Optical unit with deviation correction function

Abstract

SOLUTION: In an optical unit with a deviation correction function, a movable body rotational center CR which is a rotational center of a movable body 4 with respect to a fixed body, and the movable part center of gravity G which is the center of gravity of the movable part 30 including the movable body 4 and drive magnets 24, 26 and rotatable with respect to an intermediate member, are disposed on an object side with respect to centers C1, C2 of the drive magnets 24, 26 attached to the movable body 4. The drive magnets 24, 26 are magnetized in an optical axis direction. In the optical unit with the deviation correction function, centers C5 and C6 of magnetic members 11 and 12 for holding the movable body 4 at a predetermined reference position with respect to the fixed body are disposed on a counter-object side with respect to the centers C1 and C2 of the drive magnets 24, 26 when the movable body 4 is disposed at the reference position.SELECTED DRAWING: Figure 12

Description

[Technical Field]

[0001] The present invention relates to an optical unit with a shake correction function. [Background technology]

[0002] Conventionally, optical units with a shake correction function that are mounted on and used in mobile devices such as smartphones are known (see, for example, Patent Document 1). The optical unit described in Patent Document 1 includes a movable body having an optical element, a swing support mechanism that swingably supports the movable body, a fixed body that supports the movable body via the swing support mechanism, and a swing magnetic drive mechanism that swings the movable body. The swing support mechanism is a gimbal mechanism. The swing support mechanism swingably supports the movable body between a reference position in which a predetermined axis line and the optical axis of the optical element coincide with each other and an inclined position in which the optical axis is inclined with respect to the axis line. The movable body is supported by the swing support mechanism swingably about a first axis line that intersects the axis line and a second axis line that intersects the axis line and the first axis line. The first axis line and the second axis line are perpendicular to each other.

[0003] In the optical unit described in Patent Document 1, the swing support mechanism includes first swing support parts arranged at two positions spaced apart in the first axial direction, second swing support parts arranged at two positions spaced apart in the second axial direction, and a movable frame supported by the first swing support parts and the second swing support parts. The swing magnetic drive mechanism includes a swing drive coil attached to the movable body and a swing drive magnet attached to the fixed body. A rectangular plate-shaped magnetic member is fixed to the movable body. In the optical unit described in Patent Document 1, the swing drive magnet and the magnetic member form an attitude return mechanism for returning the swinging movable body to a reference attitude. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2018-189816 Summary of the Invention [Problem to be solved by the invention]

[0005] A portable device or the like incorporating the optical unit described in Patent Document 1 may be used with the optical axis of the optical element oriented horizontally. When the portable device or the like is used with the optical axis of the optical element oriented horizontally, if the weight of the movable body causes the optical axis of the optical element to tilt relative to the horizontal, the appearance of the optical element may be impaired. Furthermore, if the weight of the movable body causes the optical axis of the optical element to tilt relative to the horizontal, the magnetic drive mechanism for oscillation must correct the tilt of the optical axis of the optical element caused by the weight of the movable body in addition to correcting the shake of the optical element, which may result in increased power consumption. Therefore, it is preferable that a portable device or the like incorporating the optical unit described in Patent Document 1 is designed so that the optical axis of the optical element is less likely to tilt relative to the horizontal due to the weight of the movable body, even when the portable device or the like is used with the optical axis of the optical element oriented horizontally.

[0006] Therefore, an object of the present invention is to provide an optical unit with shake correction function that can prevent the optical axis of the camera module from tilting relative to the horizontal direction due to the influence of the weight of the movable parts including the camera module, even when a portable device or the like equipped with an optical unit with shake correction function having a camera module is used with the optical axis of the camera module facing horizontally. [Means for solving the problem]

[0007] In order to solve the above problems, an optical unit with shake correction function according to one aspect of the present invention includes a movable body having a camera module, an intermediate member that rotatably holds the movable body, a fixed body that rotatably holds the intermediate member, a magnetic drive mechanism for rotating the movable body relative to the fixed body so that the optical axis of the camera module is tilted in a desired direction, a first fulcrum unit having a first fulcrum that is a fulcrum for rotation of the movable body relative to the intermediate member, a second fulcrum unit having a second fulcrum that is a fulcrum for rotation of the intermediate member relative to the fixed body, and a magnetic member for holding the movable body at a predetermined reference position relative to the fixed body. The movable body is rotatable relative to the intermediate member with a first intersecting direction that intersects with the optical axis of the camera module as the axis of rotation, and the intermediate member is rotatable relative to the fixed body with a second intersecting direction that intersects with the first intersecting direction and also intersects with the optical axis of the camera module as the axis of rotation, the first fulcrum is disposed on both ends of the intermediate member in the first intersecting direction, the second fulcrum is disposed on both ends of the intermediate member in the second intersecting direction, and the intersection of an imaginary line connecting the two first fulcrums and an imaginary line connecting the two second fulcrums is a movable body rotation center that is the rotation center of the movable body relative to the fixed body. The magnetic drive mechanism includes a drive magnet attached to the movable body and a drive coil attached to the fixed body, and the drive magnet and the drive coil face each other in a direction perpendicular to the optical axis direction, which is the direction of the optical axis of the camera module, when the movable body is placed at the reference position, the magnetic member is attached to the fixed body side, and a magnetic attraction force is generated between the drive magnet and the magnetic member to hold the movable body at the reference position when no current is supplied to the drive coil, one side in the optical axis direction is the subject side, and the side opposite to the subject side is the anti-subject side, and the movable body and the drive magnet If the center of gravity of the movable part, which includes the above and is rotatable relative to the intermediate member, is taken as the center of gravity of the movable part, the center of rotation of the movable body and the center of gravity of the movable part are located closer to the subject than the center of the drive magnet, and the drive magnet is magnetized in the optical axis direction and magnetized by a first magnetization method in which the magnetic pole on the surface of the drive magnet facing the subject and the magnetic pole on the surface of the drive magnet facing away from the subject are different, or is magnetized in a direction perpendicular to the optical axis direction and magnetized by a second magnetization method in which the drive magnet is polarized into two poles in the optical axis direction, and when the drive magnet is magnetized by the first magnetization method, the center of the magnetic member is located at the reference position when the movable body is located at the reference position.The magnetic member is arranged on the side opposite to the subject from the center of the drive magnet, and when the drive magnet is magnetized by the second magnetizing method, the center of the magnetic member is arranged on the side opposite to the subject from the polarization position of the drive magnet when the movable body is arranged at the reference position.

[0008] In the optical unit with shake correction function of this aspect, the movable body rotation center, which is the center of rotation of the movable body relative to the fixed body, and the movable part center of gravity, which is the center of gravity of the movable part that includes the movable body and the drive magnet and is rotatable relative to the intermediate member, are located on the subject side of the center of the drive magnet attached to the movable body. Also, in this aspect, the drive magnet is magnetized by a first magnetization method that magnetizes it in the optical axis direction, or by a second magnetization method that magnetizes it in a direction perpendicular to the optical axis direction and is bipolarized in the optical axis direction.

[0009] Furthermore, in this aspect, when the drive magnet is magnetized by the first magnetization method, the center of the magnetic member is located on the opposite side to the subject than the center of the drive magnet when the movable body is placed at the reference position, and when the drive magnet is magnetized by the second magnetization method, the center of the magnetic member is located on the opposite side to the subject than the polarization position of the drive magnet when the movable body is placed at the reference position. Therefore, in this aspect, even when a mobile device or the like equipped with an optical unit with image stabilization function is used with the optical axis of the camera module facing horizontally, it is possible to suppress tilt of the optical axis of the camera module from the horizontal direction due to the weight of the movable part including the camera module by the magnetic attractive force generated between the drive magnet and the magnetic member.

[0010] In addition, by arranging the center of rotation of the movable body, the center of gravity of the movable part, and the center of the drive magnet at the same position in the optical axis direction, and when the drive magnet is magnetized using the first magnetization method, arranging the center of the magnetic member and the center of the drive magnet at the same position in the optical axis direction, or by arranging the center of rotation of the movable body, the center of gravity of the movable part, and the center of the drive magnet at the same position in the optical axis direction, and when the drive magnet is magnetized using the second magnetization method, arranging the center of the magnetic member and the polarization position of the drive magnet at the same position in the optical axis direction, it is possible to prevent the optical axis of the camera module from tilting relative to the horizontal direction due to the weight of the movable part including the camera module when a portable device or the like is used with the optical axis of the camera module facing horizontally.

[0011] However, in this case, because the drive magnet and drive coil are positioned closer to the subject, there is a risk that the optical unit with shake correction function will become larger in the optical axis direction.In contrast, in this aspect, because the center of the drive magnet is positioned on the side opposite to the subject from the center of rotation of the movable body and the center of gravity of the movable part, when a portable device or the like is used with the optical axis of the camera module facing horizontally, it is possible to prevent the optical axis of the camera module from tilting relative to the horizontal direction due to the effect of the weight of the movable part including the camera module, and it is possible to make the optical unit with shake correction function smaller in the optical axis direction.

[0012] In order to solve the above-mentioned problems, an optical unit with shake correction function according to one aspect of the present invention includes a movable body having a camera module, an intermediate member that rotatably holds the movable body, a fixed body that rotatably holds the intermediate member, a magnetic drive mechanism for rotating the movable body relative to the fixed body so that the optical axis of the camera module is tilted in an arbitrary direction, a first fulcrum unit having a first fulcrum that is a fulcrum for rotation of the movable body relative to the intermediate member, a second fulcrum unit having a second fulcrum that is a fulcrum for rotation of the intermediate member relative to the fixed body, and a magnetic unit for holding the movable body at a predetermined reference position relative to the fixed body. and a member, wherein the movable body is rotatable relative to the intermediate member with a first intersecting direction that intersects with the optical axis of the camera module as the rotation axis direction, and the intermediate member is rotatable relative to the fixed body with a second intersecting direction that intersects with the first intersecting direction and also intersects with the optical axis of the camera module as the rotation axis direction, the first fulcrum is disposed on both ends of the intermediate member in the first intersecting direction, the second fulcrum is disposed on both ends of the intermediate member in the second intersecting direction, and an intersection of an imaginary line connecting the two first fulcrums and an imaginary line connecting the two second fulcrums may be the rotation center of the movable body relative to the fixed body. The magnetic driving mechanism is provided with a driving magnet attached to the fixed body and a driving coil attached to the movable body, and the driving magnet and the driving coil face each other in a direction perpendicular to the optical axis direction, which is the direction of the optical axis of the camera module, when the movable body is placed at the reference position, and the magnetic member is attached to the movable body side, and a magnetic attraction force for holding the movable body at the reference position is generated between the driving magnet and the magnetic member when no current is supplied to the driving coil, and one side in the optical axis direction is the subject side, and the side opposite to the subject side is the anti-subject side, and the movable If the center of gravity of a movable part that includes a body, a drive coil, and a magnetic member and is rotatable relative to the intermediate member is defined as the center of gravity of the movable part, the center of rotation of the movable part and the center of gravity of the movable part are located closer to the subject than the center of the drive magnet, the drive magnet is magnetized in the optical axis direction when the movable body is placed at a reference position, and is magnetized by a first magnetization method in which the magnetic poles on the surface of the drive magnet facing the subject and the magnetic poles on the surface of the drive magnet facing away from the subject are different, or the drive magnet is magnetized in a direction perpendicular to the optical axis direction when the movable body is placed at the reference position, and is magnetized by a second magnetization method in which the movable part is polarized into two poles in the optical axis direction,When the drive magnet is magnetized by the first magnetization method, the center of the magnetic member is located on the opposite side of the subject from the center of rotation of the movable body and the center of gravity of the movable part, and is located on the subject side from the center of the drive magnet when the movable body is located at the reference position; when the drive magnet is magnetized by the second magnetization method, the center of the magnetic member is located on the opposite side of the subject from the center of rotation of the movable body and the center of gravity of the movable part, and is located on the subject side from the polarization position of the drive magnet when the movable body is located at the reference position.

[0013] In the optical unit with shake correction function of this aspect, the center of rotation of the movable body and the center of gravity of the movable part are located closer to the subject than the center of a drive magnet attached to a fixed body. Also, in this aspect, the drive magnet is magnetized using either a first magnetization method or a second magnetization method. Furthermore, in this aspect, when the drive magnet is magnetized using the first magnetization method, the center of the magnetic member is located on the opposite side of the subject than the center of rotation of the movable body and the center of gravity of the movable part, and is located closer to the subject than the center of the drive magnet when the movable body is located at the reference position. When the drive magnet is magnetized using the second magnetization method, the center of the magnetic member is located on the opposite side of rotation of the movable body and the center of gravity of the movable part, and is located closer to the subject than the polarization position of the drive magnet when the movable body is located at the reference position.

[0014] Therefore, in this aspect, even when a portable device or the like equipped with an optical unit with image stabilization function is used with the optical axis of the camera module facing horizontally, tilt of the optical axis of the camera module with respect to the horizontal direction due to the weight of the movable part including the camera module can be suppressed by the magnetic attraction force generated between the drive magnet and the magnetic member. Also, in this aspect, because the center of the drive magnet is located on the side opposite to the subject from the center of rotation of the movable body and the center of gravity of the movable part, when a portable device or the like is used with the optical axis of the camera module facing horizontally, tilt of the optical axis of the camera module with respect to the horizontal direction due to the weight of the movable part including the camera module can be suppressed, and therefore it is possible to reduce the size of the optical unit with image stabilization function in the optical axis direction. [Effects of the Invention]

[0015] As described above, in the optical unit with shake correction function of one embodiment of the present invention, even if a portable device or the like equipped with an optical unit with shake correction function having a camera module is used with the optical axis of the camera module facing horizontally, it is possible to prevent the optical axis of the camera module from tilting relative to the horizontal direction due to the influence of the weight of the movable part including the camera module. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1 is a perspective view of an optical unit with a shake correction function according to an embodiment of the present invention. [Figure 2] FIG. 2 is a plan view of the optical unit with shake correction function shown in FIG. [Figure 3] FIG. 3 is an exploded perspective view of the optical unit with shake correction function shown in FIG. [Figure 4] FIG. 4 is a cross-sectional view taken along the E-E cross section of FIG. [Figure 5] 5 is a side view showing the intermediate member, the magnetic drive mechanism, the magnetic member, the holder, etc., as seen from the FF direction in FIG. [Figure 6] FIG. 6 is a perspective view showing the holder shown in FIG. 3 from a different direction. [Figure 7] FIG. 7 is a perspective view showing the case body shown in FIG. [Figure 8] FIG. 8 is a perspective view of the support member shown in FIG. [Figure 9] FIG. 9 is a perspective view showing the support member shown in FIG. 8 from a different direction. [Figure 10] FIG. 10 is a cross-sectional view for explaining the configuration of part H in FIG. [Figure 11] FIG. 11 is a cross-sectional view for explaining the configuration of the J portion in FIG. [Figure 12] FIG. 12 is a schematic diagram for explaining the arrangement of the drive magnets and magnetic members shown in FIG. [Figure 13] FIG. 13 is a schematic diagram for explaining a method of magnetizing a drive magnet and an arrangement of magnetic members according to another embodiment of the present invention. [Figure 14] FIG. 14 is a schematic diagram for explaining the arrangement of drive magnets, drive coils, and magnetic members according to another embodiment of the present invention. [Figure 15] FIG. 15 is a schematic diagram for explaining the arrangement of drive magnets, drive coils, and magnetic members according to another embodiment of the present invention. [Figure 16] FIG. 16 is a plan view illustrating the configuration of an optical unit according to another embodiment of the present invention. [Figure 17] FIG. 17 is a cross-sectional view taken along the line KK in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0018] (Overall configuration of optical unit with shake correction function) FIG. 1 is a perspective view of an optical unit 2 with shake correction function according to an embodiment of the present invention. FIG. 2 is a plan view of the optical unit 2 with shake correction function shown in FIG. 1. FIG. 3 is an exploded perspective view of the optical unit 2 with shake correction function shown in FIG. 1. FIG. 4 is a cross-sectional view of the E-E cross section of FIG. 2. FIG. 5 is a side view showing the intermediate member 5, magnetic drive mechanisms 8 and 9, magnetic members 11 and 12, holder 16, etc., as seen from the F-F direction in FIG. 2. FIG. 6 is a perspective view showing the holder 16 shown in FIG. 3 from a different direction.

[0019] In the following description, as shown in Fig. 1 etc., three mutually orthogonal directions are referred to as the X direction, Y direction, and Z direction, with the X direction being the left-right direction, the Y direction being the front-rear direction, and the Z direction being the up-down direction. Furthermore, the X1 direction side in Fig. 1 etc., which is one side of the left-right direction, is referred to as the "right" side, the opposite X2 direction side in Fig. 1 etc., is referred to as the "left" side, the Y1 direction side in Fig. 1 etc., which is one side of the front-rear direction, is referred to as the "front" side, the opposite Y2 direction side in Fig. 1 etc., is referred to as the "rear" side, the Z1 direction side in Fig. 1 etc., which is one side of the up-down direction, is referred to as the "up" side, and the opposite Z2 direction side in Fig. 1 etc., is referred to as the "down" side.

[0020] The optical unit 2 with shake correction function of this embodiment (hereinafter referred to as "optical unit 2") is a small and thin unit mounted on a mobile device such as a smartphone, and includes a camera module 3 having a lens for photographing and an image sensor. The optical unit 2 has a shake correction function to prevent distortion of the captured image when shake occurs during shooting. The optical unit 2 is formed into a thin, flat rectangular parallelepiped shape overall. The optical unit 2 of this embodiment is formed so that its shape when viewed from the optical axis direction, which is the direction of the optical axis L of the camera module 3, is square. The four side surfaces of the optical unit 2 are parallel to the ZX plane consisting of the left-right and up-down directions or the YZ plane consisting of the front-back and up-down directions.

[0021] The optical unit 2 includes a movable body 4 having a camera module 3, an intermediate member 5 that rotatably holds the movable body 4, and a fixed body 6 that rotatably holds the intermediate member 5. The movable body 4 is rotatable relative to the intermediate member 5, with a first intersecting direction (V direction in FIG. 2) that intersects with the optical axis L of the camera module 3 as the axial direction of the rotation. In other words, the movable body 4 is rotatable relative to the intermediate member 5 around a first axis L1 (see FIG. 2) whose axial direction is the first intersecting direction. In this embodiment, the first intersecting direction is perpendicular to the optical axis L.

[0022] The intermediate member 5 is rotatable relative to the fixed body 6 about a second intersecting direction (W direction in FIG. 2) that intersects with the first intersecting direction and the optical axis L of the camera module 3 as the rotation axis direction. That is, the intermediate member 5 is rotatable relative to the fixed body 6 about a second axis L2 (see FIG. 2) whose axial direction is the second intersecting direction. In this embodiment, the second intersecting direction is perpendicular to the first intersecting direction. In this manner, a two-axis gimbal mechanism is configured between the movable body 4 and the fixed body 6.

[0023] In this embodiment, when no current is supplied to drive coils 25 and 27 (described later), the movable body 4 is placed at a predetermined reference position relative to the fixed body 6, and the optical axis L of the camera module 3 is placed at a predetermined reference position. When the movable body 4 is placed at the reference position and the optical axis L of the camera module 3 is at the reference position, the optical axis direction of the camera module 3 coincides with the vertical direction. Note that when shake correction is performed, the inclination of the optical axis L of the camera module 3 with respect to the vertical direction is slight. Therefore, the optical axis direction of the camera module 3 almost coincides with the vertical direction.

[0024] Furthermore, when the movable body 4 is disposed at the reference position, the second intersecting direction (W direction) is perpendicular to the optical axis L. That is, when the movable body 4 is disposed at the reference position and is not rotated relative to the intermediate member 5, the second intersecting direction is perpendicular to the optical axis L. On the other hand, when the movable body 4 is rotated relative to the intermediate member 5, the second intersecting direction intersects with the optical axis L but does not intersect at a right angle. When viewed from above, the second intersecting direction (W direction) is shifted by approximately 45° clockwise in FIG. 2 with respect to the left-right direction.

[0025] The optical unit 2 includes magnetic drive mechanisms 8 and 9 for rotating the movable body 4 relative to the fixed body 6 so that the optical axis L of the camera module 3 is tilted in a desired direction. The optical unit 2 also includes a wiring board 10 on which a drive coil 25 (described later) constituting a part of the magnetic drive mechanism 8 and a drive coil 27 (described later) constituting a part of the magnetic drive mechanism 9 are mounted, and magnetic members 11 and 12 for holding the movable body 4 at a reference position relative to the fixed body 6.

[0026] The optical unit 2 also includes a support member 13 as a first fulcrum portion having a first fulcrum 13b (see FIG. 8) which is a fulcrum for the rotation of the movable body 4 relative to the intermediate member 5, and a support member 14 as a second fulcrum portion having a second fulcrum 14b (see FIG. 8) which is a fulcrum for the rotation of the intermediate member 5 relative to the fixed body 6. The first fulcrum 13b is disposed on both end sides of the intermediate member 5 in the first intersecting direction, and the second fulcrum 14b is disposed on both end sides of the intermediate member 5 in the second intersecting direction. In other words, the support member 13 is disposed on both end sides of the intermediate member 5 in the first intersecting direction, and the support member 14 is disposed on both end sides of the intermediate member 5 in the second intersecting direction.

[0027] The movable body 4 is formed as a flat, approximately rectangular parallelepiped with a thin overall thickness in the optical axis direction. The movable body 4 includes a holder 16 to which the camera module 3 is fixed. The holder 16 is formed in the shape of a substantially square frame. The holder 16 is also formed in the shape of a flat rectangular tube with both ends in the optical axis direction being open. When the movable body 4 is positioned at the reference position and viewed from the optical axis direction, the outer shape of the holder 16 is a square with flat chamfered corners (C-chamfered). When the movable body 4 is positioned at the reference position, two of the four sides constituting the outer periphery of the square-shaped holder 16 are parallel to the front-to-rear direction, and the remaining two sides are parallel to the left-to-right direction.

[0028] The holder 16 is made of a metal material. The holder 16 is formed by bending a flat metal plate, such as a thin steel plate, formed into a predetermined shape. The holder 16 is also formed by bending a long, thin, strip-shaped metal plate into a substantially square frame shape. Two metal plates overlap at the corner of the right front end of the holder 16, and the two overlapping metal plates are fixed to each other by welding. That is, a welded portion 17 is formed at the corner of the right front end of the holder 16 (see FIG. 6). The holder 16 is formed with a camera abutment portion 16b for positioning the camera module 3 in the optical axis direction, a magnet abutment portion 16c for positioning drive magnets 24 and 26 (described later) in the optical axis direction, a stopper portion 16d for restricting the rotation range of the movable body 4 relative to the fixed body 6, and a first holding portion 16e for holding the support member 13.

[0029] The camera abutment portions 16b extend slightly from the upper ends of both left-right and front-rear sides of the holder 16 toward the inner periphery of the holder 16. The lower surface of the camera abutment portion 16b is a flat surface perpendicular to the optical axis direction. A part of the camera module 3 contacts the lower surface of the camera abutment portion 16b, thereby positioning the camera module 3 relative to the holder 16 in the optical axis direction. The magnet abutment portions 16c extend slightly from the lower ends of the left and front sides of the holder 16 toward the outer periphery of the holder 16. The upper surface of the magnet abutment portion 16c is a flat surface perpendicular to the up-down direction. The lower surfaces of the drive magnets 24, 26 contact the upper surface of the magnet abutment portion 16c, thereby positioning the drive magnets 24, 26 relative to the holder 16 in the optical axis direction.

[0030] The stopper portion 16d is formed on the right side and rear side of the holder 16. The stopper portion 16d is disposed at a middle position of the holder 16 in the optical axis direction. The stopper portion 16d also extends slightly toward the outer periphery of the holder 16. The first holding portions 16e are formed on both ends of the holder 16 in the first intersecting direction. That is, the first holding portions 16e are formed in two locations: at the corner of the right rear end of the holder 16 and at the corner of the left front end. The specific configuration of the first holding portions 16e will be described later.

[0031] The camera module 3 is fixed to the inner peripheral surface of the holder 16 so that the outer peripheral side of the lower end of the camera module 3 is covered by the holder 16. When viewed from the optical axis direction, the outer peripheral surface of the holder 16 is the outer peripheral surface of the movable body 4, and when viewed from the optical axis direction, the outer shape of the movable body 4 is square. As described above, the camera module 3 includes a lens and an imaging element. The imaging element is located on the lower end side of the camera module 3, and an object located above the camera module 3 is photographed by the camera module 3.

[0032] As described above, when shake correction is performed, the inclination of the optical axis L of the camera module 3 with respect to the vertical direction is slight, and the optical axis direction of the camera module 3 approximately coincides with the vertical direction. Therefore, if one side in the optical axis direction (specifically, the side on which the subject is placed in the optical axis direction of the camera module 3) is defined as the subject side, and the opposite side from the subject side (specifically, the side on which the imaging element is placed in the optical axis direction of the camera module 3) is defined as the anti-subject side, the subject side approximately coincides with the upper side, and the anti-subject side approximately coincides with the lower side.

[0033] The intermediate member 5 is made of a metal material. The intermediate member 5 is a leaf spring formed by bending a thin metal plate, such as a thin steel plate, having spring properties into a predetermined shape. The intermediate member 5 is composed of a base 5b disposed above the holder 16, two first arms 5c extending from both ends of the base 5b in a first intersecting direction, and two second arms 5d extending from both ends of the base 5b in a second intersecting direction. The base 5b is formed in a substantially square frame shape. The upper end of the camera module 3 is disposed on the inner periphery of the base 5b.

[0034] The first arm portion 5c is connected to both ends of the base portion 5b in the first intersecting direction. The first arm portion 5c constitutes the end portion of the intermediate member 5 in the first intersecting direction. The first arm portion 5c extends downward from the end portion of the base portion 5b in the first intersecting direction. The first arm portion 5c is formed in a flat plate shape with the first intersecting direction as its thickness direction. The first arm portion 5c is arranged on the outer periphery of the holder 16. A hemispherical recess 5e is formed at the lower end of the first arm portion 5c, in which a portion of a fulcrum protrusion 13d (described later) formed on the support member 13 is disposed. The recess 5e is recessed inward in the first intersecting direction. The first arm portion 5c is formed with cutout portions 5f cut out from both sides in the second intersecting direction toward the inside in the second intersecting direction. The cutout portions 5f are formed above the recess 5e.

[0035] The second arm portion 5d is connected to both ends of the base portion 5b in the second intersecting direction. The second arm portion 5d constitutes the end of the intermediate member 5 in the second intersecting direction. The second arm portion 5d is composed of an inclined portion 5g extending diagonally downward from the end of the base portion 5b in the second intersecting direction toward the outside in the second intersecting direction, and a tip portion 5h extending downward from the lower end of the inclined portion 5g. The tip portion 5h is formed in a flat plate shape with its thickness direction aligned with the second intersecting direction. The tip portion 5h is disposed on the outer periphery of the holder 16. A hemispherical recess 5j is formed at the lower end of the tip portion 5h, in which a fulcrum protrusion 14d (described later) formed on the support member 14 is disposed. The recess 5j is recessed inward in the second intersecting direction. The tip portion 5h is formed with notches 5k cut out from both sides in the first intersecting direction toward the inside in the first intersecting direction. The notches 5k are formed above the recesses 5j.

[0036] The fixed body 6 includes a frame-shaped case body 18 arranged on the outer periphery of the movable body 4, a frame-shaped case body 19 arranged on the outer periphery of the case body 18, a cover member 20 covering the side and top surfaces of the case bodies 18 and 19, and a cover member 21 covering the bottom surfaces of the case bodies 18 and 19. The intermediate member 5 is rotatably held by the case body 18.

[0037] The case body 18 is made of a non-magnetic metal material. The case body 18 is formed in a substantially square frame shape. The case body 18 is also formed in a flattened rectangular tube shape with both top and bottom ends open. When viewed from the top and bottom, the outer shape of the case body 18 is a square with C-chamfered corners. Two of the four sides that make up the outer periphery of the square-shaped case body 18 are parallel to the front-to-back direction, and the remaining two sides are parallel to the left-to-right direction. The case body 18 is arranged on the outer periphery of the holder 16.

[0038] The case body 18 is formed with second holding portions 18b that hold the support member 14. The second holding portions 18b are formed at both ends of the case body 18 in the second intersecting direction. That is, the second holding portions 18b are formed in two locations: a corner at the front right end and a corner at the rear left end of the case body 18. The specific configuration of the second holding portions 18b will be described later.

[0039] The case body 19 is made of a resin material. The case body 19 is formed in a substantially square frame shape. The case body 19 is also formed in a flat rectangular tube shape with both ends open in the vertical direction. When viewed from the vertical direction, the outer shape of the case body 19 is a square with C-chamfered corners at the front right end and the front left end. When viewed from the vertical direction, two of the four sides constituting the outer peripheral surface of the square-shaped case body 19 are parallel to the front-rear direction, and the remaining two sides are parallel to the left-right direction. The case body 18 is disposed on the inner periphery of the case body 19.

[0040] The cover member 20 is composed of a flat, square-frame-shaped covering portion 20b and a rectangular cylindrical portion 20c extending downward from the outer periphery of the covering portion 20b. When viewed from above, the cover member 20 has a square outer shape with chamfered corners at the front right and front left corners. When viewed from above, two of the four sides of the outer periphery of the square-shaped cover member 20 are parallel to the front-to-rear direction, and the remaining two are parallel to the left-to-right direction. The cover member 20 is fixed to the upper end of the case body 19. The covering portion 20b covers the upper end surfaces of the case bodies 18 and 19. The camera module 3, the intermediate member 5, and a portion of the holder 16 are disposed on the inner periphery of the covering portion 20b. The lower surface of the covering portion 20b contacts the upper end surfaces of the case bodies 18 and 19. The cylindrical portion 20c forms the side surface of the optical unit 2. The cylindrical portion 20c covers the outer periphery of the case body 19.

[0041] The cover member 21 is formed in the shape of a flat, bottomed rectangular cylinder having a bottom 21b formed in the shape of a square plate and a rectangular cylindrical portion 21c rising upward from the bottom 21b. When viewed from above, the cover member 21 has a square outer shape with C-chamfered corners at the front right and front left corners. When viewed from above, two of the four sides constituting the outer periphery of the square-shaped cover member 21 are parallel to the front-to-rear direction, and the remaining two sides are parallel to the left-to-right direction. The bottom 21b forms the bottom surface of the optical unit 2. The upper surface of the bottom 21b contacts the lower end surfaces of the case bodies 18 and 19. The cylindrical portion 21c covers the outer periphery of the lower end of the cylindrical portion 20c. The case bodies 18 and 19 are fixed to the bottom 21b.

[0042] The magnetic drive mechanism 8 includes a drive magnet 24 attached to the movable body 4 and a drive coil 25 attached to the fixed body 6. The magnetic drive mechanism 9 includes a drive magnet 26 attached to the movable body 4 and a drive coil 27 attached to the fixed body 6. The drive magnets 24, 26 are formed in the shape of a rectangular flat plate. The drive magnet 24 and the drive magnet 26 are formed in the same shape. The drive coils 25, 27 are, for example, air-core coils formed by winding a conductive wire around an air core. The drive coil 25 and the drive coil 27 are formed in the same shape. The magnetic drive mechanism 8 in this embodiment is a first magnetic drive mechanism, and the magnetic drive mechanism 9 is a second magnetic drive mechanism.

[0043] The drive magnet 24 is fixed to the left side surface of the holder 16. When the movable body 4 is placed at the reference position, the thickness direction of the drive magnet 24 coincides with the left-right direction. Furthermore, when the movable body 4 is placed at the reference position, the direction of the short side of the drive magnet 24, which is formed in the shape of a rectangular plate, coincides with the up-down direction. The bottom surface of the drive magnet 24 contacts the top surface of the magnet abutment portion 16c of the holder 16. The drive coil 25 is fixed to the left side surface of the case body 18. The drive coil 25 is placed in a through-hole formed in the left surface of the case body 19. Furthermore, the drive coil 25 is attached to the wiring board 10.

[0044] The drive magnet 26 is fixed to the front side of the holder 16. When the movable body 4 is placed at the reference position, the thickness direction of the drive magnet 26 coincides with the front-to-rear direction. Furthermore, when the movable body 4 is placed at the reference position, the direction of the short side of the drive magnet 26, which is formed in the shape of a rectangular plate, coincides with the up-down direction. The bottom surface of the drive magnet 26 contacts the top surface of the magnet abutment portion 16c of the holder 16. The drive coil 27 is fixed to the front side of the case body 18. The drive coil 27 is placed in a through-hole formed in the front portion of the case body 19. Furthermore, the drive coil 27 is attached to the wiring board 10.

[0045] The drive coil 25 is disposed to the left of the drive magnet 24, and when the movable body 4 is disposed at the reference position, the drive magnet 24 and the drive coil 25 face each other in the left-right direction. The drive coil 27 is disposed in front of the drive magnet 26, and when the movable body 4 is disposed at the reference position, the drive magnet 26 and the drive coil 27 face each other in the front-rear direction. That is, when the movable body 4 is disposed at the reference position, the drive magnet 24 and the drive coil 25 face each other in the direction perpendicular to the optical axis direction of the camera module 3, and the drive magnet 26 and the drive coil 27 face each other in the direction perpendicular to the optical axis direction of the camera module 3. Specifically, when the movable body 4 is disposed at the reference position, the drive magnet 24 and the drive coil 25 face each other in the left-right direction across the left side surface of the case body 18, and the drive magnet 26 and the drive coil 27 face each other in the front-rear direction across the front side surface of the case body 18.

[0046] The magnetic drive mechanism 8 rotates the movable body 4 relative to the fixed body 6 with the front-to-rear direction as the axis of rotation. The magnetic drive mechanism 9 rotates the movable body 4 relative to the fixed body 6 with the left-to-right direction as the axis of rotation. In this embodiment, the front-to-rear direction (Y direction) is a first direction, which is a predetermined direction perpendicular to the optical axis direction when the movable body 4 is arranged at the reference position, and the left-to-right direction (X direction) is a second direction, which is a direction perpendicular to the optical axis direction and the first direction when the movable body 4 is arranged at the reference position.

[0047] In addition, drive magnet 24 in this embodiment is a first drive magnet for rotating movable body 4 relative to fixed body 6 with the front-to-rear direction, which is the first direction, as the axis of rotation, and drive coil 25 is a first drive coil arranged opposite drive magnet 24 in the second direction. Furthermore, drive magnet 26 is a second drive magnet for rotating movable body 4 relative to fixed body 6 with the left-to-right direction, which is the second direction, as the axis of rotation, and drive coil 27 is a second drive coil arranged opposite drive magnet 26 in the first direction.

[0048] The wiring board 10 is, for example, a flexible printed circuit board. The wiring board 10 is disposed on the left and front sides of the case body 19. The wiring board 10 is also disposed between the case body 19 and the cylindrical portion 20c of the cover member 20. On the left side of the case body 19, a drive coil 25 is fixed to the right surface of the wiring board 10. On the front side of the case body 19, a drive coil 27 is fixed to the rear surface of the wiring board 10. The wiring board 10 is fixed to the case body 18 via the drive coils 25, 27. That is, the wiring board 10 is fixed to the fixed body 6 via the drive coils 25, 27.

[0049] The magnetic members 11 and 12 are made of a magnetic material. The magnetic members 11 and 12 are thin, flat, rectangular magnetic plates. The magnetic members 11 and 12 are formed, for example, to have the same shape. The thicknesses of the magnetic members 11 and 12 are, for example, about 0.1 mm. The magnetic member 11 is arranged so that the thickness direction of the magnetic member 11 coincides with the left-right direction. The magnetic member 12 is arranged so that the thickness direction of the magnetic member 12 coincides with the front-rear direction. The magnetic members 11 and 12 are also arranged so that the direction of the long sides of the magnetic members 11 and 12, which are formed in the shape of rectangular flat plates, coincides with the up-down direction. In this embodiment, the magnetic member 11 is a first magnetic member, and the magnetic member 12 is a second magnetic member.

[0050] The magnetic members 11 and 12 are attached to the wiring board 10. That is, the magnetic members 11 and 12 are fixed to the fixed body 6 via the wiring board 10 and the drive coils 25 and 27, and are attached to the side of the fixed body 6. The magnetic member 11 is fixed to the left surface of the wiring board 10 on the left side of the case body 19. The magnetic member 12 is fixed to the front surface of the wiring board 10 on the front side of the case body 19. In this embodiment, magnetic attraction forces are generated between the drive magnet 24 and the magnetic member 11, and between the drive magnet 26 and the magnetic member 12, for holding the movable body 4 at a reference position when no current is supplied to the drive coils 25 and 27.

[0051] In the optical unit 2, when a change in the tilt of the movable body 4 is detected by a predetermined detection mechanism for detecting a change in the tilt of the movable body 4, a current is supplied to at least one of the drive coil 25 and the drive coil 27 based on the detection result of the detection mechanism. When a current is supplied to at least one of the drive coil 25 and the drive coil 27, the movable body 4 rotates relative to the fixed body 6, thereby correcting shake of the camera module 3. The rotation range of the movable body 4 relative to the fixed body 6 is restricted by the drive magnets 24 and 26 fixed to the holder 16, the stopper portion 16d of the holder 16, and the inner surface of the case body 18. In addition, in this embodiment, the holder 16 and the case body 18 are made of a metal material, which enables efficient dissipation of heat generated by the imaging element of the camera module 3.

[0052] (Configuration of the area around the first support and the area around the second support) Fig. 7 is a perspective view showing the case body 18 shown in Fig. 3. Fig. 8 is a perspective view of the support members 13 and 14 shown in Fig. 3. Fig. 9 is a perspective view showing the support members 13 and 14 shown in Fig. 8 from a different direction. Fig. 10 is a cross-sectional view for explaining the configuration of part H in Fig. 2. Fig. 11 is a cross-sectional view for explaining the configuration of part J in Fig. 2.

[0053] The support member 13 is formed by bending a flat metal plate formed into a predetermined shape. The support member 13 has a base 13c formed in a substantially rectangular flat plate shape. The base 13c is arranged so that the thickness direction of the base 13c coincides with the first intersecting direction. A fulcrum protrusion 13d is formed in the center of the base 13c, protruding inward in the first intersecting direction. The fulcrum protrusion 13d is formed, for example, by pushing a portion of the metal plate constituting the support member 13 inward in the first intersecting direction.

[0054] The tip of the fulcrum protrusion 13d serves as the first fulcrum 13b. The first fulcrum 13b is formed in a hemispherical shape. The support member 13 also includes two arms 13e connected to the upper portion of the base 13c, a bottom plate 13f connected to the lower end of the base 13c, and a retaining portion 13g connected to the bottom plate 13f. The support member 13 of this embodiment is composed of the base 13c, the two arms 13e, the bottom plate 13f, and the retaining portion 13g.

[0055] The arm portion 13e is connected to the upper portion of the base portion 13c on both sides in the second intersecting direction. The arm portion 13e is composed of an arm base end portion 13h extending inward in the first intersecting direction from the base portion 13c, and an arm tip portion 13k extending outward in the second intersecting direction from the inner end of the arm base end portion 13h in the first intersecting direction, and is formed into a substantially L-shape. The bottom plate portion 13f is formed in a rectangular flat plate shape. The bottom plate portion 13f extends inward in the first intersecting direction from the lower end of the base portion 13c. The retaining portion 13g extends downward from the inner end of the bottom plate portion 13f in the first intersecting direction. The retaining portion 13g is formed in a rectangular flat plate shape with the first intersecting direction as its thickness direction.

[0056] The first holding portion 16e is formed in a flat plate shape with its thickness direction aligned in the first intersecting direction. The first holding portion 16e is formed with two notches 16f into which portions of the arm base end 13h of the support member 13 are disposed, and a through-hole 16g into which a portion of the bottom plate portion 13f of the support member 13 is disposed. The notches 16f are formed in a slit shape extending from the upper end of the first holding portion 16e downward. The two notches 16f are formed with a gap between them in the second intersecting direction. The through-hole 16g penetrates the first holding portion 16e in the first intersecting direction. The through-hole 16g is disposed below the notches 16f. In this embodiment, the notches 16f are not connected to the through-hole 16g, which increases the strength of the first holding portion 16e compared to when the notches 16f are connected to the through-hole 16g.

[0057] The base 13c is disposed outside the first holding portion 16e in the first intersecting direction. The retaining portion 13g and the arm tip 13k are disposed inside the first holding portion 16e in the first intersecting direction. The first arm 5c of the intermediate member 5 is disposed between the base 13c and the first holding portion 16e. The tip side portion of the fulcrum protrusion 13d is disposed in the recess 5e of the first arm 5c. A portion of the arm base end 13h is disposed in the notch 5f of the first arm 5c. The base 13c is biased outward in the first intersecting direction by the biasing force of the first arm 5c. The first fulcrum 13b contacts the bottom surface of the recess 5e from the outside in the first intersecting direction with a predetermined contact pressure. The retaining portion 13g and the arm tip 13k contact the inner surface of the first holding portion 16e in the first intersecting direction with a predetermined contact pressure. The retaining portion 13g and the arm tip portion 13k are fixed to the first holding portion 16e with an adhesive.

[0058] The support member 14 is formed in the same manner as the support member 13. That is, the support member 14 is composed of a base portion 14c corresponding to the base portion 13c, an arm portion 14e corresponding to the arm portion 13e, a bottom plate portion 14f corresponding to the bottom plate portion 13f, and a retaining portion 14g corresponding to the retaining portion 13g. The base portion 14c is arranged so that the thickness direction of the base portion 14c coincides with the second intersecting direction. A fulcrum protrusion 14d protruding inward in the second intersecting direction is formed at the center of the base portion 14c, and the tip of the fulcrum protrusion 14d serves as the second fulcrum 14b. When the movable body 4 is arranged at the reference position, the first fulcrum 13b and the second fulcrum 14b are arranged at the same position in the optical axis direction. The arm portion 14e is composed of an arm base end portion 14h extending inward in the second intersecting direction from the base portion 14c, and an arm tip portion 14k extending outward in the first intersecting direction from the inner end of the arm base end portion 14h in the second intersecting direction.

[0059] The second holding portion 18b is formed in a flat plate shape with its thickness direction aligned with the second intersecting direction. The second holding portion 18b has two notches 18c into which portions of the arm base end 14h of the support member 14 are disposed, and a through hole 18d into which portions of the bottom plate portion 14f of the support member 14 are disposed. The notches 18c are formed in a slit shape extending downward from the upper end of the second holding portion 18b. The two notches 18c are formed with a gap between them in the first intersecting direction. The through hole 18d penetrates the second holding portion 18b in the second intersecting direction. The through hole 18d is disposed below the notches 18c. In this embodiment, the notches 18c are not connected to the through holes 18d, which increases the strength of the second holding portion 18b compared to when the notches 18c are connected to the through holes 18d.

[0060] The base 14c is disposed outside the second holding portion 18b in the second intersecting direction. The retaining portion 14g and the arm tip 14k are disposed inside the second holding portion 18b in the second intersecting direction. The tip 5h of the second arm 5d of the intermediate member 5 is disposed between the base 14c and the second holding portion 18b. The tip side portion of the fulcrum protrusion 14d is disposed in the recess 5j of the tip 5h. A portion of the arm base end 14h is disposed in the notch 5k of the tip 5h. The base 14c is biased outward in the second intersecting direction by the biasing force of the second arm 5d. The second fulcrum 14b contacts the bottom surface of the recess 5j from the outside in the second intersecting direction with a predetermined contact pressure. The retaining portion 14g and the arm tip 14k contact the inner surface of the second holding portion 18b in the second intersecting direction with a predetermined contact pressure. The retaining portion 14g and the arm tip portion 14k are fixed to the second holding portion 18b with adhesive.

[0061] (Arrangement of drive magnets and magnetic members) FIG. 12 is a schematic diagram for explaining the arrangement of the drive magnets 24 and 26 and the magnetic members 11 and 12 shown in FIG.

[0062] As described above, when the movable body 4 is disposed at the reference position, the thickness direction of the drive magnet 24 coincides with the left-right direction, and the thickness direction of the drive magnet 26 coincides with the front-rear direction. Furthermore, the direction of the short sides of the drive magnets 24, 26, which are formed in the shape of rectangular flat plates, coincides with the optical axis direction of the camera module 3. The drive magnets 24, 26 are magnetized in the optical axis direction. That is, the magnetic poles on the subject-side surfaces of the drive magnets 24, 26 are different from the magnetic poles on the opposite-to-subject-side surfaces of the drive magnets 24, 26 (see FIG. 12). The magnetization method of the drive magnets 24, 26 in this embodiment is the first magnetization method.

[0063] As described above, the drive magnets 24 and 26 are attached to the movable body 4, and the drive coils 25 and 27 are attached to the fixed body 6. The drive magnet 24 and the drive magnet 26 are disposed at the same position in the optical axis direction of the camera module 3. The drive coil 25 and the drive coil 27 are disposed at the same position in the up-down direction. Furthermore, when the movable body 4 is disposed at the reference position, the drive magnets 24 and 26 and the drive coils 25 and 27 are disposed at the same position in the optical axis direction. Specifically, when the movable body 4 is disposed at the reference position, the center (volume center) C1 of the drive magnet 24, the center (volume center) C2 of the drive magnet 26, the center (volume center) C3 of the drive coil 25, and the center (volume center) C4 of the drive coil 27 are disposed at the same position in the optical axis direction.

[0064] The drive magnet 24 is attached to the center of the movable body 4 in the front-rear direction when the movable body 4 is positioned at the reference position. The drive magnet 26 is attached to the center of the movable body 4 in the left-right direction when the movable body 4 is positioned at the reference position. When the movable body 4 is positioned at the reference position, the drive magnet 24 and the drive coil 25 are positioned at the same position in the front-rear direction, and the drive magnet 26 and the drive coil 27 are positioned at the same position in the left-right direction. Specifically, when the movable body 4 is positioned at the reference position, the center C1 of the drive magnet 24 and the center C3 of the drive coil 25 are positioned at the same position in the front-rear direction, and the center C2 of the drive magnet 26 and the center C4 of the drive coil 27 are positioned at the same position in the left-right direction.

[0065] As described above, the magnetic members 11 and 12 are fixed to the fixed body 6 via the wiring board 10 and the drive coils 25 and 27, and are attached to the fixed body 6 side. The magnetic members 11 and 12 are disposed at the same position in the up-down direction. That is, when the movable body 4 is disposed at the reference position, the magnetic members 11 and 12 are disposed at the same position in the optical axis direction. When the movable body 4 is disposed at the reference position, the center C1 of the drive magnet 24 and the center (volume center) C5 of the magnetic member 11 are disposed at the same position in the front-to-back direction, and the center C2 of the drive magnet 26 and the center (volume center) C6 of the magnetic member 12 are disposed at the same position in the left-to-right direction.

[0066] In this embodiment, the intersection of an imaginary line connecting two first supports 13b and an imaginary line connecting two second supports 14b is the movable body rotation center CR, which is the rotation center of the movable body 4 relative to the fixed body 6. In other words, the intersection of the first axis L1 and the second axis L2 is the movable body rotation center CR. If a portion that includes the movable body 4 and the drive magnets 24, 26 and is rotatable relative to the intermediate member 5 is defined as the movable part 30, and the center of gravity of the movable part 30 is defined as the movable part center of gravity G, in this embodiment, the movable body rotation center CR and the movable part center of gravity G coincide. Note that in this embodiment, the movable part 30 is configured by the movable body 4 and the drive magnets 24, 26.

[0067] As shown in FIG. 12 , the movable body rotation center CR and the movable part center of gravity G are located closer to the subject than the centers C1 and C2 of the drive magnets 24 and 26. Furthermore, when the movable body 4 is located at the reference position, the centers C5 and C6 of the magnetic members 11 and 12 are located closer to the subject than the centers C1 and C2 of the drive magnets 24 and 26. In this embodiment, when the movable body 4 is located at the reference position, the center C5 of the magnetic member 11 is located on an extension of a virtual line connecting the movable body rotation center CR and the center C1 of the drive magnet 24 (i.e., a virtual line connecting the movable part center of gravity G and the center C1 of the drive magnet 24), or in the vicinity of this extension. Furthermore, when the movable body 4 is located at the reference position, the center C6 of the magnetic member 12 is located on an extension of a virtual line connecting the movable body rotation center CR and the center C2 of the drive magnet 26 (i.e., a virtual line connecting the movable part center of gravity G and the center C2 of the drive magnet 26), or in the vicinity of this extension.

[0068] (Main effect of this form) As described above, in this embodiment, the movable body rotation center CR and the movable part center of gravity G are located on the subject side of the centers C1 and C2 of the drive magnets 24 and 26. Also, in this embodiment, the drive magnets 24 and 26 are magnetized in the optical axis direction, and the centers C5 and C6 of the magnetic members 11 and 12 are located on the opposite subject side of the centers C1 and C2 of the drive magnets 24 and 26 when the movable body 4 is located at the reference position.

[0069] Therefore, in this embodiment, even when a portable device equipped with optical unit 2 is used with optical axis L of camera module 3 facing horizontally, tilt of optical axis L of camera module 3 with respect to the horizontal direction due to the weight of movable section 30 including camera module 3 can be suppressed by the magnetic attractive force generated between drive magnet 24 and magnetic member 11 and the magnetic attractive force generated between drive magnet 26 and magnetic member 12. In particular, in this embodiment, because the movable body rotation center CR and the movable section center of gravity G coincide with each other, tilt of optical axis L of camera module 3 with respect to the horizontal direction due to the weight of movable section 30 can be effectively suppressed.

[0070] Furthermore, in this embodiment, the centers C1 and C2 of the drive magnets 24 and 26 are positioned on the side opposite the subject from the movable body rotation center CR and the movable part gravity center G. Therefore, when the portable device is used with the optical axis L of the camera module 3 facing horizontally, it is possible to prevent the optical axis L of the camera module 3 from tilting relative to the horizontal direction due to the influence of the weight of the movable part 30, and it is also possible to make the optical unit 2 smaller in the optical axis direction.

[0071] (Examples of changes to the magnetization method of the drive magnet and the arrangement of the magnetic members) Fig. 13 is a schematic diagram for explaining a method for magnetizing drive magnets 24, 26 and the arrangement of magnetic members 11, 12 according to another embodiment of the present invention. In Fig. 13, the same components as those in the above-described embodiment are denoted by the same reference numerals.

[0072] In the above-described embodiment, the drive magnet 24 may be magnetized in the left-right direction when the movable body 4 is disposed at the reference position and may be bipolarly polarized in the optical axis direction, and the drive magnet 26 may be magnetized in the front-rear direction when the movable body 4 is disposed at the reference position and may be bipolarly polarized in the optical axis direction. That is, as shown in Fig. 13, the drive magnets 24, 26 may be magnetized by a second magnetization method in which they are magnetized in a direction perpendicular to the optical axis direction and bipolarly polarized in the optical axis direction.

[0073] In this case, for example, as shown in Fig. 13A, the center position of drive magnet 24 in the optical axis direction is polarization position (polarization surface) 24b, and the center position of drive magnet 26 in the optical axis direction is polarization position (polarization surface) 26b. Alternatively, for example, as shown in Fig. 13B, the position of drive magnet 24 on the opposite side of the subject from the center in the optical axis direction may be polarization position 24b, and the position of drive magnet 26 on the opposite side of the subject from the center in the optical axis direction may be polarization position 26b. Alternatively, as shown in Fig. 13C, the position of drive magnet 24 on the opposite side of the subject from the center in the optical axis direction may be polarization position 24b, and the position of drive magnet 26 on the opposite side of the subject from the center in the optical axis direction may be polarization position 26b.

[0074] That is, in this case, the right surface of drive magnet 24 facing drive coil 25 is polarized into two poles with polarization position 24b as the boundary, and the front surface of drive magnet 26 facing drive coil 27 is polarized into two poles with polarization position 26b as the boundary. In this modified example, too, the movable body rotation center CR and the movable part center of gravity G coincide. Also in this modified example, the movable body rotation center CR and the movable part center of gravity G are located closer to the subject than the centers C1 and C2 of drive magnets 24 and 26.

[0075] On the other hand, in this modified example, when the movable body 4 is placed at the reference position, the centers C5 and C6 of the magnetic members 11 and 12 are located on the opposite side to the subject than the polarization positions 24b and 26b of the drive magnets 24 and 26. In other words, in this modified example, regardless of which of the positions shown in Figures 13A to 13C the polarization positions 24b and 26b are, the centers C5 and C6 of the magnetic members 11 and 12 are located on the opposite side to the subject than the polarization positions 24b and 26b of the drive magnets 24 and 26 when the movable body 4 is placed at the reference position.

[0076] In this modified example, for example, when the movable body 4 is placed at the reference position, the center C5 of the magnetic member 11 is placed on or near an extension of an imaginary line connecting the movable body rotation center CR and the center of the polarization position (polarization surface) 24b of the drive magnet 24, and the center C6 of the magnetic member 12 is placed on or near an extension of an imaginary line connecting the movable body rotation center CR and the center of the polarization position (polarization surface) 26b of the drive magnet 26. In this modified example, the same effects as those of the above-mentioned embodiment can be obtained.

[0077] (Modification Example 1 of the arrangement of the drive magnet, drive coil, and magnetic member) Fig. 14 is a schematic diagram illustrating the arrangement of drive magnets 24, 26, drive coils 25, 27, and magnetic members 11, 12 according to another embodiment of the present invention. In Fig. 14, the same components as those in the above-described embodiment are denoted by the same reference numerals.

[0078] In the above-described embodiment, the drive magnets 24, 26 may be attached to the fixed body 6, and the drive coils 25, 27 may be attached to the movable body 4. In this case, when the movable body 4 is placed at the reference position, the drive magnet 24 is disposed to the left of the drive coil 25, and the drive magnet 24 and the drive coil 25 face each other in the left-right direction. Also, when the movable body 4 is placed at the reference position, the drive magnet 26 is disposed in front of the drive coil 27, and the drive magnet 26 and the drive coil 27 face each other in the front-rear direction.

[0079] In this modified example, magnetic members 11 and 12 are attached to movable body 4. In this modified example, a portion that includes movable body 4, drive coils 25 and 27, and magnetic members 11 and 12 and is rotatable relative to intermediate member 5 constitutes movable section 30, and movable section center of gravity G, which is the center of gravity of movable section 30, coincides with movable section rotation center CR. Also in this modified example, movable section rotation center CR and movable section center of gravity G are located closer to the subject than centers C1 and C2 of drive magnets 24 and 26.

[0080] In this modified example, the centers C5 and C6 of the magnetic members 11 and 12 are located on the side opposite to the subject relative to the movable body rotation center CR and the movable part center of gravity G, and are located on the side closer to the subject relative to the centers C1 and C2 of the drive magnets 24 and 25 when the movable body 4 is located at the reference position. Also, in this modified example, for example, when the movable body 4 is located at the reference position, the center C5 of the magnetic member 11 is located on an imaginary line connecting the movable body rotation center CR and the center C1 of the drive magnet 24, or in the vicinity of this imaginary line. Also, when the movable body 4 is located at the reference position, the center C6 of the magnetic member 12 is located on an imaginary line connecting the movable body rotation center CR and the center C2 of the drive magnet 26, or in the vicinity of this imaginary line. This modified example can also achieve the same effects as the above-described embodiment.

[0081] (Modification Example 2 of the Arrangement of the Drive Magnet, Drive Coil, and Magnetic Member) Fig. 15 is a schematic diagram illustrating the arrangement of drive magnets 24, 26, drive coils 25, 27, and magnetic members 11, 12 according to another embodiment of the present invention. In Fig. 15, the same reference numerals are used to designate the same components as those in the above-described embodiment and modified examples.

[0082] In the modified example shown in Fig. 14, the drive magnets 24, 26 may be magnetized in a direction perpendicular to the optical axis direction and magnetized by a second magnetization method in which they are bipolarized in the optical axis direction. In this case, for example, as shown in Fig. 15A, the center position of the drive magnet 24 in the optical axis direction is the polarization position 24b, and the center position of the drive magnet 26 in the optical axis direction is the polarization position (polarization plane) 26b. Also, for example, as shown in Fig. 15B, the position of the drive magnet 24 on the opposite side of the subject from the center in the optical axis direction may be the polarization position 24b, and the position of the drive magnet 26 on the opposite side of the subject from the center in the optical axis direction may be the polarization position 26b. Alternatively, as shown in Fig. 15C, the position of the drive magnet 24 on the opposite side of the subject from the center in the optical axis direction may be the polarization position 24b, and the position of the drive magnet 26 on the opposite side of the subject from the center in the optical axis direction may be the polarization position 26b.

[0083] In this modified example, the movable body rotation center CR and the movable part center of gravity G are also aligned. Also in this modified example, the movable body rotation center CR and the movable part center of gravity G are located closer to the subject than the centers C1 and C2 of the drive magnets 24 and 26. Also in this modified example, the centers C5 and C6 of the magnetic members 11 and 12 are located closer to the subject than the movable body rotation center CR and the movable part center of gravity G, and are located closer to the subject than the polarization positions 24b and 26b of the drive magnets 24 and 26 when the movable body 4 is located at the reference position. That is, in this modified example, regardless of which of the positions shown in FIGS. 15A to 15C the polarization positions 24b and 26b are, the centers C5 and C6 of the magnetic members 11 and 12 are located closer to the subject than the polarization positions 24b and 26b of the drive magnets 24 and 26 when the movable body 4 is located at the reference position.

[0084] In this modified example, for example, when the movable body 4 is placed at the reference position, the center C5 of the magnetic member 11 is placed on or near the imaginary line connecting the movable body rotation center CR and the center of the polarization position (polarization surface) 24b of the drive magnet 24, and the center C6 of the magnetic member 12 is placed on or near the imaginary line connecting the movable body rotation center CR and the center of the polarization position (polarization surface) 26b of the drive magnet 26. In this modified example, the same effects as those of the above-mentioned embodiment can be obtained.

[0085] (Example of changing the optical unit) Fig. 16 is a plan view for explaining the configuration of an optical unit 2 according to another embodiment of the present invention, and Fig. 17 is a cross-sectional view of the KK cross section of Fig. 16.

[0086] In the embodiment described above, the optical unit 2 may include a weight member (counterweight) 35 as a first weight member fixed to the right side surface of the holder 16, and a weight member (counterweight) 36 as a second weight member fixed to the rear side surface of the holder 16. That is, the optical unit 2 may include a weight member 35 attached to the right surface of the movable body 4, and a weight member 36 attached to the rear surface of the movable body 4. In this case, the weight members 35 and 36 are included in the movable part 30.

[0087] In this modified example, the holder 16 does not have a stopper portion 16d. Furthermore, in this case, magnet abutment portions 16c are also formed on the right and rear edges of the holder 16, and the lower surfaces of the weight members 35 and 36 contact the upper surfaces of the magnet abutment portions 16c. The weight members 35 and 36 are formed in a rectangular flat plate shape. When the movable body 4 is positioned at the reference position, the thickness direction of the weight member 35 coincides with the left-right direction, and the thickness direction of the weight member 36 coincides with the front-rear direction. Furthermore, when the movable body 4 is positioned at the reference position, the direction of the short sides of the weight members 35 and 36, which are formed in a rectangular flat plate shape, coincides with the up-down direction.

[0088] The weights of the weight members 35, 36 are equal to the weights of the drive magnets 24, 26, for example. The centers (volume centers) of the weight members 35, 36 are located on the side opposite the subject from the movable body rotation center CR and the movable part center of gravity G. In this modified example, even if the drive magnets 24, 26 are attached only to the left and front surfaces of the movable body 4, it is easier to balance the movable part 30 including the weight members 35, 36. Furthermore, in this modified example, even if the center of gravity of the camera module 3 is biased toward the subject, it is possible to use the weight members 35, 36 to bring the movable body rotation center CR and the movable part center of gravity G closer together or to align them.

[0089] (Other embodiments) The above-described embodiment is one example of a preferred embodiment of the present invention, but the present invention is not limited to this embodiment and various modifications can be made without departing from the spirit of the present invention.

[0090] In the above-described embodiment, the outer shape of the movable body 4 when viewed from the optical axis direction may be rectangular. In this case, the magnetic members 11 and 12 are disposed at positions offset from each other in the up-down direction. That is, in this case, when the movable body 4 is disposed at the reference position, the magnetic members 11 and 12 are disposed at positions offset from each other in the optical axis direction.

[0091] In the above-described embodiment, the movable body rotation center CR and the movable part center of gravity G do not have to coincide. In this case, for example, the movable part center of gravity G is located slightly closer to the subject than the movable body rotation center CR. Also, in the above-described embodiment, the shapes of the magnetic members 11 and 12 may be different. Furthermore, in the above-described embodiment, when the movable body 4 is located at the reference position, the drive magnets 24, 26 and the drive coils 25, 27 do not have to be located at the same position in the optical axis direction.

[0092] In the above-described embodiment, the support members 13 and 14 do not necessarily have to have the fulcrum protrusions 13d and 14d. In this case, spheres are fixed to the bases 13c and 14c, and the spheres are disposed in the recesses 5e and 5j of the intermediate member 5. In this case, the support member 13 and the spheres form a first fulcrum, and the support member 14 and the spheres form a second fulcrum. In this case, the inner end of the sphere fixed to the base 13c in the first intersecting direction serves as the first fulcrum, and the inner end of the sphere fixed to the base 14c in the second intersecting direction serves as the second fulcrum.

[0093] In the above-described embodiment, the optical unit 2 may include a rotation mechanism that rotates the camera module 3 relative to the intermediate member 5 about the optical axis L of the camera module 3. In this case, the intermediate member 5 includes a first intermediate member and a second intermediate member. The movable body 4 is rotatable relative to the first intermediate member about the optical axis L of the camera module 3, and the first intermediate member is rotatable relative to the second intermediate member about the first axis L1. In addition, in the above-described embodiment, the first intersecting direction (V direction) does not have to be perpendicular to the optical axis L, and the second intersecting direction (W direction) does not have to be perpendicular to the first intersecting direction. Furthermore, in the above-described embodiment, the optical unit 2 may be mounted in various devices other than portable devices.

[0094] (Configuration of this technology) In this aspect, it is preferable that the center of rotation of the movable body and the center of gravity of the movable part coincide with each other. With this configuration, even when a portable device or the like is used with the optical axis of the camera module facing horizontally, it is possible to effectively prevent the optical axis of the camera module from tilting relative to the horizontal due to the effect of the weight of the movable part including the camera module.

[0095] In this aspect, for example, if a predetermined direction orthogonal to the optical axis direction when the movable body is disposed at the reference position is defined as a first direction, and a direction orthogonal to the optical axis direction when the movable body is disposed at the reference position and the first direction is defined as a second direction, the optical unit with shake correction function comprises a first magnetic drive mechanism and a second magnetic drive mechanism as the magnetic drive mechanism, and a first magnetic member and a second magnetic member as the magnetic member, and the first magnetic drive mechanism comprises a first drive magnet as the drive magnet for rotating the movable body relative to the fixed body with the first direction as the axis of rotation, and a first drive coil arranged to face the first drive magnet in the second direction as the drive coil. The second magnetic drive mechanism includes a second drive magnet as a drive magnet for rotating the movable body relative to the fixed body with the second direction as the axis of rotation, and a second drive coil as a drive coil arranged opposite the second drive magnet in the first direction, and a magnetic attraction force is generated between the first drive magnet and the first magnetic member, and between the second drive magnet and the second magnetic member, for holding the movable body at a reference position when no current is supplied to the first drive coil and the second drive coil, and when the movable body is arranged at the reference position, the first drive magnet, the second drive magnet, the first drive coil, and the second drive coil are arranged at the same position in the optical axis direction.

[0096] In this aspect, for example, the outer shape of the movable body when viewed from the optical axis direction is square, and when the movable body is placed at the reference position, the first magnetic member and the second magnetic member are placed at the same position in the optical axis direction. Also, in this aspect, the outer shape of the movable body when viewed from the optical axis direction may be rectangular, and when the movable body is placed at the reference position, the first magnetic member and the second magnetic member may be placed at positions shifted from each other in the optical axis direction.

[0097] In this embodiment, for example, the optical unit with shake correction function includes a first weight member and a second weight member attached to the movable body, the first drive magnet is attached to one side surface of the movable body in the second direction, the first weight member is attached to the other side surface of the movable body in the second direction, the second drive magnet is attached to one side surface of the movable body in the first direction, and the second weight member is attached to the other side surface of the movable body in the first direction, and the centers of the first weight member and the second weight member are located on the opposite side to the subject than the center of rotation of the movable body and the center of gravity of the movable part.

[0098] In this case, even if the first drive magnet is attached only to one surface of the movable body in the second direction and the second drive magnet is attached only to one surface of the movable body in the first direction, it is easy to balance the movable part including the first weight member and the second weight member. Also, in this case, even if the center of gravity of the camera module is biased toward the subject side, it is possible to use the first weight member and the second weight member to bring the center of rotation of the movable body closer to the center of gravity of the movable part or to align the center of rotation of the movable body with the center of gravity of the movable part. [Explanation of symbols]

[0099] 2 Optical unit (optical unit with image stabilization function) 3 Camera Module 4 Movable body 5 Intermediate parts 6 Fixed body 8. Magnetic drive mechanism (first magnetic drive mechanism) 9. Magnetic drive mechanism (second magnetic drive mechanism) 11 Magnetic member (first magnetic member) 12 Magnetic member (second magnetic member) 13 Support member (first support part) 13b 1st fulcrum 14 Support member (second support part) 14b Second Support 24 Drive magnet (first drive magnet) 24b Polarization position 25 Drive coil (first drive coil) 26 Drive magnet (second drive magnet) 26b Polarization position 27 Drive coil (second drive coil) 30 Moving parts 35 Weight member (first weight member) 36 Weight member (second weight member) C1, C2 Center of drive magnet C5, C6 Center of magnetic member CR Rotation center of movable body G Center of gravity of moving part L optical axis V 1st cross direction W Second cross direction X 2nd direction Y 1st direction

Claims

1. a movable body having a camera module, an intermediate member that rotatably holds the movable body, a fixed body that rotatably holds the intermediate member, a magnetic drive mechanism that rotates the movable body relative to the fixed body so that the optical axis of the camera module is tilted in a desired direction, a first fulcrum unit that has a first fulcrum that is a fulcrum for the rotation of the movable body relative to the intermediate member, a second fulcrum unit that has a second fulcrum that is a fulcrum for the rotation of the intermediate member relative to the fixed body, and a magnetic member that holds the movable body at a predetermined reference position relative to the fixed body, the movable body is rotatable relative to the intermediate member with a first intersecting direction that intersects with an optical axis of the camera module as a rotation axis direction, the intermediate member is rotatable relative to the fixed body about a rotation axis direction in a second intersecting direction that intersects with the first intersecting direction and an optical axis of the camera module, the first fulcrums are disposed on both end sides of the intermediate member in the first intersecting direction, the second fulcrums are disposed on both end sides of the intermediate member in the second intersecting direction, an intersection of a virtual line connecting two of the first fulcrums and a virtual line connecting two of the second fulcrums is a movable body rotation center, which is a rotation center of the movable body relative to the fixed body, the magnetic drive mechanism includes a drive magnet attached to the movable body and a drive coil attached to the fixed body; the drive magnet and the drive coil face each other in a direction perpendicular to an optical axis direction that is a direction of an optical axis of the camera module when the movable body is disposed at the reference position; the magnetic member is attached to the fixed body, a magnetic attraction force is generated between the drive magnet and the magnetic member when no current is supplied to the drive coil, for holding the movable body at the reference position; When one side in the optical axis direction is defined as the subject side, the side opposite to the subject side is defined as the anti-subject side, and the center of gravity of a movable part that includes the movable body and the drive magnet and is rotatable relative to the intermediate member is defined as the center of gravity of the movable part, the rotation center of the movable body and the center of gravity of the movable portion are disposed closer to the subject than the center of the drive magnet, the drive magnet is magnetized in the optical axis direction by a first magnetization method in which the magnetic pole of the surface of the drive magnet facing the subject and the magnetic pole of the surface of the drive magnet facing away from the subject are different, or the drive magnet is magnetized in a direction perpendicular to the optical axis direction by a second magnetization method in which the drive magnet is polarized into two poles in the optical axis direction, When the drive magnet is magnetized by the first magnetizing method, the center of the magnetic member is located on the opposite side to the subject than the center of the drive magnet when the movable body is located at the reference position, An optical unit with a shake correction function, characterized in that, when the drive magnet is magnetized by the second magnetization method, the center of the magnetic member is located on the opposite side of the subject from the polarization position of the drive magnet when the movable body is located at the reference position.

2. a movable body having a camera module, an intermediate member that rotatably holds the movable body, a fixed body that rotatably holds the intermediate member, a magnetic drive mechanism that rotates the movable body relative to the fixed body so that the optical axis of the camera module is tilted in a desired direction, a first fulcrum unit that has a first fulcrum that is a fulcrum for the rotation of the movable body relative to the intermediate member, a second fulcrum unit that has a second fulcrum that is a fulcrum for the rotation of the intermediate member relative to the fixed body, and a magnetic member that holds the movable body at a predetermined reference position relative to the fixed body, the movable body is rotatable relative to the intermediate member with a first intersecting direction that intersects with an optical axis of the camera module as a rotation axis direction, the intermediate member is rotatable relative to the fixed body about a rotation axis direction in a second intersecting direction that intersects with the first intersecting direction and an optical axis of the camera module, the first fulcrums are disposed on both end sides of the intermediate member in the first intersecting direction, the second fulcrums are disposed on both end sides of the intermediate member in the second intersecting direction, an intersection of a virtual line connecting two of the first fulcrums and a virtual line connecting two of the second fulcrums is a movable body rotation center, which is a rotation center of the movable body relative to the fixed body, the magnetic drive mechanism includes a drive magnet attached to the fixed body and a drive coil attached to the movable body; the drive magnet and the drive coil face each other in a direction perpendicular to an optical axis direction that is a direction of an optical axis of the camera module when the movable body is disposed at the reference position; the magnetic member is attached to the movable body, a magnetic attraction force is generated between the drive magnet and the magnetic member when no current is supplied to the drive coil, for holding the movable body at the reference position; When one side in the optical axis direction is defined as the subject side, the side opposite to the subject side is defined as the anti-subject side, and the center of gravity of a movable part that includes the movable body, the drive coil, and the magnetic member and is rotatable with respect to the intermediate member is defined as the center of gravity of the movable part, the rotation center of the movable body and the center of gravity of the movable portion are disposed closer to the subject than the center of the drive magnet, the drive magnet is magnetized in the optical axis direction when the movable body is disposed at the reference position, and is magnetized by a first magnetization method in which the magnetic pole of the surface of the drive magnet facing the subject and the magnetic pole of the surface of the drive magnet facing away from the subject are different, or the drive magnet is magnetized in a direction perpendicular to the optical axis direction when the movable body is disposed at the reference position, and is magnetized by a second magnetization method in which the movable body is magnetized in a direction perpendicular to the optical axis direction when the movable body is disposed at the reference position, and is polarized into two poles in the optical axis direction; When the drive magnet is magnetized by the first magnetizing method, the center of the magnetic member is located on the side opposite to the subject with respect to the rotation center of the movable body and the center of gravity of the movable part, and is located on the side closer to the subject with respect to the center of the drive magnet when the movable body is located at the reference position, an optical unit with a shake correction function, characterized in that, when the drive magnet is magnetized by the second magnetizing method, the center of the magnetic member is located on the side opposite to the subject with respect to the center of rotation of the movable body and the center of gravity of the movable part, and is located on the side closer to the subject with respect to the polarization position of the drive magnet when the movable body is located at the reference position.

3. 3. The optical unit with shake correction function according to claim 1, wherein the center of rotation of the movable body coincides with the center of gravity of the movable portion.

4. When the movable body is disposed at the reference position, a predetermined direction perpendicular to the optical axis direction is defined as a first direction, and when the movable body is disposed at the reference position, a direction perpendicular to the optical axis direction and the first direction is defined as a second direction. the magnetic drive mechanism includes a first magnetic drive mechanism and a second magnetic drive mechanism, and the magnetic member includes a first magnetic member and a second magnetic member; the first magnetic drive mechanism includes, as the drive magnet, a first drive magnet for rotating the movable body relative to the fixed body with the first direction as an axial direction of rotation, and, as the drive coil, a first drive coil disposed opposite the first drive magnet in the second direction; the second magnetic drive mechanism includes, as the drive magnet, a second drive magnet for rotating the movable body relative to the fixed body with the second direction as an axial direction of rotation, and, as the drive coil, a second drive coil disposed opposite the second drive magnet in the first direction; a magnetic attraction force is generated between the first drive magnet and the first magnetic member, and between the second drive magnet and the second magnetic member, for holding the movable body at the reference position when no current is supplied to the first drive coil and the second drive coil; An optical unit with shake correction function as described in claim 1, characterized in that when the movable body is positioned at the reference position, the first drive magnet, the second drive magnet, the first drive coil, and the second drive coil are positioned at the same position in the optical axis direction.

5. The outer shape of the movable body when viewed from the optical axis direction is square, 5. An optical unit with shake correction function according to claim 4, wherein when the movable body is positioned at the reference position, the first magnetic member and the second magnetic member are positioned at the same position in the optical axis direction.

6. The outer shape of the movable body when viewed from the optical axis direction is rectangular, An optical unit with shake correction function as described in claim 4, characterized in that when the movable body is positioned at the reference position, the first magnetic member and the second magnetic member are positioned at positions offset from each other in the optical axis direction.

7. a first weight member and a second weight member attached to the movable body; the first drive magnet is attached to one surface of the movable body in the second direction, the first weight member is attached to the other surface of the movable body in the second direction, the second drive magnet is attached to one surface of the movable body in the first direction, the second weight member is attached to the other surface of the movable body in the first direction, 7. An optical unit with shake correction function according to claim 4, wherein the center of the first weight member and the center of the second weight member are located on the opposite side of the object from the rotation center of the movable body and the center of gravity of the movable part.

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