of the fourth jaw 104. The second shaft A2 is located in the middle of the fourth jaw 104. The fourth jaw 104 extends to both sides by a distance to ensure that the third connecting part 3101 does not intersect with the second shaft A2.

[0113] The latches include a first latch 101, a second latch 102, a third latch 103, and a fourth latch 104 arranged sequentially along the circumference of the base 100. The first latch 101, second latch 102, third latch 103, and fourth latch 104 are respectively located at the center of each side of the base 100. Based on the foregoing analysis, in Figure 7 In the illustrated embodiment, the amplification effect of displacement compensation / rotation angle compensation can also be achieved.

[0114] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A tilting optical anti-shake motor with SMA pull, characterized in that, Includes a base (100); a first carrier (200) is rotatably connected to the base (100); the first carrier (200) is configured to rotate relative to the base (100) about a first axis (A1); a second carrier (300) is rotatably connected to the first carrier (200); the second carrier (300) is configured to rotate relative to the first carrier (200) about a second axis (A2); the first axis (A1) is perpendicular to the second axis (A2). The first carrier (200) is connected to the base (100) on both sides of the first axis (A1) via a plurality of first actuation lines (210); the connection between the first actuation line (210) and the base (100) constitutes a first connecting part (2101); the first connecting part (2101) does not intersect with the first axis (A1); the connection between the first actuation line (210) and the first carrier (200) constitutes a second connecting part (2102); the second connecting part (2102) is located on the side of the first carrier (200) away from the base (100); the first connecting part (2101) and the second connecting part (2102) are distributed at different heights in the height direction of the first carrier (200); The second carrier (300) is connected to the base (100) on both sides of the second axis (A2) via a plurality of second actuation lines (310); the connection between the second actuation lines (310) and the base (100) constitutes a third connection part (3101); the third connection part (3101) does not intersect with the second axis (A2); the connection between the second actuation lines (310) and the second carrier (300) constitutes a fourth connection part (3102); the fourth connection part (3102) is located on the side of the second carrier (300) away from the first carrier (200); the third connection part (3101) and the fourth connection part (3102) are distributed at different heights in the height direction of the second carrier (300); Both the first actuation line (210) and the second actuation line (310) are SMA actuation lines; the second carrier (300) is provided with a lens (320); The first carrier (200) is rotatably connected to the base (100) via the first fulcrum member (111); The second carrier (300) is rotatably connected to the first carrier (200) through the second fulcrum member (231).

2. The tilting optical anti-shake motor for SMA pull according to claim 1, characterized in that: There are four first actuation lines (210), two on each side of the first carrier (200) relative to the first axis (A1); the first actuation lines (210) include actuation line one (211), actuation line two (212), actuation line three (213), and actuation line four (214); actuation line one (211) and actuation line two (212) are located on the same side relative to the first axis (A1); actuation line three (213) and actuation line four (214) are located on the same side relative to the first axis (A1); There are four second actuation lines (310), two on each side of the second carrier (300) relative to the second axis (A2); the second actuation lines (310) include actuation line five (311), actuation line six (312), actuation line seven (313), and actuation line eight (314); actuation line five (311) and actuation line six (312) are located on the same side relative to the second axis (A2); actuation line seven (313) and actuation line eight (314) are located on the same side relative to the second axis (A2).

3. The tilting optical anti-shake motor for SMA pull according to claim 2, characterized in that: The actuation line one (211), actuation line two (212) and the two second connection parts (2102) of the first carrier (200) are all located at the same corner of the first carrier (200); the actuation line three (213), actuation line four (214) and the two second connection parts (2102) of the first carrier (200) are all located at the same corner of the first carrier (200); The actuation line five (311), actuation line six (312) and the two fourth connecting parts (3102) of the second carrier (300) are all located at the same corner of the second carrier (300); the actuation line seven (313), actuation line eight (314) and the two fourth connecting parts (3102) of the second carrier (300) are all located at the same corner of the second carrier (300).

4. The tilting optical anti-shake motor for SMA pull according to claim 2, characterized in that: The first actuation line (210) is connected to the base (100) and the first carrier (200) respectively via claws; The second actuation line (310) is connected to the base (100) and the second carrier (300) respectively via claws; The chucks include a first chuck (101), a second chuck (102), a third chuck (103), and a fourth chuck (104) arranged sequentially along the circumference on the base (100); a fifth chuck (105) and a sixth chuck (106) arranged on the first carrier (200); and a seventh chuck (107) and an eighth chuck (108) arranged on the second carrier (300). The fifth chuck (105) is located between the first chuck (101) and the fourth chuck (104); the sixth chuck (106) is located between the second chuck (102) and the third chuck (103); the seventh chuck (107) is located between the first chuck (101) and the second chuck (102); and the eighth chuck (108) is located between the third chuck (103) and the fourth chuck (104). The first claw (101), the second claw (102), the third claw (103), and the fourth claw (104) are respectively disposed at the middle of each side of the base (100); the first shaft (A1) is parallel to a diagonal of the base (100); the first claw (101) and the fourth claw (104) are disposed on the same side relative to the first shaft (A1); the second claw (102) and the third claw (103) are disposed on the same side relative to the first shaft (A1); a first connecting portion (2101) and a third connecting portion (3101) are formed on the first claw (101), the second claw (102), the third claw (103), and the fourth claw (104); The first carrier (200) has two corners on both sides of the first shaft (A1) extending away from the base (100) along the height direction to form extension portions (201); the two extension portions (201) are respectively connected to the first actuation line (210) through the fifth claw (105) and the sixth claw (106); the second connecting portion (2102) is located on the fifth claw (105) and the sixth claw (106); The fifth claw (105) is located on the extension (201) of a corner of the first carrier (200); the fifth claw (105) is connected to an actuation line one (211) and an actuation line two (212); the actuation line one (211) is connected to the first claw (101); the actuation line two (212) is connected to the fourth claw (104); The sixth claw (106) is located on the extension (201) of another corner of the first carrier (200); the sixth claw (106) is connected to actuation line three (213) and actuation line four (214); actuation line three (213) is connected to the second claw (102); actuation line four (214) is connected to the third claw (103); The seventh claw (107) is located at a corner of the second carrier (300); the seventh claw (107) is connected to actuation line five (311) and actuation line six (312); actuation line five (311) is connected to the first claw (101); actuation line six (312) is connected to the second claw (102); The eighth claw (108) is located at another corner of the second carrier (300); the eighth claw (108) is connected to actuation line seven (313) and actuation line eight (314); actuation line seven (313) is connected to the fourth claw (104); actuation line eight (314) is connected to the third claw (103); the fourth connecting part (3102) is located on the seventh claw (107) and the eighth claw (108); The actuation line 1 (211) intersects with the actuation line 5 (311) but does not contact; the actuation line 2 (212) intersects with the actuation line 7 (313) but does not contact; the actuation line 3 (213) intersects with the actuation line 6 (312) but does not contact; the actuation line 4 (214) intersects with the actuation line 8 (314) but does not contact.

5. The tilting optical anti-shake motor for SMA pull according to claim 1, characterized in that: The first fulcrum member (111) is disposed between the first carrier (200) and the base (100) to provide the first shaft (A1); the top of the base (100) is provided with a first limiting groove (110) that cooperates with the first fulcrum member (111); the bottom of the first carrier (200) is provided with a second limiting groove (220) that cooperates with the first fulcrum member (111).

6. The tilting optical anti-shake motor for SMA pull according to claim 1, characterized in that: The second fulcrum member (231) is disposed between the first carrier (200) and the second carrier (300) to provide the second shaft (A2); the top of the second carrier (300) is provided with a third limiting groove (230) that cooperates with the second fulcrum member (231); the bottom of the second carrier (300) is provided with a fourth limiting groove (330) that cooperates with the second fulcrum member (231).

7. A tilting optical anti-shake motor for SMA pull according to any one of claims 5-6, characterized in that: The first fulcrum member (111) is a roller or a ball bearing; the second fulcrum member (231) is a roller or a ball bearing.

8. A tilting optical anti-shake motor for SMA pull according to any one of claims 1-6, characterized in that: The second carrier (300) is provided with an actuation component that drives the lens (320) to move along the height direction of the second carrier (300); the actuation component includes a magnet and a coil disposed opposite to each other; the magnet is disposed on the lens (320); the coil is disposed on the second carrier (300).

9. The tilting optical anti-shake motor for SMA pull according to claim 8, characterized in that: It also includes a protective cover (400); the protective cover (400) is fixedly connected to the base (100); the protective cover (400) forms a accommodating space for accommodating the first carrier (200) and the second carrier (300); the second carrier (300) is provided with an image sensor located below the lens (320); the image sensor is connected to a flexible flat cable (340).

10. The SMA-guided tilting optical anti-shake motor according to claim 1, characterized in that: There are two first actuation lines (210), one on each side of the first carrier (200) relative to the first axis (A1); the first actuation line (210) includes actuation line one (211), actuation line four (214) or actuation line two (212), actuation line three (213). There are two second actuation lines (310), one on each side of the second carrier (300) relative to the second axis (A2); the second actuation lines (310) include actuation line five (311), actuation line eight (314) or actuation line six (312), actuation line seven (313). The second connection (2102) between the actuation line one (211), the actuation line four (214) and the first carrier (200) is located at two opposite corners of the first carrier (200), or the second connection (2102) between the actuation line two (212), the actuation line three (213) and the first carrier (200) is located at two opposite corners of the first carrier (200); The fourth connection (3102) between the actuation line five (311), the actuation line eight (314) and the second carrier (300) is located at two opposite corners of the second carrier (300), or the fourth connection (3102) between the actuation line six (312), the actuation line seven (313) and the second carrier (300) is located at two opposite corners of the second carrier (300); The first actuation line (210) is connected to the base (100) and the first carrier (200) respectively via claws; The second actuation line (310) is connected to the base (100) and the second carrier (300) respectively via claws; The chucks include a first chuck (101), a second chuck (102), a third chuck (103), and a fourth chuck (104) arranged sequentially along the circumference on the base (100); a fifth chuck (105) and a sixth chuck (106) arranged on the first carrier (200); and a seventh chuck (107) and an eighth chuck (108) arranged on the second carrier (300). The fifth chuck (105) is located between the first chuck (101) and the fourth chuck (104); the sixth chuck (106) is located between the second chuck (102) and the third chuck (103); the seventh chuck (107) is located between the first chuck (101) and the second chuck (102); and the eighth chuck (108) is located between the third chuck (103) and the fourth chuck (104). The first claw (101), the second claw (102), the third claw (103), and the fourth claw (104) are respectively disposed at the middle of each side of the base (100); the first shaft (A1) is parallel to a diagonal of the base (100); the first claw (101) and the fourth claw (104) are disposed on the same side relative to the first shaft (A1); the second claw (102) and the third claw (103) are disposed on the same side relative to the first shaft (A1); The first carrier (200) has two corners on both sides of the first shaft (A1) extending away from the base (100) along the height direction to form extension portions (201); the two extension portions (201) are respectively connected to the first actuation line (210) through the fifth claw (105) and the sixth claw (106); the second connecting portion (2102) is located on the fifth claw (105) and the sixth claw (106); The fifth claw (105) is located at a corner of the first carrier (200); the fifth claw (105) is connected to an actuation line one (211) or an actuation line two (212); the actuation line one (211) is connected to the first claw (101) or the actuation line two (212) is connected to the fourth claw (104); The sixth claw (106) is located at another corner of the first carrier (200); the sixth claw (106) is connected to an actuation line three (213) or an actuation line four (214); the actuation line three (213) is connected to the second claw (102) or the actuation line four (214) is connected to the third claw (103); The seventh claw (107) is located at a corner of the second carrier (300); the seventh claw (107) is connected to an actuation line five (311) or an actuation line six (312); the actuation line five (311) is connected to the first claw (101) or the actuation line six (312) is connected to the second claw (102); The eighth claw (108) is located at another corner of the second carrier (300); the eighth claw (108) is connected to an actuation line seven (313) or an actuation line eight (314); the actuation line seven (313) is connected to the fourth claw (104) or the actuation line eight (314) is connected to the third claw (103); the fourth connecting part (3102) is located on the seventh claw (107) and the eighth claw (108).

Images