Oscillation generation mechanism, oscillating generation method, and program

Abstract

To achieve a mechanism that oscillates mechanically a member so as to change a direction and angle of a normal vector of the member sequentially.SOLUTION: An oscillation generation mechanism comprises: a first member (340) that is provided with a convex spherical or concave spherical first oscillation plane; a second member that is provided with a convex spherical or concave spherical second oscillation plane contacting the first oscillation plane and having a complementary shape with the first oscillation plane; at least one inclination angle change member (321, 322 and 323) that changes a position relative to the first member to thereby change an inclination angle relative to the second member of the first member; and at least one rotary member (330) that engages with the inclination angle change member, and, by rotation, changes a position relative to the first member of the inclination angle change member. When projecting a normal vector of the first member to a plane surface vertical to a prescribed axis, the rotary member and inclination angle change member are assembled so that a length of a projection vector expressed with a polar coordinate is expressed with a monotone function of an angle.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] This invention relates to a motion generation mechanism, a motion generation method, and a program. [Background technology]

[0002] Conventionally, in imaging devices such as cameras, a so-called tilt device is known that changes the angle between the optical axis of the optical system and the image sensor. The purpose of changing the angle between the optical axis and the image sensor may be to fine-tune the angle between the optical axis and the image sensor, or to obtain a photographic effect.

[0003] For example, Patent Document 1 discloses a tilt adapter that enables relative rotation between the lens and the camera housing at a speed suitable for video. Patent Document 2 also discloses an optical axis tilt adjustment unit that can independently adjust the imaging position and optical axis tilt angle of a solid-state image sensor, and is said to provide sufficient cooling and heat dissipation effects. [Prior art documents] [Patent Documents]

[0004] [Patent Document 1] Special Publication No. 2019-537755 [Patent Document 2] Japanese Patent Publication No. 2002-77699 [Overview of the Initiative] [Problems that the invention aims to solve]

[0005] However, the technology disclosed in Patent Document 1 changes the angle by sliding an arch-shaped cylinder, so it can only change the angle in one direction. Furthermore, the technology disclosed in Patent Document 2 can adjust the rotation angle around the orthogonal X and Y axes, but the adjustment itself is performed by manually loosening and tightening screws on the X and Y axes, respectively. In other words, it is necessary to set and adjust the angles around the X and Y axes individually. As a result, the work required to adjust the angles is complex, and there is a problem in that it is difficult to perform the adjustment mechanically.

[0006] One aspect of the present invention aims to realize a mechanism that mechanically oscillates a member so as to continuously change the direction and angle of the member's normal vector. [Means for solving the problem]

[0007] To solve the above problems, a oscillation generation mechanism according to one aspect of the present invention comprises: a first member having a convex spherical or concave spherical first sliding surface; a second member having a concave spherical or convex spherical second sliding surface having a shape complementary to the first sliding surface and in contact with the first sliding surface; at least one tilt angle changing member that changes the tilt angle of the first member with respect to the second member by changing its position relative to the first member; and at least one rotating member that engages with the tilt angle changing member and changes the position of the tilt angle changing member with respect to the first member by rotating, wherein the rotating member and the tilt angle changing member are combined such that when the normal vector of the first member is projected onto a plane perpendicular to a predetermined axis, the length of the projected vector expressed in polar coordinates is expressed as a monotonic function of the angle.

[0008] To solve the above problems, a method for generating oscillation according to one aspect of the present invention is a method for oscillating a first member having a convex spherical or concave spherical first sliding surface with respect to a second member having a concave spherical or convex spherical second sliding surface having a shape complementary to the first sliding surface that abuts against the first sliding surface, the method comprising the steps of: rotating at least one rotating member which engages with at least one tilt angle changing member and rotates to change the position of the tilt angle changing member with respect to the first member; and changing the tilt angle of the first member with respect to the second member by changing the position of the tilt angle changing member with respect to the first member, wherein the rotating member and the tilt angle changing member are combined such that when the normal vector of the first member is projected onto a plane perpendicular to a predetermined axis, the length of the projected vector expressed in polar coordinates is expressed as a monotonic function of the angle.

[0009] To solve the above problems, a motion generation mechanism control program according to one aspect of the present invention includes a drive control subprogram that controls a drive unit that rotates the rotating member, and a detection control subprogram that controls a detection unit that detects the degree of the inclination angle of the first member with respect to the second member. [Effects of the Invention]

[0010] According to one aspect of the present invention, a mechanism can be realized that mechanically oscillates a first member so as to continuously change the direction and angle of the normal vector of the first member. [Brief explanation of the drawing]

[0011] [Figure 1] This is an overall perspective view of an optical product unit with a tilt angle adjustment mechanism according to Embodiment 1 of the present invention. [Figure 2] This is an exploded perspective view of the optical product unit according to Embodiment 1. [Figure 3] This is an exploded view showing the detailed structure of the image sensor assembly. [Figure 4] This is a cross-sectional view of the housing, image sensor assembly, and stepping motor, viewed from the X-axis direction, showing the YZ cross-section. [Figure 5]It is a perspective view of a cam barrel. [Figure 6] It is an expanded view of the follower guide holes formed on the cylindrical surface of the cam barrel. [Figure 7] It is a view of the image sensor assembly seen from the + side direction of the Z axis. [Figure 8] It is a diagram showing coordinates when the positions of three pins are arranged in an equilateral triangle ABC. [Figure 9] It is a diagram showing the tilt range adjusted in the conventional technology and the tilt adjustment range in the present embodiment. [Figure 10] It is a diagram showing the displacement amounts in the Z axis direction of three followers guided by the follower guide holes. [Figure 11] It is a diagram showing a normal vector whose rotation angle of the cam barrel is θ, whose tilt amount is φ, and its projection vector. [Figure 12] It is a diagram showing the flow until the driving force of the stepping motor is transmitted to the image sensor holder. [Figure 13] It is an exploded perspective view of the optical unit according to Embodiment 2. [Figure 14] It is an exploded perspective view of the optical unit according to Embodiment 2 seen from the opposite direction of FIG. 13. [Figure 15] It is an exploded view of the gear unit according to Embodiment 2. [Figure 16] It is a cross-sectional view of the YZ cross-section of the housing and the image sensor assembly seen from the X axis direction. [Figure 17] It is a diagram for explaining the movement of the pin and the movement of the image sensor holder. [Figure 18] It is a diagram for explaining the movement of the spiral cam, linear cam, and pin seen from the - side of the optical axis. [Figure 19] It is a schematic cross-sectional view of a portion where the pin abuts against the inclined surface. [Figure 20] It is a diagram showing the tilt range adjusted in the conventional technology and the tilt adjustment range in the present embodiment. [Figure 21] It is an exploded perspective view of a lens unit including a tilt mechanism according to Embodiment 3. [Figure 22] It is a YZ cross-sectional view of the lens unit. [Figure 23] This flowchart shows the flow of the oscillation generation method according to Embodiment 1. [Modes for carrying out the invention]

[0012] [Embodiment 1] (Configuration of Optical Unit 1) The following describes in detail one embodiment of the present invention. Figure 1 is an overall perspective view of the optical unit 1 with a tilt angle adjustment mechanism according to this embodiment. Figure 2 is an exploded perspective view of the optical product unit. In the following, as shown in Figure 1, the configuration will be described using a Cartesian coordinate system in which the optical axis OA of the optical unit 1 is the Z axis, and the two axes perpendicular to the optical axis OA are the X axis and the Y axis. The objective direction of the optical axis OA is the positive direction of the Z axis, and the opposite side is the negative direction of the Z axis. The positive directions of the X axis and Y axis are indicated by the arrows. The objective direction of the optical unit 1 is also referred to as the front, and the opposite direction is referred to as the rear.

[0013] As shown in Figures 1 and 2, the optical unit 1 comprises a lens body 100 having an optical axis OA, a housing 200, an image sensor assembly 300, a stepping motor (drive unit) 500, and a gear holder 400 connecting the image sensor assembly 300 and the stepping motor 500. The lens body 100, housing 200, image sensor assembly 300, gear holder 400, and stepping motor 500 are arranged in this order along the optical axis OA. The optical unit 1 includes a oscillation generation mechanism. The meaning of "oscillation" in this embodiment will be explained later. The oscillation generation mechanism includes a first member, a second member, a tilt angle changing member, and a rotating member. Since these members are incorporated into the optical unit 1, they will be explained in detail sequentially as the overall configuration of the optical unit 1 is described.

[0014] As shown in Figures 1 and 2, the lens body 100 is held on the front side of the housing 200, and the image sensor assembly 300 is held on the rear side of the housing 200. The image sensor assembly 300, gear holder 400, and stepping motor 500 are housed inside the cover 600. Although a C-mount is shown as an example of the lens mount in the figures, the lens mount standard is not limited. Also, components not directly related to the configuration described in this embodiment, such as flexible circuit boards and connectors, have been omitted.

[0015] (Configuration of image sensor assembly 300) Next, the configuration of the image sensor assembly 300 will be described using Figures 3 and 4. Figure 3 is an exploded view showing the detailed structure of the image sensor assembly 300. Figure 4 is a cross-sectional view of the housing 200, image sensor assembly 300, and stepping motor 500, viewed from the X-axis direction. In Figure 4, the vertical direction is the Z-axis direction (downward is the positive direction), and the horizontal direction is the Y-axis direction (left side is the positive direction). As shown in Figure 3, the image sensor assembly 300 includes a pin block 310, a cam cylinder 330, an image sensor holder 340, an image sensor substrate 350, and a gear mechanism 360.

[0016] The pin block 310 is provided with three pin housings 321a, 322a, and 323a. The pin housings 321a, 322a, and 323a respectively house pins 321, 322, and 323 so that they can slide in the Z-axis direction. As will be described later, the inclination angle of the image sensor holder 340 relative to the housing 200 is changed by changing the position of the pins 321, 322, and 323 relative to the image sensor holder 340. The position of the pins 321, 322, and 323 relative to the image sensor holder 340 is the position of the pins 321, 322, and 323 in the optical axis direction (Z-axis direction) relative to the image sensor holder 340. The pins 321, 322, and 323 are each provided with coma holding holes in a direction substantially perpendicular to the optical axis OA, and coma 324, 325, and 326 are inserted into and held in these coma holding holes, respectively. The pin block 310 has a cylindrical space inside, which houses the cam cylinder 330, which will be described later.

[0017] (Rotating member) The cam cylinder 330 is cylindrical and rotatable about a line segment (i.e., the optical axis or Z-axis) that passes through the center of the image sensor and is perpendicular to the image sensor. The cam cylinder 330 has the function of changing the positions of pins 321, 322, and 323 by rotating. An example of a configuration for achieving this function is described below. The cam cylinder 330 has three coma guide holes P, Q, and R provided on its cylindrical surface. The coma guide holes P, Q, and R are each elongated and provided so as to circumferentially surround the cylindrical surface of the cam cylinder 330. The coma guide holes P, Q, and R may be provided as through holes penetrating the cylindrical surface of the cam cylinder 330, or as non-penetrating grooves. The coma guide holes P, Q, and R are one form of the guide holes described in the claims. The cam cylinder 330 is one form of the rotating member described in the claims.

[0018] The three spindle guide holes P, Q, and R are engaged with spindles 324, 325, and 326, respectively. Engagement of a spindle with a spindle guide hole means that the end of the spindle is inserted into the spindle guide hole. Spindles 324, 325, and 326 are not fixed to the spindle guide holes P, Q, and R, but are movable within the elongated spindle guide holes P, Q, and R. Details of the structure of the cam cylinder 330 and the spindle guide holes P, Q, and R will be described later. An internal gear 361 is fixed to the inner surface of the cam cylinder 330. The internal gear 361 meshes with the connecting gear of the gear mechanism 360, which will be described later, and the cam cylinder 330 rotates as the connecting gear rotates.

[0019] (Angle-changing component) As shown in Figure 4, the rear ends (the negative side in the Z-axis direction) of the pins 321, 322, and 323 are formed in a hemispherical shape and are in contact with the image sensor holder 340. The coma 324, 325, and 326 held by the pins 321, 322, and 323, respectively, are engaged with the coma guide holes Q, R, and P, respectively. In other words, the pins 321, 322, and 323 are indirectly engaged with the cam cylinder 330 via the coma 324, 325, and 326. Alternatively, the pins 321, 322, and 323 may be directly engaged with the cam cylinder 330. The cam cylinder 330 guides the pins 321, 322, and 323 in directions perpendicular to the imaging plane of the image sensor (in the optical axis direction or Z-axis direction), respectively, via the coma 324, 325, and 326. Pins 321, 322, and 323 are movable pins and are one form of the tilt angle changing member described in the claims.

[0020] The movement of the coma guide holes P, Q, R and pins 321, 322, and 323 will be explained in detail. As the cam cylinder 330 rotates, the positions of the coma guide holes P, Q, and R on the Z axis change back and forth. Along with this change, the coma 324, 325, and 326 engaged with the coma guide holes P, Q, and R move back and forth along the Z axis, and consequently, the pins 321, 322, and 323 move back and forth along the Z axis. The movement of the pins 321, 322, and 323 in the negative Z direction presses the image sensor holder 340 in the negative Z direction. This changes the tilt angle of the image sensor holder 340 relative to the housing 200.

[0021] (First component) The image sensor holder 340 is an image sensor holding member that holds the image sensor 351. The image sensor holder 340 is one embodiment of the first member described in the claims. The image sensor holder 340 is designed to hold the image sensor 351 such that the center of the imaging surface of the image sensor 351 is approximately perpendicular to the optical axis OA. However, immediately after assembly (initial position) or after long-term use, the image sensor 351 is not necessarily perpendicular to the optical axis OA in the optical unit 1. In this embodiment, the optical unit 1 includes a oscillation generation mechanism that adjusts the image sensor 351 so that it is perpendicular to the optical axis OA.

[0022] Hereinafter, the center of the imaging surface of the image sensor 351 will also be referred to as the center of the image sensor 351. As shown in Figure 4, the image sensor holder 340 is equipped with a convex spherical first sliding surface 352. The first sliding surface 352 is a part of a convex sphere having a predetermined radius. The first sliding surface 352 will also be referred to as the convex sphere 352. The geometric center point of the convex sphere 352 lies on a line segment (optical axis) that passes through the center of the image sensor 351 and is perpendicular to the imaging surface of the image sensor 351. Furthermore, it is more preferable that the geometric center point of the convex sphere 352 lies in the center of the image sensor 351. The radius of the convex sphere 352 is set to a predetermined radius that is preferable for adjusting the image sensor 351 to a predetermined tilt angle range.

[0023] The image sensor substrate 350 includes a control board for controlling the image sensor 351 and is located behind the image sensor holder 340. The image sensor substrate 350 can be a known control board and is not directly related to the oscillation generation mechanism according to this embodiment; therefore, a detailed explanation is omitted.

[0024] The gear mechanism 360 is a mechanism for transmitting the rotational force of the stepping motor 500 to the internal gear 361, i.e., the cam cylinder 330. Specifically, the gear mechanism 360 includes a stepping motor gear 365 and connecting gears 362, 363, and 364. The stepping motor gear 365 is mounted on the rotating shaft of the stepping motor 500. The stepping motor gear 365 meshes with the connecting gears 362, 363, and 364, and the connecting gears 362, 363, and 364 mesh with the internal gear 361. With this gear configuration, the rotational force of the stepping motor 500 is transmitted to the cam cylinder 330, causing the cam cylinder 330 to rotate around the Z-axis. The stepping motor 500 is one form of the drive motor (or drive unit) described in the claims. The drive motor is not limited to a stepping motor, and the number of motors is not limited to one. Furthermore, the gear mechanism 360 is not limited to the configuration described above; any configuration is acceptable as long as it can transmit the rotation of the stepping motor 500 to the cam cylinder 330.

[0025] (Second component) As shown in Figures 2 and 4, the housing 200 is fixed to the pin block 310, and the lens body 100 is attached to the housing 200 via a lens mount. As shown in Figure 4, the housing 200 has a concave spherical second sliding surface 201. The second sliding surface 201 is a part of a concave spherical surface having a predetermined radius. The second sliding surface 201 is also referred to as the concave spherical surface 201. The radius of the concave spherical surface 201 is equivalent to the radius of the convex spherical surface 352. The convex spherical surface 352 and the concave spherical surface 201 are in contact with each other. In other words, the concave spherical surface 201 and the convex spherical surface 352 have complementary shapes and are in slidable contact with each other. The housing 200 is one form of the second member described in the claims.

[0026] The biasing members 371, 372, and 373 shown in Figures 3 and 4 are composed of screws with springs. The biasing members 371, 372, and 373 are screwed to the pin block 310, and the springs 371a, 372a, and 373a bias the image sensor holder 340 toward the housing 200. With this configuration, the convex spherical surface 352 of the image sensor holder 340 and the concave spherical surface 201 of the housing 200 can come into contact and slide against each other. It is preferable to form a low-friction material layer, such as a DLC (Diamond Like Carbon) thin film, on the surfaces of the convex spherical surface 352 and the concave spherical surface 201 to reduce sliding friction.

[0027] In the above-described embodiment, the image sensor holder 340 is provided with a convex spherical surface 352, and the housing 200 is provided with a concave spherical surface 201, and a configuration in which the two surfaces are in contact was described. However, the combination of the convex and concave spherical surfaces may be reversed. For example, the image sensor holder 340 may be provided with a concave spherical surface, and the housing 200 may be provided with a convex spherical surface (not shown). Such a configuration is described as being configured so that a part of the convex or concave spherical surface of the image sensor holder 340 is slidable with a part of the concave or convex spherical surface of the housing 200.

[0028] (Configuration of cam cylinder 330) Next, the cam cylinder 330 will be described in detail with reference to the drawings. The cam cylinder (rotating member) 330 is a rotating member that works in cooperation with the tops (tilt angle changing members) 324, 325, and 326 to precessively oscillate the image sensor holder 340.

[0029] Precession is the motion of a spinning top, for example, where the top of the top rotates while the position of the bottom of the axis of rotation (the point where it touches the ground) remains unchanged. For this reason, precession is also called the wobbling motion of a spinning top. The angle of the spinning top's axis of rotation relative to the vertical increases over time. In other words, the amplitude of the wobble gradually increases. In this case, if the projection vector obtained by projecting the axis of rotation from above onto the ground is expressed in polar coordinates centered on the bottom of the axis of rotation, the length of the projection vector increases as the angle of the projection vector increases.

[0030] In this embodiment, the motion of a member such that, when the normal vector of a member is projected onto a plane perpendicular to a predetermined axis, the length of the projected vector, expressed in polar coordinates, is a monotonic function of the angle, is referred to as precessional oscillation. For example, if a member is considered to be a spinning top, when the vector of the top's axis of rotation (corresponding to the normal) is projected onto the ground (a plane perpendicular to the direction of gravity), the length of the projected vector, expressed in polar coordinates, is a monotonic function of the angle. A monotonic function is a function whose length increases as the angle increases, or decreases as the angle increases. As such a monotonic function, when the length of the projected vector is r and the angle is θ, r = aθ (where a is a constant) or r = aθ 0.5 Examples of functions are those represented by (where a is a constant). When these functions are expressed in polar coordinates, they take the shape of a spiral; therefore, the former is called the Archimedes spiral (vortex), and the latter is called a parabolic spiral. Furthermore, in the mechanism described in Embodiment 2 below, the function becomes a monotonic function represented by the function equation r = sin(φ(θ)).

[0031] In this embodiment, the component corresponding to a spinning top (first component) is the image sensor holder 340. The cam cylinder 330 and the spinning tops 324, 325, and 326 are combined such that when the normal vector of the image sensor holder 340 is projected onto a plane perpendicular to the optical axis (corresponding to a predetermined axis) (for example, a plane containing the image sensor 351 at its initial position adjusted to be perpendicular to the optical axis), the length of the projected vector expressed in polar coordinates is expressed as a monotonic function of the angle. The cam cylinder 330 guides the spinning tops 324, 325, and 326, causing the image sensor holder 340 to swing like the head-swinging motion of a spinning top.

[0032] Figure 5 is a perspective view of the cam cylinder 330. As shown in Figure 5, the cam cylinder 330 has three cam guide holes P, Q, and R on its cylindrical surface. The cam guide holes P, Q, and R are each formed independently in the circumferential direction.

[0033] Figure 6 shows the coma guide holes P, Q, and R formed on the cylindrical surface of the cam cylinder 330 in an unfolded view. As will be described later, the coma guide holes P, Q, and R repeatedly curve slightly in the vertical direction of the figure. This curvature is exaggerated in Figure 6, but the actual curvature is very slight. Comas 324, 325, and 326 are guided along this curvature in the front-to-back direction of the optical axis. The coma guide holes P, Q, and R are each less than one full rotation of the cam cylinder 330, but this length is not limited. For example, they may be longer than one full rotation of the cam cylinder 330. The height difference of the curvature of the coma guide holes P, Q, and R is also not limited. As will be described later, this height difference and length determine the density of the projection vector trajectory. The degree and length of the curvature of the coma guide holes P, Q, and R are designed depending on the precision with which the tilt and direction of the image sensor holder 340 are adjusted.

[0034] Next, the design method for the coma guide holes P, Q, and R will be described. In this embodiment, as an example, the case in which the trajectory of the endpoint of the projection vector of the normal traces an Archimedes' vortex will be explained using Figures 7 to 10. Figure 7 is a view of the image sensor assembly 300 from the + side of the Z axis.

[0035] An image sensor 351 is positioned in the center of the figure, and pins 321, 322, and 323 are positioned around it at the vertices of an equilateral triangle. The centroid G of the equilateral triangle defined by the center of the image sensor 351 and pins 321, 322, and 323 coincides with the intersection of the X and Y axes and also coincides with the optical axis (Z axis). Figure 8 shows the coordinates of an equilateral triangle ABC, where pin 321 is at position A, pin 322 is at position B, and pin 323 is at position C. If the length of one side of equilateral triangle ABC is 2a and the height is l, the coordinates of each vertex A, B, and C are expressed by the following equation (1). Here, h A h B h C These are the Z coordinates of points A, B, and C, respectively.

[0036]

number

number

[0037] Since the tilt amount of the image sensor 351 is equivalent to the normal vector of triangle ABC, it is possible to calculate the tilt amount of the image sensor 351 from the cross product of vector CA and vector CB, and its components are given by equation (3) below.

[0038]

number

[0039] By the way, it is known that the coordinates of the center of gravity G are given by the following equation (4), and the Z coordinate must always be 0, so by the following equation (5), h C This is calculated.

number

[0040] In this embodiment, the locus of the endpoint of the projection vector of the unit normal projected onto the XY plane is expressed in polar coordinates by an equation in which the length, i.e., the distance (r) from the origin of the projection vector, is described by a smooth monotonic function of angle (θ). As mentioned above, the case of the Archimedean vortex will be explained here. The Archimedean vortex is generally expressed in polar coordinates, but the components (x,y) when expressed in Cartesian coordinates are given by equation (6-1) below. Equation (6-1) can be expressed as equation (6-2) using dimensionless coefficients μ and ν.

number

[0041] Since each coordinate must coincide with the components of the cross product mentioned earlier, the following system of equations (7) can be derived from equations (5) and (6-2).

number

[0042] When we calculate equation (7), we get h A ,h B ,h C The expression is given by equation (8) below, and it can be seen that it is a nonlinear function with θ as the variable.

number

[0043] Here, reference is made to the adjustment accuracy in the prior art. Fig. 9 is a diagram showing a tilt adjustment range in the prior art and a tilt adjustment range in the present embodiment. As described above, a washer or a screw member may be used for tilt adjustment in the prior art, and tilt adjustment is performed by adjusting the heights of three points using the washer or the screw member. Here, it is assumed that the height of points A, B and C is adjusted within a range of ±0.05 using washers to tilt the plane ABC. In this case, the end point of the normal vector projected onto the XY plane is plotted as shown by the triangle (△) in Fig. 9. Therefore, also in the present embodiment, considering the case where the Archimedean spiral covers this range, the ranges of μ, ν and θ that realize this are determined. These numerical values can be appropriately changed according to the processability of members, adjustment accuracy, product size, and the like. In the present embodiment, the values are set as follows. a=24 μ=4.2×10 -5 ν=0.1 0≦θ≦300

[0044] Fig. 10 is a profile diagram showing displacement amounts in the Z-axis direction of three pieces guided by piece guide holes. In this diagram, the horizontal axis represents the rotation angle (degrees) of the cam barrel 330, and the vertical axis represents the displacement amount in the Z-axis direction at each point. That is, by simultaneously displacing each of the points A, B and C by the displacement amount shown on the vertical axis of Fig. 10, the end point of the normal vector draws a locus as shown by the black circle (●) in Fig. 9. For example, with the origin of Fig. 9 being O, when the cam barrel 330 is rotated by an angle α from the swing position indicated by the projection vector OS, the swing position indicated by the projection vector OT is obtained. Although the black circles in Fig. 9 are shown discretely, since the nonlinear profile is a continuous function, an actual Archimedean spiral forms a continuous locus.

[0045] Next, we will explain how to calculate the rotation angle of the cam cylinder 330 according to the tilt amount. Figure 11 shows the normal vector and its projected vector when the rotation angle of the cam cylinder 330 is θ and the tilt amount (tilt angle with respect to the Z axis) of the image sensor holder 340 is φ. When the rotation angle of the cam cylinder 330 with respect to the X axis is θ, the distance from the origin of the projected vector obtained by projecting the normal vector of the image sensor holder 340 onto the XY plane is L, and the tilt amount is φ, the components (x,y) of the normal vector are given by the following equation (9).

number

[0046] Furthermore, since the z component of the normal vector is uniquely determined from equation (3), φ is given by the following equation (10).

number

[0047] Therefore, from equations (9) and (10), the components (x,y) of the normal vector can be expressed as shown in equation (11) below.

number

[0048] The vector components obtained here are plotted on the distribution map in Figure 9, the point closest to the Archimedes' vortex is found, and the final rotation angle of the cam cylinder is calculated from there. For example, when the image sensor 351 is tilted by 6 minutes in the 4 o'clock direction, the vector components are given by equation (12) below from equation (11).

[0049]

number

[0050] The coma guide holes P, Q, and R of the cam cylinder 330 are machined to impart the displacement amounts shown in Figure 10 to the image sensor holder 340, as calculated above. In other words, the coma guide holes P, Q, and R are machined to guide the coma 324, 325, and 326 in the Z-axis direction in accordance with the displacement amounts shown in Figure 10. Then, by rotating the cam cylinder 330 using the stepping motor 500, the image sensor holder 340 oscillates as shown in Figure 9.

[0051] Figure 12 shows the flow of how the driving force of the stepping motor 500 is transmitted to the image sensor holder 340. The numbers in the figure correspond to the steps shown in parentheses below. First, (1) when the stepping motor 500 rotates counterclockwise (CCW), (2) the stepping motor gear 365 connected to the stepping motor 500 rotates counterclockwise. (3) Then, the connecting gears 362, 363, and 364, which mesh with the stepping motor gear 365 with external teeth, rotate clockwise (CW). (4) Then, the internal gear 361, which meshes with the connecting gears 362, 363, and 364 with internal teeth, rotates clockwise. (5) Then, the cam cylinder 330 fixed to the internal gear 361 also rotates clockwise. (6) When the cam cylinder 330 rotates clockwise, the spools 324, 325, and 326 are guided by the spool guide holes P, Q, and R and move alternately back and forth along the Z axis, and at the same time the pins 321, 322, and 323 move alternately back and forth along the Z axis. (7) As a result, the image sensor holder 340 is pressed by the pins 321, 322, and 323 and tilts (oscillates). When the pins 321, 322, and 323 move forward, the image sensor holder 340 is biased forward by the biasing members 371, 372, and 373 and moves.

[0052] In this embodiment, the oscillation generation mechanism is used to adjust the tilt angle of the image sensor holder 340 by capturing an image of a tilt angle adjustment chart with the assembled optical unit 1, calculating the direction and angle to tilt from the image of the chart, and adjusting the tilt angle of the image sensor holder 340. Alternatively, the tilt angle adjustment chart may be placed in front of the lens body 100, and the image sensor holder 340 may be continuously tilted using the oscillation generation mechanism to adjust the image sensor holder 340 to the position where the chart is captured most appropriately. With this configuration, the oscillation generation mechanism can be programmed and controlled using an image determination device to adjust the image sensor holder 340 to the appropriate angle. In other words, the tilt angle of the image sensor holder 340 can be adjusted by program control.

[0053] (Method for generating oscillations) Next, the oscillation generation method S1 according to this embodiment will be described. The oscillation generation method S1 is a method of causing a first member (image sensor holder 340) having a first sliding surface that is convex or concave spherical in shape to oscillate with respect to a second member (housing 200) having a second sliding surface that is concave or convex spherical in shape and has a shape complementary to the first sliding surface, which is in contact with the first sliding surface. Figure 23 is a flowchart showing the flow of the oscillation generation method S1 according to this embodiment. As shown in the figure, the oscillation generation method S1 includes steps S11 and S12.

[0054] Step S11 involves rotating at least one rotating member that engages with at least one tilt angle changing member and rotates to change the position of the tilt angle changing member relative to the first member. The rotating member may be rotated using a drive device (drive unit) such as a motor, or it may be rotated manually by the user. As an example, the rotating member is the cam cylinder 330 described above, and the tilt angle changing member is the pins 321, 322, and 323 that engage with the cam cylinder 330.

[0055] Step S12 changes the inclination angle of the first member relative to the second member by changing the position of the inclination angle changing member relative to the first member. However, the rotating member and the inclination angle changing member are combined such that when the normal vector of the first member is projected onto a plane perpendicular to a predetermined axis, the length of the projected vector expressed in polar coordinates is expressed as a monotonic function of the angle. As an example, the first member is the image sensor holder 340 described above, and the second member is a housing 200 that slidably abuts the image sensor holder 340.

[0056] The above embodiment describes an example of using a motion generation mechanism for tilt adjustment of an image sensor, adjusting the orientation of the image sensor from its initial position (or orientation shifted due to long-term use) to an optimal direction. However, the motion generation mechanism according to this embodiment can be applied not only to such purposes but also to any member that requires fine adjustment of its tilt angle. In other words, it can be generally used when tilting a member in an arbitrary direction at an arbitrary angle, acquiring data, and searching for or adjusting the optimal direction and angle. The type and size of the member to be targeted are not limited. This is also true for the following embodiments.

[0057] As an example, the oscillation generation mechanism can be applied to (1) sample stages used in optical microscopes and SEMs (Scanning Electron Microscopes), (2) optical axis adjustment mechanisms in laser-based instruments, and (3) scanning mechanisms such as those used in fundus examinations. Regarding (1), if the sample is tilted, there is a risk of areas with blurred focus occurring due to the relationship with depth of field. By tilting the sample to the area of ​​interest, it is possible to obtain an image that is in focus overall. Regarding (2), it can be applied to all laser-based instruments. For example, in a laser cutter, the state of the optical axis affects the accuracy and quality of cutting, so it is necessary to adjust it to the appropriate optical axis.

[0058] Furthermore, in the case of PLD (Pulsed Laser Deposition) devices used for thin film formation, the crystal structure of the deposited thin film may change depending on the state of the laser light irradiated onto the target, which could affect the properties of the thin film. The above-mentioned oscillation generation mechanism can be used for adjusting these optical axes. Also, (3) has a stronger element of exploration than the adjustments in (1) and (2). Generally, scanning obtains information by moving a linear detector in a certain direction, but with circular or spherical target surfaces, it will scan areas that are not needed. However, due to the characteristics of this oscillation generation mechanism, it is expected that it can efficiently scan circular and spherical surfaces, so its application in fundus imaging devices and the like is also conceivable.

[0059] The optical unit 1 may also include a motion generation mechanism control program for programmatically controlling the motion generation mechanism described above. For example, the motion generation mechanism control program may include a drive control subprogram for driving the stepping motor 500 and a detection control subprogram for controlling a detection unit (not shown) that detects the degree of the tilt angle of the image sensor holder 340 relative to the housing 200. The detection unit does not need to detect the tilt angle itself and may be an image determination unit or the like. For example, the detection control subprogram may be a program that acquires an image captured by the image sensor 351, compares the acquired image with a reference chart image, and controls the detection unit to search for the tilt angle that minimizes blurring around the screen, i.e., the tilt angle in which the normal of the image sensor 351 is closest to the optical axis. By using a motion generation mechanism control program that includes such a drive control subprogram and a detection control subprogram, the tilt angle of the image sensor holder 340 can be adjusted by programmatic control.

[0060] According to the oscillation generation mechanism included in the optical unit 1 of the above embodiment, or the oscillation generation method using this oscillation generation mechanism, the image sensor holder 340 can be mechanically oscillated so as to continuously change the direction and angle of the normal vector of the image sensor holder 340. Furthermore, by combining the oscillation generation mechanism with a detection unit (image determination unit, etc.), the tilt angle of the image sensor holder 340 can be adjusted by program control.

[0061] [Embodiment 2] Other embodiments of the present invention are described below. For the sake of clarity, components having the same function as those described in the above embodiments will be denoted by the same reference numerals, and their descriptions will not be repeated.

[0062] Embodiment 1 described a configuration in which the image sensor holder 340 is oscillated using three pins. However, the number of pins is not limited to three. This embodiment describes a case in which there is one pin.

[0063] (Configuration of Optical Unit 2) Figure 13 is an exploded perspective view of the optical unit 2 according to this embodiment, and Figure 14 is an exploded perspective view of the optical unit 2 viewed from the opposite direction (rear of the optical axis). As shown in Figures 13 and 14, the optical unit 2 comprises a housing 200, an image sensor holder 340, an image sensor substrate 350, biasing members 371, 372, 373, cam drive gears 410, 420, a vortex cam 710, a linear cam 720, a pin 730, a gear unit 800, and a stepping motor 500. The lens body is not shown, but it is attached to the housing 200 in the same way as in Embodiment 1. The housing 200, image sensor holder 340, stepping motor 500, etc. are arranged on the optical axis OA of the lens body.

[0064] Of the optical unit 2, the functions of the housing 200, image sensor holder 340, image sensor substrate 350, biasing members 371, 372, 373, and stepping motor 500 are the same as those of each component described in Embodiment 1, so their description is omitted here.

[0065] Pin 730 is a component corresponding to pins 321, 322, and 323 of Embodiment 1, and is a component that changes the tilt angle of the image sensor holder 340 relative to the housing 200 by pressing the image sensor holder 340 by changing the position of pin 730. Pin 730 is one form of the movable pin described in the claims. In this embodiment, since the image sensor holder 340 is pressed using a single pin 730, the position of pin 730 is changed in the XY plane rather than in the Z axis direction.

[0066] The vortex cam 710 and the linear cam 720 are components for moving the position of the pin 730 in two dimensions (within the XY plane). The vortex cam 710 and the linear cam 720 are configured to rotate around the optical axis OA. The vortex cam 710 guides the pin 730 in the radial direction, and the linear cam 720 guides the pin 730 in the circumferential direction.

[0067] The vortex cam 710 is a disc-shaped member, and is provided with vortex-shaped pin guide holes 711 in the circumferential direction. The rear end of the pin 730 engages with the pin guide holes 711. The pin guide holes 711 are formed as grooves and do not penetrate the vortex cam 710. The depth of the grooves is constant. The vortex cam 710 is one embodiment of the first cam plate described in the claims.

[0068] The linear cam 720 is a disc-shaped member and is provided with a linear pin guide hole 721 in the radial direction. The pin guide hole 721 is a through hole through which the pin 730 passes. The linear cam 720 is one form of the second cam plate described in the claims.

[0069] The vortex cam 710 and the linear cam 720 are driven by a stepping motor 500. The driving force of the stepping motor 500 is transmitted to the vortex cam 710 and the linear cam 720 via a gear unit 800. The vortex cam 710 and the linear cam 720 are driven at different rotational speeds. Specifically, the ratio of the rotational speeds of the vortex cam 710 and the linear cam 720 is determined so that the pin 730 is guided in a vortex-like manner. The gear unit 800 is configured to output two rotational speeds having the above ratio from one stepping motor 500.

[0070] Figure 15 is an exploded view of the gear unit 800. The gear unit 800 transmits the rotational force of the stepping motor 500 to both the vortex cam 710 and the linear cam 720 in accordance with the ratio of their rotational speeds. As shown in Figure 15, the rotational force of the stepping motor 500 is transmitted to the gear 810 and the planetary gear 820. The rotational force transmitted to the gear 810 is transmitted to the linear cam drive gear 420 via gears 811 and 812. On the other hand, the rotational force transmitted to the planetary gear 820 is output to the gear 830 and transmitted to the vortex cam drive gear 410 via gears 831 and 832. The ratio of the rotational speeds of the vortex cam 710 and the linear cam 720 is set by a method described later. The gear configuration used to change the desired ratio of rotational speeds can be a known configuration and is not limited to the configuration shown in Figure 15. In addition, multiple stepping motors 500 may be provided.

[0071] Next, the configuration for swinging the image sensor holder 340 will be described. Figure 16 is a cross-sectional view of the YZ cross-section of the housing 200 and the image sensor assembly 300, viewed from the X-axis direction. A convex spherical surface 352 is formed on the image sensor holder 340, and a concave spherical surface 201 is formed on the housing 200. The centers of the spheres of the convex spherical surface 352 and the concave spherical surface 201 overlap and lie on the optical axis OA. The radii of the convex spherical surface 352 and the concave spherical surface 201 are configured to be the same, and the convex spherical surface 352 and the concave spherical surface 201 are in slidable contact with each other.

[0072] The image sensor holder 340 is provided with a tilt corresponding to the distance from the center of the image sensor 351 (the intersection with the optical axis OA). Specifically, the image sensor holder 340 is provided with a tilted surface 341. The tilted surface 341 is configured such that the coordinate of the Z axis decreases as it moves away from the optical axis OA. This tilt is common to all radial directions. The hemispherical front end of the pin 730 abuts against the tilted surface 341.

[0073] Pin 730 is guided by both the vortex cam 710 and the linear cam 720. As the vortex cam 710 and the linear cam 720 rotate at a predetermined rotation ratio, pin 730 presses against the image sensor holder 340 in a vortex-shaped trajectory. This changes the tilt angle of the image sensor holder 340 relative to the housing 200. This movement will be explained using Figures 17 and 18. Figure 17 is a diagram illustrating the movement of pin 730 and the image sensor holder 340. Assume that pin 730 is initially located at the outermost end of the vortex cam 710. As the vortex cam 710 rotates from this state, pin 730 shifts towards the center of the vortex cam 710, as shown in Figure 17. Since the front end of pin 730 is in contact with the inclined surface 341 of the image sensor holder 340, the tilt angle of the image sensor holder 340 gradually increases, as indicated by the arrows in the figure.

[0074] Figure 18 illustrates the movement of the vortex cam 710, linear cam 720, and pin 730 as viewed from the negative side of the optical axis. In this embodiment, the pin 730 moves in an Archimedean spiral. First, the linear cam 720 rotates clockwise (indicated by 1 in the figure) due to the rotational force from the linear cam drive gear 420. Meanwhile, the vortex cam 710 also rotates clockwise due to the rotational force from the vortex cam drive gear 410. The gear ratio of the vortex cam 710 to the linear cam 720 is 1.5:1. In this case, since the vortex cam 710 rotates faster than the linear cam 720, the pin 730 also moves towards the center (indicated by 2 in the figure). In other words, the pin 730 moves in an Archimedean spiral. In this case, while the linear cam 720 rotates 7 times, the pin 730 moves from the starting point to the ending point of the pin guide hole 711 of the vortex cam 710. In other words, the pin 730 traces a spiral trajectory with 7 turns. This trajectory can be designed by changing the cam shape and gear ratio according to the product size, adjustment amount, etc.

[0075] Next, we will specifically explain the design method for the vortex cam 710 and linear cam 720 that move the pin 730 in this manner. Below, we will calculate the trajectory of the normal vector when the pin 730 moves in an Archimedean vortex. Figure 19 is a schematic cross-sectional view of the point where the pin 730 and the inclined surface 341 come into contact. Let A be the point of contact between the tip of the pin 730 and the inclined surface 341 in the initial position, and let B be the center of the tip of the pin, which has a spherical shape with radius R1. Let A' and B' be the points after A and B have moved when the pin 730 moves by μθ in the direction of the optical axis. At this time, let ω be the angle AOC, i.e., the angle of the inclined surface in the initial position, φ be the tilt angle, and λ be the angle made by angle COB'. Note that θ represents the phase when the pin 730 rotates in an Archimedean vortex, i.e., the rotation angle of the linear cam 720.

[0076] First, let's focus on triangle OB'O'. OO' and O'B' are perpendicular, and angle OB'O' is equal to the alternate interior angle λ. Therefore, λ is given by equation (13) below.

number

[0077] Furthermore, by the Pythagorean theorem, l is given by the following equation (14).

number

[0078] Next, from the properties of circles and tangents, the fact that OA' and A'B' are right angles holds true for any angle between φ and ω. Therefore, focusing on triangle A'OB', angle A'OB' is given by equation (15) below.

number

[0079] From equations 13, 14, and 15, φ is given by equation (16) below.

number

[0080] Equation (16) shows that φ is a function of θ, which means that the tilt angle is uniquely determined by the phase of pin 730. Hereafter, since it is a function of θ, we will conveniently denote it as φ(θ). From this, when the norm of the normal vector is 1, that is, for the unit normal vector, the locus of the vector projected onto the XY plane is expressed in polar coordinate form as shown in equation (18) below.

number

[0081] This trajectory determines a coefficient that can cover the range that can be adjusted by conventional washers. In this embodiment, the coefficient is determined for the case where the vertices of triangle ABC shown in Figure 8 lie on the circumference of a circle with radius R2. Since the length of one side of triangle ABC is 2a, the relationship between a and R2 is given by equation (18) below.

number

[0082] Therefore, from equations (1), (3), and (5), the equation for plotting the normal vector on the XY plane is given by equation (19) below.

number

[0083] Therefore, the unit normal vector is given by equation (20) below.

number

[0084] Equation (20) is an equation in which the starting radius R2 of the vortex cam 710 and the washer thickness are variables, so the coefficient is determined by the product size and the tilt adjustment range. In this embodiment, we calculate the case where R2 is 30 and the adjustment range is ±0.1. As a result, each coefficient can be set as follows. R1 = 2 mm R2 = 30 mm d = 1.85 mm μ = 4.9 × 10 -3 ω = 0.2865°

[0085] Figure 20 shows the tilt range adjusted by the conventional technology (white circles) and the tilt range adjusted by this embodiment (spiral lines). When the above coefficients are used, the unit normal vector draws a spiral as shown in Figure 20, and it can be seen that it generally covers the adjustment range by the washer. The tilt angle adjustment method using the oscillation generation mechanism according to this embodiment is the same as the method described in Embodiment 1. The spiral shown in Figure 20 can be expressed by the function equation r = sin(φ(θ)). In this equation, r is the length of the projected vector expressed in polar coordinates, and φ(θ) is a function represented by the rotation angle θ of the linear cam 720. It is obvious from Figure 19 that the range of φ(θ) is a small angle, so it can be said that r is a monotonic function.

[0086] In the above embodiment, the vortex cam 710 and the linear cam 720 were combined to guide the pin 730 in a spiral shape. However, the combination and shape of the cams are not limited as long as they can guide one pin 730 in a spiral shape so that a projection vector like the one shown in Figure 20 can be obtained.

[0087] In this embodiment as well, the optical unit 2 may include a motion generation mechanism control program for programmatically controlling the motion generation mechanism. The motion generation mechanism control program may include a drive control subprogram for driving the stepping motor 500 and a detection control subprogram for controlling a detection unit (not shown) that detects the degree of the tilt angle of the image sensor holder 340 relative to the housing 200. The functions of these subprograms are equivalent to those described in Embodiment 1. By using such a motion generation mechanism control program including the drive control subprogram and the detection control subprogram, the tilt angle of the image sensor holder 340 can be adjusted by programmatic control.

[0088] With the above configuration, the image sensor holder 340 can be mechanically oscillated so as to continuously change the direction and angle of the normal vector of the image sensor holder 340. Furthermore, by combining the oscillation generation mechanism and the detection unit (image determination device), the tilt angle of the image sensor holder 340 can be adjusted by program control.

[0089] [Embodiment 3] Other embodiments of the present invention will be described below. For the sake of clarity, components having the same function as those described in Embodiments 1 and 2 above will be denoted by the same reference numerals, and their descriptions will not be repeated.

[0090] This embodiment is an example of applying a motion generation mechanism to a tilt mechanism for performing tilt photography using an imaging device such as a camera. A tilt mechanism is a mechanism that allows the user to intentionally tilt the angle between the optical axis of the lens body and the image sensor from a right angle. Tilting mechanisms are used when taking diorama-style photographs or when correcting distortion of tall objects such as architectural photographs. This embodiment applies the configuration of Embodiment 1 to a tilt mechanism.

[0091] Figure 21 is an exploded perspective view of the lens unit 3 equipped with a tilt mechanism. Figure 22 is a YZ cross-sectional view of the lens unit 3. The lens body 100A is attached to a lens holding frame (first member) 150 having a convex spherical surface 152. The lens body 100A is a lens group for forming an image on an image sensor (not shown). The convex spherical surface 152 is in slidable contact with the concave spherical surface 161 of the holding frame receiver 160. The housing (second member) 200A is also provided with a convex spherical surface 201A, which is in slidable contact with the concave spherical surface 151 of the lens holding frame 150. As a result, the lens holding frame 150 plays a role in positioning not only in the XY direction but also in the Z-axis direction. Three surfaces are provided on the lens retaining frame 150 that contact pins 321A, 322A, and 323A. When pins 321A, 322A, and 323A press against these surfaces, the lens body 100A tilts around the center of the convex spherical surface 152. Comabs 324A, 325A, and 326A are assembled to pins 321A, 322A, and 323A. The position of comabs 324A, 325A, and 326A in the optical axis direction changes according to the shape of the comab guide holes PA, QA, and RA provided on the cam cylinder 330A. In accordance with this, the position of pins 321A, 322A, and 323A in the optical axis direction changes. The cam cylinder 330A is connected to an operating ring 380, and when the user rotates the operating ring 380, the normal of the lens body 100A tilts while drawing a vortex shape. In this embodiment, the cam cylinder 330A is rotated by the user using the operating ring 380, so no drive unit such as a stepping motor is provided. In the case of the tilt mechanism, the tilt angle is larger than in the first embodiment, so the curvature of the spool guide holes PA, QA, and RA of the cam cylinder 330A is also larger. In this way, the size and adjustment range of the tilt angle can be changed by changing the shape and degree of curvature of the spool guide holes. According to the above embodiment, the tilt mechanism can be realized mechanically, and the user can mechanically change the tilt angle to find an appropriate angle.

[0092] 〔summary〕 The embodiments described above can be described as follows. (Aspect 1) A rocking generation mechanism comprising: a first member having a first sliding surface that is convex or concave spherical; a second member having a second sliding surface that is concave or convex spherical and has a shape complementary to the first sliding surface and abuts against the first sliding surface; at least one tilt angle changing member that changes the tilt angle of the first member with respect to the second member by changing its position relative to the first member; and at least one rotating member that engages with the tilt angle changing member and changes the position of the tilt angle changing member with respect to the first member by rotating, wherein the rotating member and the tilt angle changing member are combined such that when the normal vector of the first member is projected onto a plane perpendicular to a predetermined axis, the length of the projected vector expressed in polar coordinates is expressed as a monotonic function of the angle.

[0093] With this configuration, the first member can be mechanically oscillated so as to continuously change the direction and angle of the normal vector of the first member.

[0094] (Aspect 2) The oscillation generation mechanism according to embodiment 1, wherein the tilt angle changing member comprises three movable pins, the rotating member comprises a cylindrical cam cylinder rotatable about a predetermined axis, and the cylindrical surface of the cam cylinder is provided with three guide holes for guiding the three movable pins in the predetermined axial direction.

[0095] This configuration allows the first member to be mechanically oscillated.

[0096] (Aspect 3) The oscillation generating mechanism according to embodiment 2, further comprising at least one drive motor and a gear mechanism for transmitting the rotational force of the drive motor to the cam cylinder.

[0097] With this configuration, the first member can be oscillated by the drive motor.

[0098] (Aspect 4) The oscillation generation mechanism according to Embodiment 1, wherein the tilt angle changing member comprises one movable pin, the rotating member comprises a disc-shaped first cam plate rotatable about a predetermined axis, the first cam plate is provided with a circumferentially spiral-shaped guide hole for guiding the one movable pin, and the surface of the first member that contacts the movable pin is provided with an inclination corresponding to the distance from the intersection of the plane and the predetermined axis.

[0099] This configuration allows the first member to be mechanically oscillated.

[0100] (Aspect 5) The oscillation generation mechanism according to embodiment 4, wherein the rotating member comprises a disc-shaped second cam plate rotatable about a predetermined axis, the second cam plate is provided with a radially linear guide hole for guiding one movable pin, and the ratio of the rotational speeds of the first cam plate and the second cam plate is determined so that the movable pin is guided in a vortex-like manner.

[0101] This configuration allows the first member to be mechanically oscillated.

[0102] (Aspect 6) The oscillation generating mechanism according to embodiment 5, further comprising at least one drive motor and a gear mechanism that transmits the rotational force of the drive motor to both the first cam plate and the second cam plate in a manner corresponding to the ratio of the rotational speeds.

[0103] With this configuration, the first member can be oscillated by the drive motor.

[0104] (Aspect 7) The oscillation generation mechanism according to any one of embodiments 1 to 6, wherein the plane is a plane containing the image sensor in its initial position, the first member is an image sensor holding member that holds the image sensor, or a lens holding frame that holds a lens body that forms an image on the image sensor, and the center points of the convex spherical surface and the concave spherical surface of the first member and the second member lie on a line segment that passes through the center of the image sensor and is perpendicular to the imaging surface of the image sensor.

[0105] This configuration allows the image sensor to be mechanically oscillated so that its tilt angle with respect to the optical axis is continuously changed.

[0106] (Pattern 8) The monotonic function is given by r = aθ (where a is a constant) and r = aθ, where r is the length of the projection vector and θ is the angle. 0.5 A oscillation generation mechanism according to any one of embodiments 1 to 7, wherein (a is a constant) or r = sin(φ(θ)).

[0107] This configuration allows the first member to oscillate in a precessional manner.

[0108] (Aspect 9) A method for oscillating a first member having a convex or concave spherical first sliding surface with respect to a second member having a concave or convex spherical second sliding surface having a shape complementary to the first sliding surface, the method comprising: rotating at least one rotating member which engages with at least one tilt angle changing member and rotates to change the position of the tilt angle changing member with respect to the first member; and changing the tilt angle of the first member with respect to the second member by changing the position of the tilt angle changing member with respect to the first member, wherein the rotating member and the tilt angle changing member are combined such that when the normal vector of the first member is projected onto a plane perpendicular to a predetermined axis, the length of the projected vector expressed in polar coordinates is expressed as a monotonic function of the angle.

[0109] With this configuration, the first member can be mechanically oscillated so as to continuously change the direction and angle of the normal vector of the first member.

[0110] (Aspect 10) A motion generation mechanism control program including a drive control subprogram for controlling a drive unit that rotates the rotating member described in Embodiment 1, and a detection control subprogram for controlling a detection unit that detects the degree of the inclination angle of the first member with respect to the second member, as described in Embodiment 1.

[0111] With this configuration, the first member can be oscillated by program control.

[0112] (Aspect 11) A computer-readable non-temporary recording medium that records the oscillation generation mechanism control program described in embodiment 10.

[0113] The present invention is not limited to the embodiments described above, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of Symbols]

[0114] 1, 2… Optical Unit 3…Lens unit 100, 100A… Lens body 150...Lens retaining frame (first component) 160... Holding frame receiver 200, 200A... Enclosure (second component) 201…Second sliding surface (concave spherical surface) 300…Image sensor assembly 310... Pin block 321, 321A, 322, 322A, 323, 323A, 730… Pins (angle-changing members) 321a, 322a, 323a… Pin housing section 324, 325, 326... frames 330... Cam cylinder (rotating component) 340…Image sensor holder (first component) 341…Slope surface 350…Image sensor substrate 351…Image sensor 352...First sliding surface (convex spherical surface) 361...Internal gear 362, 363, 364… Linking gears 365... Stepping motor gear 371, 372, 373… biasing members 400... Gear holder 410...Vortex cam drive gear 420... Linear cam drive gear 500... Stepping motor 600...cover 710...Vortex cam (first cam plate) 711…Pin guide hole 720...Straight cam (second cam plate) 800... Gear Unit 810, 811, 812, 830, 831, 832… gears 820... Planetary gear P, Q, R... Coma guide holes

Claims

1. A first member having a convex or concave spherical first sliding surface, A second member comprising a second sliding surface having a concave or convex spherical shape that is complementary to the first sliding surface and contacts the first sliding surface, At least one tilt angle changing member that changes the tilt angle of the first member with respect to the second member by changing its position relative to the first member, The system includes at least one rotating member that engages with the tilt angle changing member and rotates to change the position of the tilt angle changing member relative to the first member, The rotating member and the tilt angle changing member are combined such that when the normal vector of the first member is projected onto a plane perpendicular to a predetermined axis, the length of the projected vector, expressed in polar coordinates, is represented by a monotonic function of the angle. Oscillation generation mechanism.

2. The tilt angle changing member comprises three movable pins, The oscillation generation mechanism according to claim 1, wherein the rotating member comprises a cylindrical cam cylinder that can rotate about a predetermined axis, and three guide holes are provided on the cylindrical surface of the cam cylinder for guiding the three movable pins in the predetermined axial direction.

3. At least one drive motor, The oscillation generation mechanism according to claim 2, further comprising a gear mechanism for transmitting the rotational force of the drive motor to the cam cylinder.

4. The tilt angle changing member comprises one movable pin, The rotating member comprises a disc-shaped first cam plate that can rotate around the predetermined axis, and the first cam plate is provided with a circumferentially spiral-shaped guide hole for guiding the one movable pin. The surface of the first member that contacts the movable pin is provided with an inclination corresponding to the distance from the intersection point of the plane and the predetermined axis. The oscillation generation mechanism according to claim 1.

5. The rotating member comprises a disc-shaped second cam plate that can rotate around the predetermined axis, and the second cam plate is provided with a radially linear guide hole for guiding the one moving pin. The oscillation generation mechanism according to claim 4, wherein the ratio of the rotational speeds of the first cam plate and the second cam plate is determined such that the moving pin is guided in a spiral pattern.

6. At least one drive motor, The oscillation generating mechanism according to claim 5, further comprising a gear mechanism that transmits the rotational force of the drive motor to both the first cam plate and the second cam plate in accordance with the ratio of the rotational speeds.

7. The oscillation generation mechanism according to any one of claims 1 to 6, wherein the plane is a plane including the image sensor in its initial position, the first member is an image sensor holding member that holds the image sensor, or a lens holding frame that holds a lens body that forms an image on the image sensor, and the center points of the convex spherical surface and the concave spherical surface of the first member and the second member lie on a line segment that passes through the center of the image sensor and is perpendicular to the imaging surface of the image sensor.

8. The monotonic function is given by r = aθ (where a is a constant) and r = aθ, where r is the length of the projection vector and θ is the angle. ０．５ The oscillation generation mechanism according to any one of claims 1 to 6, wherein (a is a constant) or r = sin(φ(θ)).

9. A method for oscillating a first member having a convex or concave spherical first sliding surface with respect to a second member having a concave or convex spherical second sliding surface that abuts against the first sliding surface and has a shape complementary to the first sliding surface, A step of rotating at least one rotating member which engages with at least one tilt angle changing member and rotates to change the position of the tilt angle changing member relative to the first member, The step of changing the inclination angle of the first member with respect to the second member by changing the position of the inclination angle changing member with respect to the first member, The rotating member and the tilt angle changing member are combined such that when the normal vector of the first member is projected onto a plane perpendicular to a predetermined axis, the length of the projected vector, expressed in polar coordinates, is represented by a monotonic function of the angle. A method for generating oscillations.

10. A drive control subprogram for controlling the drive unit that rotates the rotating member described in claim 1, A detection control subprogram for controlling a detection unit that detects the degree of the inclination angle of the first member with respect to the second member as described in claim 1, A control program for the oscillation generation mechanism, including the oscillation generation mechanism.

11. A computer-readable non-temporary recording medium that stores the oscillation generation mechanism control program described in claim 10.

Images