Imaging device

Abstract

To properly restrict translational movement and rotational movement of a movable portion in a driving device having the movable portion, which is translationally and rotationally movable within a plane with respect to a fixed portion.SOLUTION: A first blur correction unit 20 includes: a fixed portion 20a; a movable portion 20b that is arranged to be translationally movable and is rotational movable within a plane with respect to the fixed portion 20a; a plurality of actuators that drive the movable portion 20b; first restricting means that restricts translational movement of the movable portion 20b; and second restricting means that restricts rotational movement of the movable portion 20b. The second restricting means is provided at a location more remote from the center of rotation of the movable portion 20b with respect to the fixed portion 20a than the first restricting means.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention 、 relates to an imaging device.

Background Art

[0002] There is known a driving device that moves a movable part in a plane with respect to a fixed part. One configuration for generating a driving force for driving the movable part is a configuration called a voice coil motor (VCM) method. In the VCM method, a magnet is disposed on one of the movable part and the fixed part, and a coil is disposed on the other, and a driving force is generated by energizing the coil in a magnetic circuit formed by the magnet.

[0003] As an application example of such a driving device, there is a shake correction mechanism mounted on an imaging device. In the shake correction mechanism, an image pickup element or a shake correction lens is mounted on the movable part, and the movable part is driven based on the amount of shake detected by a predetermined sensor so as to cancel out the detected shake. In particular, a shake correction mechanism in which an image pickup element is mounted on the movable part can correct rotation about an axis (imaging optical axis) orthogonal to the imaging surface of the image pickup element, and thus has higher shake correction performance than a shake correction mechanism in which a shake correction lens is mounted on the movable part.

[0004] Now, in such a driving device, a regulating part is provided to prevent the movable part from falling off from the fixed part. Such a regulating part needs to be provided at a position that does not interfere with the rotational movement of the movable part in a driving device capable of rotational movement about the imaging optical axis, such as the shake correction mechanism of an imaging device. Also, in such a shake correction mechanism, usually, a plurality of balls are arranged between the movable part and the fixed part so as to be rollable, thereby reducing the contact resistance and enabling smooth driving. At this time, a fence is provided to prevent the balls from jumping out in a direction parallel to the rolling surface. Further, on the movable part and the fixed part, there are provided a contact part and a contactable part for restricting the movement of the movable part with respect to the fixed part, respectively.

[0005] For example, Patent Document 1 discloses a technique for an image stabilization device that moves a lens group using a two-axis drive mechanism, in which the ball position is reset before shooting to prevent the ball from contacting the enclosure during actual use. Patent Document 1 also describes that a movable mechanical end is provided to restrict the movement of the movable part. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] Patent No. 3969927 [Overview of the project] [Problems that the invention aims to solve]

[0007] Incidentally, users sometimes take pictures with imaging devices while walking, and the blur that occurs in this case will be referred to as "walking blur." Since walking blur is greater than the blur that occurs when the user is standing still and taking pictures, there is a need for a blur correction device that can compensate for this larger amount of blur.

[0008] Image stabilization devices for imaging equipment can correct large amounts of blur by increasing the amount of movement of the movable part holding the image sensor or blur-stabilizing lens relative to the fixed part. In particular, for walking-related blur, the amount of rotational blur around the imaging optical axis tends to be large, so the blur correction effect can be enhanced by increasing the amount of movement of the movable part relative to the fixed part around the imaging optical axis (with the imaging optical axis as the central axis).

[0009] Here, the image stabilization device described in Patent Document 1 above, as mentioned above, is only capable of translational movement in a plane perpendicular to the optical axis, and is not configured to perform rotational movement in the same plane. Furthermore, Patent Document 1 does not show a specific configuration for the movable mechanical end that restricts the movement of the movable part. If the amount of rotational movement of the movable part relative to the fixed part is increased, the amount of outward protrusion of the movable part will increase, which may lead to an increase in the size of the imaging device. Therefore, in a drive device having a movable part capable of both translational and rotational movement, there is a need for a configuration that appropriately restricts the translational and rotational movement of the movable part while suppressing outward protrusion of the movable part.

[0010] This invention , possible It is possible to appropriately restrict translational and rotational movement while suppressing the outward protrusion of the moving parts. imaging The purpose is to provide the device. [Means for solving the problem]

[0011] The imaging apparatus according to the present invention comprises a fixed part, a movable part arranged to be translationally and rotatably positioned relative to the fixed part, a first actuator that generates a force to drive the movable part in a first direction relative to the fixed part, and a second actuator that generates a force to drive the movable part in a second direction intersecting the first direction, and an image sensor held by the movable part, wherein the imaging apparatus comprises a first restricting means for restricting the movement of the movable part, and a second restricting means different from the first restricting means for restricting the movement of the movable part. The first direction and the second direction are directions parallel to the imaging plane of the image sensor, The second restricting means is positioned further from the center of the image sensor than the first restricting means when viewed from a direction perpendicular to the plane on which the movable part can be translated, and the first restricting means has a first hole and a second hole provided in one of the fixed part and the movable part, and a first protrusion and a second protrusion provided in the other of the fixed part and the movable part and inserted into the first hole, and the first hole is positioned such that, when viewed from a direction perpendicular to the plane on which the movable part can be translated, at least a part of the second hole and the first Towards It is characterized by being lined up.

Effect of the Invention

[0012] According to the present invention , possible while suppressing the protrusion of the moving part to the outside, appropriately regulating the translational movement and rotational movement of the movable part This becomes possible .

Brief Description of the Drawings

[0013] [Figure 1] It is a diagram showing a schematic configuration of an imaging device according to an embodiment of the present invention. [Figure 2] It is an exploded perspective view of a first shake correction unit. [Figure 3] It is an exploded perspective view of a movable part constituting the first shake correction unit. [Figure 4] It is a diagram for explaining the translational movement and rotational movement of an object on a plane. [Figure 5] It is a diagram showing the relationship between the distance from the rotation center, the maximum movement amount, and the maximum rotation angle. [Figure 6] It is a diagram for explaining a configuration for regulating the relative position of the movable part with respect to the fixed part. [Figure 7] It is another diagram for explaining a configuration for regulating the relative position of the movable part with respect to the fixed part. [Figure 8] It is a schematic diagram showing the relationship between the ball and the surrounding part when the movable part moves. [Figure 9] It is a diagram for explaining the relationship between the distance from the optical axis and the inner diameter of the surrounding part. [Figure 10] It is a first diagram for explaining the first reset operation of the ball. [Figure 11] It is a second diagram for explaining the first reset operation of the ball. [Figure 12] It is a first diagram for explaining the second reset operation of the ball. [Figure 13] It is a second diagram for explaining the second reset operation of the ball.

Mode for Carrying Out the Invention

[0014] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Here, a configuration in which the driving device according to the present invention is applied to an image blur correction device of an imaging device will be described.

[0015] FIG. 1 is a diagram showing a schematic configuration of an imaging device 10 according to an embodiment of the present invention. The imaging device 10 is a so-called mirrorless digital camera, and includes an imaging device main body 10a (hereinafter referred to as “main body unit 10a”) and a lens barrel 10b that is detachable from the main body unit 10a.

[0016] The main body unit 10a includes an imaging element 11 having an imaging surface 11a, a base member 13c, a main body side mount member 13a, a camera control unit 14, a first blur correction control unit 15a, a first vibration detection unit 16a, an image processing unit 17, and a first blur correction unit 20. The lens barrel 10b includes an imaging optical system 12 including a blur correction lens 12b, a lens side mount member 13b, a second blur correction control unit 15b, a second vibration detection unit 16b, and a second blur correction unit 60.

[0017] A virtual ray representative of the light beam irradiated on the imaging surface 11a of the imaging element 11 through the imaging optical system 12 is referred to as an “imaging optical axis 12a” (hereinafter referred to as “optical axis 12a”), and a plane orthogonal to the optical axis 12a is referred to as an “optical axis orthogonal plane” (hereinafter referred to as “optical axis orthogonal plane 12c”). The optical axis 12a passes through the center of the imaging surface 11a and is orthogonal to the imaging surface 11a.

[0018] In order to clarify the arrangement and positional relationship of each part constituting the imaging device 10 within the imaging device 10, as shown in FIG. 1, X, Y, and Z directions orthogonal to each other are defined. The Z direction is a direction parallel to the optical axis 12a, the X direction is the width direction of the imaging device 10, and the Y direction is the height direction of the imaging device 10. When both the X direction and the Z direction are in the horizontal plane, the Y direction is the vertical direction, and the optical axis orthogonal plane 12c is the XY plane.

[0019] The image sensor 11 is specifically a CMOS image sensor or a CCD image sensor, and is positioned with its imaging surface 11a facing the subject side (lens barrel 10b side) and perpendicular to the optical axis 12a. The image sensor 11 generates an image signal by photoelectric conversion of the optical image of the subject formed on the imaging surface 11a by the imaging optical system 12. The image signal generated by the image sensor 11 is converted into image data through various processing in the image processing unit 17, and the generated image data is stored in a memory (storage device) not shown. The camera control unit 14 is a calculation means within a main IC not shown, and receives input operations from the user via an operation means not shown, and controls the overall operation of the imaging device 10.

[0020] The imaging optical system 12 is composed of a lens group (not shown), an aperture, etc., arranged inside the lens barrel 10b, and forms an image of reflected light from an unshown subject onto the imaging surface 11a of the image sensor 11. In the imaging device 10, in order to position the image sensor 11 with high positional accuracy relative to the optical axis 12a, the image sensor 11 is attached to a base member 13c provided on the main body 10a, and the lens barrel 10b is also connected to the base member 13c. At this time, the image sensor 11 is attached to the base member 13c via a first image stabilization unit 20. The lens barrel 10b is also connected to the base member 13c via a lens-side mount member 13b and a main body-side mount member 13a.

[0021] The first image stabilization unit 20 corrects image blur caused by vibrations (shakes or tremors) in the imaging device 10 by moving the image sensor 11 in any direction within the optical axis orthogonal plane 12c or by rotating it within the optical axis orthogonal plane 12c, thereby enabling the acquisition of a clear image of the subject. Specifically, when the imaging device 100 experiences a change in posture due to shaking during imaging, the imaging position of the subject light beam on the imaging surface 11a of the image sensor 11 changes, causing blur in the image obtained through the image sensor 11. In this case, if the change in posture of the imaging device 10 is sufficiently small, the change in imaging position is uniform within the imaging surface 11a and can be considered as translational or rotational movement (image plane blur) within the optical axis orthogonal plane 12c. Therefore, by translating or rotating the image sensor 11 within the optical axis orthogonal plane 12c to cancel out this image plane blur, a clear image of the subject with corrected image blur can be obtained. Furthermore, when moving the image sensor 11 in a direction parallel to the imaging plane, the image sensor 11 may also be configured to move in a direction perpendicular to the imaging plane.

[0022] Similarly, the second image stabilization unit 60 corrects image blur caused by vibrations in the imaging device 10 by moving the image stabilization lens 12b in a direction that cancels out image plane blur within the optical axis orthogonal plane 12c, thereby enabling the acquisition of a clear subject image. Since the principle of image stabilization by moving the image sensor 11 and the image stabilization lens 12b is well known, a detailed explanation is omitted. Furthermore, when moving the image stabilization lens 12b in the direction orthogonal to the optical axis, the image stabilization lens 12b may also be configured to move in the direction of the optical axis.

[0023] The first image stabilization unit 20 generally comprises a fixed part, a movable part, and a plurality of driving force generating parts. The fixed part is fixed to the base member 13c, and the movable part holds the image sensor 11. The movable part is supported by the fixed part with three degrees of freedom, and can be translated in any direction relative to the fixed part within the optical axis orthogonal plane 12c, and can also be rotated within the optical axis orthogonal plane 12c. In other words, the first image stabilization unit 20 is configured as a drive device (a so-called XYθ stage) capable of three-axis drive control, and can move the image sensor 11 in any direction within the optical axis orthogonal plane 12c, and can also rotate within the optical axis orthogonal plane 12c.

[0024] The second image stabilization unit 60 generally comprises a fixed part, a movable part, and multiple driving force generating parts. The fixed part is fixed to a housing (not shown) of the lens barrel 10b, and the movable part holds the image stabilization lens 12b. The movable part is supported by the fixed part with two degrees of freedom and can move in any direction within the plane 12c perpendicular to the optical axis relative to the fixed part. In other words, the second image stabilization unit 60 is configured as a drive device (a so-called XY stage) capable of two-axis drive control, and can move the image stabilization lens 12b in any direction within the plane 12c perpendicular to the optical axis.

[0025] The first vibration detection unit 16a and the second vibration detection unit 16b are shake detection means that detect the angular velocity and acceleration of the imaging device 10 in each direction as shake information of the imaging device 10, and are specifically composed of a gyro sensor, an acceleration sensor, etc. The first shake correction control unit 15a and the second shake correction control unit 15b then calculate the amount of angular change and movement of the imaging device 10 in each direction as shake information by integrating the angular velocity and acceleration detected by the first vibration detection unit 16a and the second vibration detection unit 16b, respectively.

[0026] Furthermore, the first image stabilization control unit 15a calculates a target movement value for the image sensor 11 based on the shake information detected by the first vibration detection unit 16a, and controls the movement of the image sensor 11 by controlling the drive of the first image stabilization unit 20. Similarly, the second image stabilization control unit 15b calculates a target movement value for the image stabilization lens 12b based on the shake information detected by the second vibration detection unit 16b, and controls the movement of the image stabilization lens 12b by controlling the drive of the second image stabilization unit 60.

[0027] The imaging device 10 may also be configured to include only the first image stabilization unit 20. If the second image stabilization unit 60 is not included, the image stabilization lens 12b is basically unnecessary. Therefore, the imaging optical system 12 of the lens barrel 10b is designed so that the desired optical characteristics can be obtained with a lens configuration that does not include the image stabilization lens 12b.

[0028] Next, the detailed configuration of the first image stabilization unit 20, which embodies the drive device according to the present invention, will be described. Note that the configuration of the first image stabilization unit 20 is not applicable to the second image stabilization unit 60. This is because, as is clear from the configuration of the first image stabilization unit 20 described later, if the image sensor 11 included in the first image stabilization unit 20 is simply replaced with an image stabilization lens 12b, a portion of the light beam passing through the image stabilization lens 12b will be blocked. Therefore, the second image stabilization unit 60 uses a drive device that does not rotate the movable part 20b, such as the drive device applied to the lens barrel described in the aforementioned Patent Document 1, rather than the drive device according to the present invention.

[0029] Figures 2(a) and 2(b) are exploded perspective views of the first image stabilization unit 20, with the viewing direction of the first image stabilization unit 20 differing between Figure 2(a) and Figure 2(b). The first image stabilization unit 20 comprises a fixed part 20a and a movable part 20b. In Figures 2(a) and 2(b), the movable part 20b is shown without being disassembled, while the fixed part 20a is shown disassembled.

[0030] The fixing section 20a includes a fixing member 21, a rear yoke 22, a first rear magnet group 23a, a second rear magnet group 23b, and a third rear magnet group 23c. The fixing member 21 is provided with a first opening 21a, a second opening 21b, and a third opening 21c. The first rear magnet group 23a, the second rear magnet group 23b, and the third rear magnet group 23c are each fixed to the rear yoke 22 with adhesive or the like, and are arranged to be surrounded by the first opening 21a, the second opening 21b, and the third opening 21c.

[0031] In this embodiment, the first rear magnet group 23a, the second rear magnet group 23b, and the third rear magnet group 23c are arranged so that two magnets magnetized in the optical axis direction (Z direction) generate magnetic fields in opposite directions. However, the embodiment is not limited to this, and a single magnet magnetized at two poles may also be used.

[0032] The fixing section 20a further includes a first column member 24a, a second column member 24b, a third column member 24c, a front yoke 25, a first front magnet 26a, a second front magnet 26b, and a third front magnet 26c. The front yoke 25 is fixed to the fixing member 21 with screws via the first column member 24a, the second column member 24b, and the third column member 24c. The first front magnet 26a, the second front magnet 26b, and the third front magnet 26c are each fixed to the front yoke 25 with adhesive or the like.

[0033] In this embodiment, a single magnet magnetized to two poles is used as the first front magnet 26a, the second front magnet 26b, and the third front magnet 26c. However, it is not limited to this, and two magnets magnetized in the direction of the optical axis may be arranged so as to generate magnetic fields in opposite directions.

[0034] The first rear magnet group 23a and the first front magnet 26a, arranged in line along the optical axis, form a first magnetic circuit. Similarly, the second rear magnet group 23b and the second front magnet 26b form a second magnetic circuit, and the third rear magnet group 23c and the third front magnet 26c form a third magnetic circuit.

[0035] The fixed portion 20a further includes a first restricting member 28, a second restricting member 29, and a cover 30. The rear yoke 22 has a first restricting portion 22a, and the front yoke 25 has a second restricting portion 25a (projection) that protrudes toward the movable portion 20b. The movement of the movable portion 20b is restricted to a predetermined range within the optical axis orthogonal plane 12c by the first restricting member 28, the second restricting member 29, the first restricting portion 22a, the second restricting portion 25a, the first column member 24a, the second column member 24b, and the third column member 24c (details will be described later). Cushioning material such as rubber is provided at the contact points of each of these parts that restrict the movement of the movable portion 20b to absorb impact during contact, thereby preventing damage and reducing impact noise. The cover 30 prevents contact between the flexible printed circuit board, such as the drive FPC 35 described later, and the rear yoke 22. As will be explained in more detail later, a ball 36 is positioned between the movable part 20b and the fixed member 21.

[0036] Figures 3(a) and 3(b) are exploded perspective views of the movable part 20b, with the viewing direction of the movable part 20b differing between Figure 3(a) and Figure 3(b). The movable part 20b includes an image sensor holding member 31 and an image sensor 11. The image sensor 11 is fixed to the image sensor holding member 31 with adhesive, the details of which will be described later. The movable part 20b also includes a mask 32a, an infrared absorption filter 32b, an optical low-pass filter 32c, and a vibration unit 32f. The mask 32a, infrared absorption filter 32b, and optical low-pass filter 32c are held by a holder member 32d and a holder sheet metal 32e, and fixed to the image sensor 11 with an adhesive or the like. The mask 32a prevents unwanted light from entering the image sensor 11 from outside the optical path. The optical low-pass filter 32c reduces moiré caused by repeating patterns of the subject. The vibration unit 32f is installed on the optical low-pass filter 32c and removes foreign matter such as dust adhering to the surface of the optical low-pass filter 32c by vibrating the optical low-pass filter 32c. Since the principle and control of foreign matter removal by the vibration unit 32f are publicly known, a detailed explanation is omitted.

[0037] The movable part 20b comprises a first coil 33a, a second coil 33b, a third coil 33c, and a drive FPC 35. The drive FPC 35 is positioned so as to overlap with the first coil 33a, the second coil 33b, and the third coil 33c on the optical axis projection plane (on the XY plane when viewed from the Z direction), and is fixed to the image sensor holding member 31 with adhesive or the like.

[0038] The image sensor holding member 31 has a first recess 31a, a second recess 31b, and a third recess 31c. The first coil 33a is located inside the first recess 31a, the second coil 33b is located inside the second recess 31b, and the third coil 33c is located inside the third recess 31c.

[0039] The first magnetic circuit and the first coil 33a form a VCM as a first actuator, the second magnetic circuit and the second coil 33b form a VCM as a second actuator, and the third magnetic circuit and the third coil 33c form a VCM as a third actuator.

[0040] A Lorentz force is generated in the first magnetic circuit in a direction perpendicular to the direction of the magnetic field generated in the optical axis direction and the direction of current flow in the first coil 33a, and the direction of the resultant Lorentz force changes depending on the direction of current flow in the first coil 33a. Similar Lorentz forces are generated in the second magnetic circuit and the second coil 33b, and in the third magnetic circuit and the third coil 33c. The first actuator and the second actuator generate a force (driving force) substantially parallel to the X direction, and the sum of these forces generates a translational force in the X direction, and the difference between these forces generates a rotational force around the optical axis. The third actuator generates a translational force in the Y direction. Comparing the positions of the first restricting part 22a and the first to third actuators, the first restricting part 22a is positioned closer to the rotation center of the movable part 20b relative to the fixed member 21 than the first to third actuators. Note that the actuator type is not limited to VCM, and vibration type actuators may also be used.

[0041] The drive FPC 35 is equipped with a first detector 35a, a second detector 35b, and a third detector 35c. The first detector 35a is located inside the first coil 33a, the second detector 35b is located inside the second coil 33b, and the third detector 35c is located inside the third coil 33c. The first detector 35a, the second detector 35b, and the third detector 35c are, for example, Hall elements. The first detector 35a detects the magnetic force of the first magnetic circuit, and based on the detection result, the first shake correction control unit 15a calculates positional information (specifically, position and angle around the optical axis) of the movable part 20b in the plane 12c orthogonal to the optical axis relative to the fixed part 20a. The same applies to the second detector 35b and the third detector 35c.

[0042] The first coil 33a, the second coil 33b, and the third coil 33c are electrically connected to the drive FPC 35, and the first image stabilization control unit 15a controls the magnitude of the current flowing to each coil via the drive FPC 35. In other words, the first image stabilization control unit 15a controls the drive of the movable part 20b using feedback control based on the deviation between the target movement value of the image sensor 11 based on the blur information detected by the first vibration detection unit 16a and the current position of the image sensor 11 detected by the Hall element.

[0043] The movable part 20b is biased against the fixed member 21 that constitutes the fixed part 20a by the attractive force generated between the rear yoke 22 and the thrust magnet 39 via the ball 36 (see Figures 2(a) and (b)), which is a rolling member of the thrust magnet 39. In other words, the rear yoke 22 and the thrust magnet 39 constitute a biasing part that biases the movable part 20b relative to the fixed part 20a. Note that in order to generate an attractive force between the rear yoke 22 and the thrust magnet 39, the rear yoke 22 must be a magnetic material (a member made of magnetic material). Details of the biasing part will be described later.

[0044] The ball 36 is positioned inside the first enclosure 31d, the second enclosure 31e, and the third enclosure 31f, respectively, provided on the image sensor holding member 31. As will be described in detail later, the ball 36 rolls when the movable part 20b moves in the plane 12c perpendicular to the optical axis relative to the fixed part 20a during image stabilization, so there is almost no frictional load between the ball 36 and the image sensor holding member 31 and the fixed member 21. In addition, the movement of the movable part 20b in the direction opposite to the direction in which the biasing part by the rear yoke 22 and thrust magnet 39 biases the movable part 20b is restricted by the front yoke 25 and the first restricting member 28. Therefore, even if an external force is applied to the imaging device 10 that pulls the movable part 20b away from the fixed member 21 (moves the movable part 20b toward the lens barrel 10b), such as an impact, the movable part 20b will not fall off the fixed part 20a.

[0045] The movable part 20b is equipped with a connecting member 38, which bridges to the opening 31i of the image sensor holding member 31 and is fixed to the image sensor holding member 31 with screws 45 on both sides (X direction side) of the optical axis 12a. The connecting member 38 is provided with two contact portions 38a as projections that protrude toward the -Z side in the direction of the optical axis, and each of the two contact portions 38a is inserted into two holes provided in the first restricting portion 22a of the rear yoke 22. As will be described in detail later, the translational movement of the movable part 20b in the plane 12c perpendicular to the optical axis is restricted to a certain range by the outer surface of the contact portion 38a contacting the wall surface (inner wall) of the hole in the first restricting portion 22a. The position restricting means of the movable part 20b by the contact portion 38a and the first restricting portion 22a will be appropriately referred to as the first restricting means. Furthermore, the hole serving as the first restricting portion 22a and the projection serving as the contact portion 38a may be provided on the fixed portion 20a and on the movable portion 20b, respectively. In other words, the projection may be provided on the fixed portion 20a and the hole on the movable portion 20b.

[0046] The thrust magnet 39 and thrust yoke 40 are fixed to the connecting member 38 with adhesive or the like, and the thrust magnet 39 is magnetized in the direction of the optical axis. The thrust magnet 39 can be a two-pole magnetized magnet with magnetic fields in opposite directions aligned in the Y direction, but a single-pole magnetized magnet can also be used.

[0047] The biasing section, composed of the rear yoke 22 and thrust magnet 39, is positioned inside a triangle formed by three balls 36, each located inside the first enclosure 31d, the second enclosure 31e, and the third enclosure 31f, respectively. As a result, it is possible to generate a balanced biasing force for each of the balls 36.

[0048] Next, with reference to Figures 4 to 7, the configuration for regulating the relative position of the movable part 20b with respect to the fixed part 20a within the plane 12c perpendicular to the optical axis will be described in detail. First, with reference to Figures 4 and 5, the general movement of a point at a predetermined position on a plane within that plane will be described to help understand the operation of the movable part 20b.

[0049] Figure 4 illustrates the translational and rotational movement of an object on a plane with respect to point O. In Figure 4, position P1 is a predetermined distance from point O, and position P2 is a further distance from point O than position P1. Positions P1' and P2' are obtained by rotating positions P1 and P2 counterclockwise by an angle θ around point O, respectively. Furthermore, it is assumed that an object can move a distance d in any direction on the plane, regardless of its position on the plane. Range R1 shows the range in which an object at position P1 can move, and range R2 shows the range in which an object at position P2 can move. Similarly, range R1' shows the range in which an object at position P1' can move, and range R2' shows the range in which an object at position P2' can move.

[0050] An object can move along a circular arc centered at point O by an angle θ. That is, an object at position P1 (or position P1') can move between positions P1 and P1' along a circular arc centered at point O that passes through positions P1 and P1'. Similarly, an object at position P2 (or position P2') can move between positions P2 and P2' along a circular arc centered at point O that passes through positions P2 and P2'.

[0051] Therefore, the range of motion for an object at position P1 is the range R1max, which is the trajectory when range R1 is rotated by an angle θ around point O. Similarly, the range of motion for an object at position P2 is the range R2max, which is the trajectory when range R2 is rotated by an angle θ around point O. Furthermore, range R1max can be said to be the range of motion for an object at position P1', and similarly, range R2max can be said to be the range of motion for an object at position P2'.

[0052] In the ranges R1max and R2max, the maximum distances of movement possible by translation alone are d1max and d2max, respectively, and the maximum angles of movement possible by rotation around point O are θ1max and θ2max, respectively. Then, as can be seen from Figure 4, d1max<d2max、θ1max> θ²max. Thus, as the distance from point O, the center of rotation, increases, the maximum amount of movement dmax that can be achieved by translation alone increases, and the maximum angle of movement θmax that can be achieved by rotation around point O decreases. The relationship between the distance from point O (center of rotation) and dmax and θmax is shown in Figure 5.

[0053] Conversely, Figure 5 shows that if the translational and rotational movements of the movable part 20b are restricted by the same restricting means, it is not easy to restrict the rotational movement with high precision at positions close to the optical axis 12a corresponding to point O. Furthermore, at positions far from the optical axis 12a, the translational movement of the movable part 20b would be restricted by an amount of movement that far exceeds the control range of the translational movement. In light of these circumstances, in this embodiment, the movement range of the movable part 20b is restricted by the configuration described below.

[0054] Next, with reference to Figures 6 and 7, a configuration for restricting the movement of the movable part 20b relative to the fixed part 20a within the optical axis orthogonal plane 12c will be described. Figure 6(a) is a rear view (viewed from the rear side of the imaging device 100 along the optical axis 12a) illustrating a configuration for restricting the relative position of the movable part 20b relative to the fixed part 20a within the optical axis orthogonal plane 12c. In Figure 6(a), in order to clarify the configuration for restricting the position of the movable part 20b, the illustration of parts involved in restricting the position of the movable part 20b has been simplified, and the illustration of parts not directly involved in position restriction has been omitted. For example, for the first restricting part 22a, the first column member 24a, the second column member 24b, and the third column member 24c of the rear yoke 22, and the second restricting part 25a, the first restricting member 28, and the second restricting member 29 of the front yoke 25, only the contact surfaces are shown to simplify the illustration.

[0055] The image sensor 11 of the movable part 20b is substantially rectangular, with its long side substantially parallel to the X direction and its short side substantially parallel to the Y direction. The movable part 20b has a plurality of contact portions 201 to 208. The contact portions 201 to 208 are part of the outer circumferential surface of the image sensor holding member 31 that constitutes the movable part 20b. Parts of the contact portions 201 to 208 are provided in recesses or notches formed in the movable part 20b (image sensor holding member 31) in order to suppress the amount of outward protrusion when the movable part 20b is rotated.

[0056] As will be described in detail later with reference to Figure 7, when the movable part 20b rotates, depending on the direction of rotation, the contact part 201 or contact part 202 comes into contact with the first column member 24a, and the contact part 206 or contact part 207 comes into contact with the second restricting member 29. Also, depending on the direction of rotation of the movable part 20b, the contact part 203 comes into contact with the second restricting member 25a, the contact part 204 comes into contact with the second column member 24b, the contact part 205 comes into contact with the projection of the first restricting member 28, and the contact part 208 comes into contact with the third column member 24c. The contact parts 201 to 208 and their corresponding column members, restricting parts, and the means of restricting the position of the movable part 20b by the restricting members will be appropriately referred to as the second restricting means.

[0057] As mentioned above, the connecting member 38 connected to the movable part 20b is provided with two contact portions 38a, and the translational movement of the movable part 20b is restricted when the outer circumferential surface of the contact portions 38a contacts the inner wall of the first restricting portion 22a of the rear yoke 22. The contact portions 38a and 201-208 and their corresponding restricting portions are arranged so as not to come into contact when the first shake correction unit 20 is controlled by the first shake correction control unit 15a and drives the movable part 20b within the range of movement necessary to perform shake correction.

[0058] First, we will explain the case where the movable part 20b performs translational movement without rotating around the optical axis 12a (rotation with the optical axis 12a as the axis of rotation) within the plane 12c perpendicular to the optical axis. In this case, the movement of the movable part 20b is restricted by the contact portions 38a provided on the connecting member 38 contacting the first restricting portion 22a of the rear yoke 22. At this time, contact portions 201 to 208, which are further from the optical axis 12a than the contact portions 38a, do not contact the corresponding members. In other words, the translational movement of the movable part 20b is restricted only by the two contact portions 38a and the first restricting portion 22a. An example of a state in which the movable part 20b does not rotate around the optical axis 12a but is translated in the Y direction is shown in Figure 6(b).

[0059] Next, we will describe the case where the movable part 20b rotates clockwise in the plane 12c perpendicular to the optical axis when viewed from the back to the front of the imaging device 100. In this case, the movement of the movable part 20b is restricted by contact between one or more of the following: contact part 202 and the first column member 24a, contact part 203 and the second restricting part 25a, contact part 207 and the second restricting member 29, and contact part 208 and the third column member 24c. If the movable part 20b rotates clockwise and also translates in the plane 12c perpendicular to the optical axis, the contact part 38a may come into contact with the first restricting part 22a. On the other hand, even when the rotation angle of the movable part 20b reaches its maximum in the clockwise direction from the state shown in Figure 6(a), the contact part 38a does not come into contact with the first restricting part 22a. Figure 7(a) shows the state in which the movable part 20b is stabilized by multiple regulating parts arranged to surround the optical axis 12a, when the rotation angle of the movable part 20b reaches its maximum in the clockwise direction from the state shown in Figure 6(a).

[0060] Next, we will describe the case where the movable part 20b rotates counterclockwise in the plane 12c perpendicular to the optical axis when viewed from the back to the front of the imaging device 100. In this case, the movement of the movable part 20b is restricted by contact between one or more of the following: contact part 201 and the first column member 24a, contact part 204 and the second column member 24b, contact part 205 and the first restricting member 28, and contact part 206 and the second restricting member 29. If the movable part 20b rotates counterclockwise and also translates in the plane 12c perpendicular to the optical axis, the contact part 38a may come into contact with the first restricting member 22a. On the other hand, even when the rotation angle of the movable part 20b reaches its maximum in the counterclockwise direction from the state shown in Figure 6(a), the contact part 38a does not come into contact with the first restricting member 22a. Figure 7(b) shows the state in which the movable part 20b is stabilized by multiple restricting parts arranged to surround the optical axis 12a when the rotation angle of the movable part 20b reaches its maximum in the counterclockwise direction from the state in Figure 6(a). With this configuration, the amount of outward protrusion of the movable part 20b within the plane 12c perpendicular to the optical axis relative to the fixed part 20a when the movable part 20b is rotated can be suppressed.

[0061] As described above, in this embodiment, the translational movement of the movable part 20b within the optical axis orthogonal plane 12c, excluding rotation around the optical axis 12a, is restricted only by the contact between the contact part 38a and the first restricting part 22a, which are located at a small distance from the optical axis 12a. The rotational movement of the movable part 20b within the optical axis orthogonal plane 12c, excluding rotation around the optical axis 12a, is restricted by the contact parts 201 to 208 by their corresponding restricting elements, in a position where the contact part 38a and the first restricting part 22a do not come into contact when the rotation angle is at its maximum. The restricting elements refer to the first column member 24a, the second restricting part 25a, the second column member 24b, the first restricting member 28, the second restricting member 29, and the third column member 24c.

[0062] As mentioned above, elastic members such as rubber are provided at the parts of the column member, restricting section, and restricting member that come into contact with the movable part 20b in order to mitigate impact and suppress the generation of impact noise. In the first vibration correction unit 20, the rotational movement of the movable part 20b is restricted by the movable part 20b coming into contact with at least three column members, restricting sections, or restricting members substantially simultaneously. This distributes the force acting on the column member, restricting section, or restricting member, thereby suppressing deterioration of the elastic members.

[0063] Now, when performing image stabilization control by the first image stabilization unit 20 during actual imaging, it is necessary to perform an operation to adjust the position of the ball 36 in advance (hereinafter referred to as the "reset operation") so that the drive load does not increase if the ball 36 does not roll. Possible timings for performing the reset operation include, for example, immediately after the power of the imaging device 10 is turned on. Alternatively, the reset operation may be performed by user operation. Next, with reference to Figures 8 to 13, the reset operation of the first image stabilization unit 20 will be described in detail.

[0064] First, the first enclosure section 31d, the second enclosure section 31e, and the third enclosure section 31f will be described. Since the descriptions of the first enclosure section 31d, the second enclosure section 31e, and the third enclosure section 31f are equivalent, the first enclosure section 31d, the second enclosure section 31e, and the third enclosure section 31f will be collectively referred to as "enclosure section 311" here.

[0065] Figure 8(a) is a schematic diagram showing the relationship between the ball 36 and the enclosure 311 in the optical axis orthogonal plane 12c when the movable part 20b moves relative to the fixed part 20a in the optical axis orthogonal plane 12c (hereinafter simply expressed as "the movable part 20b moves"). The enclosure 311 is circular and provided on the image sensor holding member 31, preventing the ball 36, which is sandwiched between the fixed member 21 and the image sensor holding member 31, from falling out in all directions within the optical axis orthogonal plane 12c. In Figure 8(a), the positions of the movable part 20b and the ball 36 before movement are shown by dashed lines. When the movable part 20b moves to the right by a distance S in Figure 8(a), the ball 36 rolls due to friction between the fixed member 21 and the image sensor holding member 31. At that time, the ball 36 rolls in the same direction as the movement of the movable part 20b by a distance S / 2, which is half the distance the movable part 20b moves. Figure 8(a) shows the positions of the movable part 20b and the ball 36 after movement, indicated by solid lines.

[0066] Figure 8(b) is a schematic diagram showing the relationship between the enclosure 311 and the ball 36 in the plane perpendicular to the optical axis 12c when the ball 36 comes into contact with the enclosure 311 as the movable part 20b moves. In Figure 8(b), the positions of the movable part 20b and the ball 36 before movement are shown by dashed lines. Assume that the movable part 20b moves to the right by a distance S in Figure 8(b). If, before the movement of the movable part 20b, the distance between the left side of the enclosure 311 and the left side of the ball 36 is less than S / 2, then the ball 36 will come into contact with the left side of the enclosure 311 as the movable part 20b moves. As a result, the ball 36 cannot roll and moves as if being dragged by the enclosure 311 while in contact with it, and in this state greater friction is generated than when it is rolling. However, if the movable part 20b returns to its original position (dashed line position) from this state, and then the same operation (movement to the solid line position) is performed, the ball 36 is dragged along by the enclosure 311 during the first operation, so the ball 36 does not come into contact with the enclosure 311 during subsequent operations.

[0067] Here, the inner diameter of the enclosure portion 311 will be described. When the first shake correction control unit 15a controls the first shake correction unit 20 to perform shake correction, the movement of the movable portion 20b is limited to a predetermined range of translational movement and a predetermined range of rotation angle around the optical axis 12a. Within this range, the friction load can be reduced by causing the ball 36 to roll so that it does not come into contact with the enclosure portion 311 (wall surface).

[0068] Figure 9(a) illustrates the relationship between the distance from the optical axis 12a and the inner diameter of the enclosure 311. Let a be the translational movement of the movable part 20b, φ be the rotation angle of the movable part 20b around the optical axis 12a, and b be the diameter of the ball 36. Then, as shown in Figure 9, the inner diameter of the enclosure 311 at a distance c from the optical axis 12a is expressed as a + b + c × sinφ + z. Note that 'z' is a mechanical margin and is a value greater than or equal to 0 (zero).

[0069] Figure 9(b) shows the first region 312 in which the ball 36 should be positioned so that it does not come into contact with the enclosure 311 even when the movable part 20b is translated by a distance a and rotates by an angle φ around the optical axis 12a during image stabilization.

[0070] As mentioned above with reference to Figure 8(a), when the movable part 20b is translated by a distance a, the ball 36 rolls in the same direction by a distance a / 2. If the diameter (inner diameter) of the enclosure 311 is 'D', then if the ball 36 is located in the second region 313 enclosed by a circle of diameter Da that is concentric with the enclosure 311 before the movement of the movable part 20b, the ball 36 will not come into contact with the enclosure 311 even if the movable part 20b is translated by a distance a.

[0071] Similarly, when the movable part 20b rotates by an angle φ around the optical axis 12a, the ball 36 rolls by an angle φ / 2 in the same direction. Therefore, the common area between the third region 313a, which is formed after the second region 313 rotates by an angle +φ / 2 around the optical axis 12a, and the fourth region 313b, which is formed after it rotates by an angle -φ / 2, becomes the first region 312. If the ball 36 is located within the first region 312, the ball 36 will not extend beyond the second region 313 even if the movable part 20b rotates by an angle φ around the optical axis 12a. In other words, if the ball 36 is located within the first region 312, the ball 36 will not come into contact with the enclosure 311 even if the movable part 20b translates by a distance a and rotates by an angle φ around the optical axis 12a.

[0072] Next, with reference to Figures 10 and 11, a first example of the reset operation (hereinafter referred to as the "first reset operation") will be described. Figures 10(a) to (c) and Figures 11(a) and (b) schematically show the areas in which the ball 36 may be located relative to the enclosure 311 when the movable part 20b moves during the first reset operation.

[0073] Figure 10(a) shows the fifth region 314 where the ball 36 is located after the movable part 20b has been translated without rotating, so as to trace a circle of radius e centered on the optical axis 12a. As mentioned above, the ball 36 moves to a position where it does not come into contact with the enclosure part 311 in the area it has passed through, and after the movement it is located within the fifth region 314. The diameter of the fifth region 314 is 'D-e', because it is half the diameter of the moving circle, or 'e', ​​smaller than the inner diameter D of the enclosure part 311.

[0074] When the movable part 20b rotates counterclockwise by an angle α around the optical axis 12a (the first rotational direction in which it can rotate around the optical axis 12a) from the state shown in Figure 10(a), the ball 36 will be contained within the sixth region 314a shown in Figure 10(b). This is because when the fifth region 314 rotates by an angle α / 2 around the optical axis 12a and the ball 36 comes into contact with the enclosure 311 at that time, the ball 36 will not roll but will be dragged along by the enclosure 311.

[0075] When the movable part 20b rotates by an angle -α around the optical axis 12a from the state shown in Figure 10(b) (in other words, when it rotates by an angle α in the second rotation direction which is opposite to the first rotation direction), the ball 36 will be contained within the seventh region 314b shown in Figure 10(c). Similarly, when the movable part 20b rotates by an angle -α around the optical axis 12a from the state shown in Figure 10(c), the ball 36 will be contained within the eighth region 314c shown in Figure 11(a). This is because the seventh region 314b rotates by an angle -α / 2 around the optical axis 12a, and when the ball 36 comes into contact with the enclosure 311 at that time, the ball 36 will be dragged rather than rolled. When the movable part 20b rotates by an angle α around the optical axis 12a from the state shown in Figure 11(a), the ball 36 will be contained within the ninth region 314d shown in Figure 11(b).

[0076] Therefore, if the ninth region 314d is included within the first region 312, even if the movable part 20b moves translationally by a distance a and rotates by an angle φ around the optical axis 12a during image stabilization, the ball 36 will not come into contact with the enclosure 311. In other words, the first reset operation is to perform the translational and rotational movement of the movable part 20b from Figure 10(a) to Figure 11(b) as described above. In the first reset operation, since translational movement is performed, the angle of movement in rotational movement can be reduced, and during actual image stabilization, contact of the ball 36 with the enclosure 311 can be avoided within the drive control range of the movable part 20b, thereby maintaining a state with a low drive load.

[0077] Next, a second example of the reset operation (hereinafter referred to as the "second reset operation") will be described with reference to Figures 12 and 13. Figures 12(a) to (c) and 13(a) and (b) schematically show the areas in which the ball 36 may be located relative to the enclosure 311 when the movable part 20b moves during the second reset operation.

[0078] Figure 12(a) shows the state in which the ball 36 is located inside the enclosure 311. When the movable part 20b rotates counterclockwise by an angle β around the optical axis 12a from the state in Figure 12(a), the ball 36 comes into the tenth region 314e shown in Figure 12(b). This is because the region in which the ball 36 is located in Figure 12(a) rotates by an angle β / 2 around the optical axis 12a, and when the ball 36 comes into contact with the enclosure 311 at that time, the ball 36 is dragged by the enclosure 311 rather than rolling.

[0079] When the movable part 20b rotates around the optical axis 12a by an angle of -β from the state shown in Figure 12(b) (rotating clockwise by an angle of β), the ball 36 fits within the 11th region 314f shown in Figure 12(c). Similarly, when the movable part 20b rotates around the optical axis 12a by an angle of -β from the state shown in Figure 12(c), the ball 36 fits within the 12th region 314g shown in Figure 13(a). This is because when the 11th region 314f rotates around the optical axis 12a by an angle of -β / 2 and the ball 36 comes into contact with the enclosure 311, the ball 36 is dragged by the enclosure 311 instead of rolling. When the movable part 20b rotates around the optical axis 12a by an angle of β from the state shown in Figure 13(a), the ball 36 fits within the 13th region 314h shown in Figure 13(b).

[0080] Therefore, if the 13th region 314h is included within the first region 312, even if the movable part 20b moves translationally by a distance a and rotates by an angle φ around the optical axis 12a during image stabilization, the ball 36 will not come into contact with the enclosure 311. In other words, the second reset operation can be described as performing the rotational movement of the movable part 20b from Figure 12(a) to Figure 13(b) as described above. However, the angle β must be larger than the maximum controllable rotation angle during image stabilization. In the second reset operation, without requiring translational movement of the movable part 20b, it is possible to avoid contact of the ball 36 with the enclosure 311 within the drive control range of the movable part 20b during actual image stabilization, thereby maintaining a state with a small drive load.

[0081] Furthermore, since collision noise would be generated if the movable part 20b and the fixed part 20a came into contact during the first and second reset operations, the first and second regulating means are performed within a range where the movable part 20b does not come into contact with the fixed part 20a.

[0082] Although the present invention has been described in detail above based on its preferred embodiments, the present invention is not limited to these specific embodiments, and various forms that do not depart from the spirit of the invention are also included in the present invention. Furthermore, each of the embodiments described above is merely one embodiment of the present invention, and it is possible to combine each embodiment as appropriate.

[0083] For example, in the above embodiment, an example was described in which the drive device according to the present invention is applied to an image blur correction device of an imaging device. However, the application examples of the drive device according to the present invention are not limited to this, and it can also be applied to, for example, an XYθ table for placing a sample to be observed in a microscope, or an XYθ table for placing an object to be assembled in various manufacturing equipment. Furthermore, in the above embodiment, a so-called mirrorless camera was used as the imaging device 10, but the drive device according to the present invention can also be applied to an image blur correction device of a digital SLR camera equipped with a quick-return mirror mechanism. [Explanation of symbols]

[0084] 10 Imaging device 11 Image sensor 15a First image stabilization control unit 20. First image stabilization unit 20a Fixed part 20b Moving part 22a First Regulatory Section 36 balls 38a Contact part 28 First regulating member 29 Second regulating member 24a First column member 24b Second column member 24c Third column member 25a Second Regulatory Section 201~208 Contact part 311 Enclosure

Claims

1. The fixing part, A movable part is arranged to be translationally and rotatably relative to the fixed part, A first actuator that generates a force to drive the movable part in a first direction relative to the fixed part, and a second actuator that generates a force to drive in a second direction intersecting the first direction, An imaging device comprising an image sensor held in the movable part, A first restricting means for restricting the movement of the movable part, It has a second restricting means for restricting the movement of the movable part, which is different from the first restricting means described above. The first direction and the second direction are directions parallel to the imaging plane of the image sensor, The second restricting means is provided at a position further from the center of the image sensor than the first restricting means, when viewed from a direction perpendicular to the plane on which the movable part can translate. The first regulating means includes a first hole and a second hole provided in one of the fixed portion and the movable portion, and a first protrusion and a second protrusion provided in the other of the fixed portion and the movable portion, inserted into the first hole and inserted into the second hole, The imaging device is characterized in that the first hole is aligned in the first direction with at least a portion of the second hole when viewed from a direction perpendicular to the plane on which the movable part can translate.

2. There are multiple first actuators, The imaging apparatus according to claim 1, characterized in that the number of second actuators is less than the number of first actuators.

3. The second direction is perpendicular to the first direction, The second regulating means has a third projection provided on the fixed portion and protruding toward the movable portion, The imaging apparatus according to claim 1, characterized in that the third projection provided on the fixed portion is arranged such that, when viewed from a direction perpendicular to the plane on which the movable portion can translate, it aligns with the second actuator in the first direction and aligns with the first actuator in the second direction.

4. There are multiple first actuators, The imaging apparatus according to claim 3, characterized in that the number of second actuators is less than the number of first actuators.

5. The second direction is perpendicular to the first direction, The second regulating means has a plurality of third protrusions provided on the fixed portion and projecting toward the movable portion, The imaging apparatus according to claim 1, characterized in that the plurality of third protrusions provided on the fixed portion are positioned on both sides of the second actuator in the first direction and on both sides of the first actuator in the second direction, when viewed from a direction perpendicular to the plane on which the movable portion can translate.

6. The imaging apparatus according to claim 5, characterized in that one of the plurality of third protrusions provided on the fixed portion is arranged such that, when viewed from a direction perpendicular to the plane on which the movable portion can translate, it is aligned with the second actuator in the first direction and aligned with the first actuator in the second direction.

7. There are multiple first actuators, The imaging apparatus according to claim 6, characterized in that the number of second actuators is less than the number of first actuators.

8. The imaging device according to any one of claims 1 to 7, characterized in that the first direction is the width direction of the imaging device.

9. The imaging device according to any one of claims 1 to 7, characterized in that, when the width direction of the imaging device and the long side of the image sensor are parallel, the first hole and the second hole are aligned in the first direction when viewed from a direction perpendicular to the plane on which the movable part can translate.

10. The fixing part, A movable part is arranged to be translationally and rotatably relative to the fixed part, A first actuator that generates a force to drive the movable part in a first direction relative to the fixed part, and a second actuator that generates a force to drive in a second direction perpendicular to the first direction, An imaging device comprising an image sensor held in the movable part, A first restricting means for restricting the movement of the movable part, It has a second restricting means for restricting the movement of the movable part, which is different from the first restricting means described above. The first direction and the second direction are directions parallel to the imaging plane of the image sensor, The second restricting means is provided at a position further from the center of the image sensor than the first restricting means, when viewed from a direction perpendicular to the plane on which the movable part can translate. The second regulating means has a plurality of protrusions provided on the fixed portion and projecting toward the movable portion, The imaging device is characterized in that the plurality of protrusions provided on the fixed portion are arranged on both sides of the second actuator in the first direction, and are also arranged on both sides of the first actuator in the second direction, when viewed from a direction perpendicular to the plane on which the movable portion can translate.

11. There are multiple first actuators, The imaging apparatus according to claim 10, characterized in that the number of second actuators is less than the number of first actuators.

12. The imaging apparatus according to claim 10, characterized in that one of the plurality of protrusions provided on the fixed portion is arranged such that, when viewed from a direction perpendicular to the plane on which the movable portion can translate, it is aligned with the second actuator in the first direction and aligned with the first actuator in the second direction.

13. There are multiple first actuators, The imaging apparatus according to claim 12, characterized in that the number of second actuators is less than the number of first actuators.

14. The fixing part, A movable part is arranged to be translationally and rotatably relative to the fixed part, A first actuator that generates a force to drive the movable part in a first direction relative to the fixed part, and a second actuator that generates a force to drive in a second direction perpendicular to the first direction, An imaging device comprising an image sensor held in the movable part, A first restricting means for restricting the movement of the movable part, A second restricting means, different from the first restricting means, restricts the movement of the movable part, It has, The first direction and the second direction are directions parallel to the imaging plane of the image sensor, The second restricting means is provided at a position further from the center of the image sensor than the first restricting means, when viewed from a direction perpendicular to the plane on which the movable part can translate. The second regulating means is provided on the fixed portion and has a protruding portion that protrudes toward the movable portion side, The imaging device is characterized in that the protruding portion provided on the fixed portion is arranged such that, when viewed from a direction perpendicular to the plane on which the movable portion can translate, it is aligned with the second actuator in the first direction and aligned with the first actuator in the second direction.

15. There are multiple first actuators, The imaging apparatus according to claim 14, characterized in that the number of second actuators is less than the number of first actuators.

16. A fixing part and A movable part is arranged to be translationally and rotatably relative to the fixed part, An actuator that generates a force to drive the movable part relative to the fixed part, An imaging device comprising an image sensor held in the movable part, A first restricting means for restricting the movement of the movable part, It has a second restricting means for restricting the movement of the movable part, which is different from the first restricting means described above. The movable part is capable of translational movement in the height and width directions of the imaging device. The second restricting means is provided at a position further from the center of the image sensor than the first restricting means, when viewed from a direction perpendicular to both the height direction and the width direction. The first regulating means includes a first hole and a second hole provided in one of the fixed portion and the movable portion, and a first protrusion and a second protrusion provided in the other of the fixed portion and the movable portion, inserted into the first hole and inserted into the second hole, An imaging device characterized in that, when viewed from a direction perpendicular to both the height direction and the width direction, the first hole is aligned with the second hole in the width direction, and the position of the first hole in the height direction is the same as the position of at least a portion of the second hole in the height direction.

17. The imaging device according to claim 16, characterized in that the height direction and the width direction are parallel to the imaging surface of the image sensor.

18. The actuator is The first actuator and The imaging apparatus according to claim 16 or 17, further comprising a second actuator which generates a driving force in a direction different from that of the first actuator.

19. The first actuator is a plurality of, The imaging apparatus according to claim 18, characterized in that the number of second actuators is less than the number of first actuators.

20. The second regulating means has a third projection provided on the fixed portion and projecting toward the movable portion, The imaging apparatus according to claim 18, characterized in that the third projection provided on the fixed portion is arranged such that, when viewed from a direction perpendicular to both the height direction and the width direction, it is aligned with the second actuator in the width direction and aligned with the first actuator in the height direction.

21. The first actuator is a plurality of, The imaging apparatus according to claim 20, characterized in that the number of second actuators is less than the number of first actuators.

22. The height direction is perpendicular to the width direction, The second regulating means has a plurality of third protrusions provided on the fixed portion and projecting toward the movable portion, The imaging apparatus according to claim 18, characterized in that the plurality of third protrusions provided on the fixed portion are arranged on both sides of the second actuator in the width direction and on both sides of the first actuator in the height direction when viewed from a direction perpendicular to the plane on which the movable portion can translate.

23. The imaging apparatus according to claim 22, characterized in that one of the plurality of third protrusions provided on the fixed portion is arranged such that, when viewed from a direction perpendicular to the plane on which the movable portion can translate, it is aligned with the second actuator in the width direction and aligned with the first actuator in the height direction.

24. The first actuator is a plurality of, The imaging apparatus according to claim 23, characterized in that the number of second actuators is less than the number of first actuators.

25. The imaging apparatus according to any one of claims 1 to 24, characterized in that the first restricting means restricts the translational movement of the movable part relative to the fixed part.

26. The imaging apparatus according to any one of claims 1 to 25, characterized in that the second restricting means restricts the rotational movement of the movable part relative to the fixed part.

27. The fixing part, A movable part is arranged to be translationally and rotatably relative to the fixed part, A plurality of actuators that drive the movable part in a first direction relative to the fixed part, An imaging device comprising an image sensor held in the movable part, A first restricting means for restricting the translational movement of the movable part, A second restricting means, different from the first restricting means, restricts the rotational movement of the movable part, It has, The number of actuators that generate a force driving the movable part in a second direction intersecting the first direction relative to the fixed part is less than the number of actuators that generate a force driving the movable part in a first direction relative to the fixed part. The first direction and the second direction are directions parallel to the imaging plane of the image sensor, The imaging apparatus is characterized in that the second restricting means is provided at a position further from the center of the image sensor than the first restricting means, when viewed from a direction perpendicular to the plane on which the movable part can translate.

Images