JP2017097167A - Imaging apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an imaging apparatus achieving both: high flexibility in the movement of a movable member that holds a vibration-proofing optical element; and high accuracy in a mechanical movement end of the movable member.SOLUTION: An imaging apparatus comprises: a stationary member for supporting, in a manner capable of oscillating a spherical center, a movable member that holds imaging means; tilt driving means for applying, to the movable member, a force in a tilt direction that changes a tilt of an optical axis; rotation driving means for applying, to the movable member, a force in a rotation direction that centers the optical axis; tilt range limiting means for mechanically limiting a movement range of the movable member in the tilt direction; and rotation range limiting means for mechanically limiting a movement range of the movable member in the rotation direction. The rotation range limiting means includes: a stationary side rotation limiting part provided in the stationary member; and a movable side rotation limiting part that is provided in the movable member and comes into contact with the stationary side rotation limiting part by a rotation movement to regulate a rotation. The stationary side rotation limiting part and the movable side rotation limiting part are provided on a planar surface vertical to the optical axis that pass the center of a spherical center oscillation.SELECTED DRAWING: Figure 18

Description

  The present invention relates to an imaging apparatus provided with an image stabilization (image blur correction) mechanism.

  In recent imaging apparatuses, an anti-vibration mechanism for reducing image blur caused by camera shake or the like is generally mounted. The anti-vibration mechanism detects vibrations and posture changes applied to the image pickup device and shifts the anti-vibration optical elements such as the image pickup optical system and the image pickup element with respect to the optical axis so as to cancel the influence (with the optical axis). Move along a vertical plane) and tilt (tilt with respect to the optical axis). With the background of diversification of uses of imaging devices, it is required to improve the operation specifications (driving amount and degree of freedom of driving direction) of an optical element for image stabilization.

  For example, in the imaging apparatus of Patent Document 1, a conical contact surface (concave surface) is provided on a movable member that holds an optical element for vibration isolation, and a partial spherical surface that contacts the conical contact surface is used as a protrusion of the fixing member. The movable member is supported so as to be swingable (can be freely rotated) by contact between the contact surface and the partial spherical surface. The movable member is driven to rotate around a first axis orthogonal to the optical axis, a second axis orthogonal to both the optical axis and the first axis, and a third axis that coincides with the optical axis. A shaft drive type anti-vibration mechanism is constructed.

Japanese Patent No. 5730219

  In order to realize accurate image stabilization control with an imaging apparatus having an image stabilization function, a mechanical range limiting unit that limits the amount of movement of the movable member that operates during image stabilization to a predetermined range is used. For example, when a voice coil motor is used as an anti-vibration driving means, if the relative positional deviation between the magnet and the coil becomes excessive, position control becomes impossible. In order to keep the operating range, it is desirable to mechanically limit the operating range. In addition, a detection means for detecting the position and operation of the movable member is provided, and initialization (initialization) for setting a reference for detection by the detection means at the time of starting the imaging device or switching the image stabilization mode is performed. In many cases, the initialization is performed based on the mechanical moving end determined by the range limiting means. Therefore, by increasing the accuracy of the mechanical moving end of the movable member, the initialization accuracy is improved, and as a result, accurate and high-performance anti-vibration control can be realized. However, the anti-vibration mechanism with a high degree of freedom of operation, such as the above-described three-axis drive type, has a complicated structure and many space restrictions, or a direction different from that direction when limiting rotation in a predetermined direction. Therefore, it is difficult to obtain a range limiting means having a simple structure that can set the mechanical moving end with high accuracy in each driving direction.

  The imaging device of Patent Document 1 includes a drop-off preventing member that prevents the movable member from dropping from the fixed member. When the movable member abuts against the drop-off preventing member, the first shaft and the second shaft described above are provided. The movable member is restricted from rotating more than a predetermined angle around the axis. On the other hand, with respect to the rotation direction around the third axis, it is possible to return to the neutral position by the magnetic spring effect of the magnet constituting the driving means, but the rotation range is mechanically limited. This is different from the one that performs the initialization related to the image stabilization control.

  The present invention has been made in view of the above problems, and the degree of freedom of operation of the movable member holding the vibration-proof optical element is high, and the mechanical moving end of the movable member can be determined with high accuracy. An object is to provide a possible imaging device.

  The imaging apparatus of the present invention is a movable member that supports at least a part of an imaging unit that obtains a subject image; the movable member is capable of pivoting about the pivot center on the optical axis of an optical system that constitutes the imaging unit. A fixing member that supports the movable member; a tilting drive unit that applies a force in a tilting direction that changes the tilt of the optical axis to the movable member; a rotation driving unit that applies a force in the rotational direction around the optical axis to the movable member; Tilting range limiting means for mechanically limiting the operating range of the movable member relative to the fixed member in the direction; and rotation range limiting means for mechanically limiting the operating range of the movable member relative to the fixed member in the rotational direction. The rotation range limiting means includes a fixed-side rotation limiting portion provided on the fixed member, and a movable-side rotation limiting portion that is provided on the movable member and contacts the fixed-side rotation limiting portion by a rotation operation to restrict rotation. Side rotation limiter Movable rotation limiting part is characterized by being located on a first plane perpendicular to the street light axis swing center.

  The fixed member is a cylindrical body that surrounds the outside of the movable member in the radial direction with the optical axis as the center, and an inward protruding portion that protrudes toward the inner diameter direction on the cylindrical fixed member is used as a fixed-side rotation limiting portion. It is preferable to use it. As the movable-side rotation restricting portion, it is preferable to provide a pair of outward projecting portions that project from the movable member in the outer diameter direction and are positioned on both sides of the inward projecting portion in the rotational direction. Even when the movable member is tilted by positioning the pair of outward protrusions on the first plane and forming the inward protrusion longer in the direction along the optical axis than the pair of outward protrusions, Each outward protrusion can be reliably brought into contact with the inward protrusion when rotating.

  The movable member is provided with a spherical surface centered on the swing center, and the fixed member is provided with a plurality of inwardly projecting portions including the inwardly projecting portions constituting the rotation range limiting means at different positions in the rotational direction. It is preferable that the spherical surface of the movable member is supported through the plurality of inwardly projecting portions so as to be able to swing the ball.

  The rotation drive means may be constituted by a rotation coil supported by one of the fixed member and the movable member and a rotation magnet supported by the other. The rotating coil and the rotating magnet are arranged to face each other in the radial direction, and a part of each of the rotating coil and the rotating magnet is positioned on the first plane in the direction along the optical axis. The 1st sensor which detects the position change of the magnet for rotation is supported by the side which supports the coil for rotation among a fixed member and a movable member. A first sensor is positioned on a first magnetic flux detection axis that passes through the center of oscillation in the first plane and extends toward the rotating magnet and the rotating coil, and the first magnetic flux detection axis in the first plane. It is preferable that the pair of outward projecting portions are positioned approximately symmetrically with respect to the above.

  The tilt range limiting means includes a fixed side tilt limiter provided on the fixed member and a plurality of movable side tilt limiters provided on the movable member, and a plurality of movable side tilt limits according to the tilting direction of the movable member. It is preferable that any one of the portions abuts against the fixed-side tilt limiting portion to restrict tilting.

  More specifically, the plurality of movable side tilt limiting portions are a plurality of optical axis direction protruding portions protruding from the movable member in a direction along the optical axis, and the fixed side tilt limiting portion is light that is not tilted. The restriction surface is substantially perpendicular to the axis, and the ends of the plurality of optical axis direction protruding portions and the restriction surface may be opposed to each other in the direction along the optical axis.

  The ends of the plurality of projecting portions in the optical axis direction are preferably located on a second plane substantially parallel to the first plane. The ends of the plurality of projecting portions in the optical axis direction are preferably located on the same circumference around the optical axis on the second plane. Moreover, it is preferable that the edge part of a some optical axis direction protrusion part is hemispherical shape.

  As a component of the tilting drive means, the first tilting coil and the first tilting coil are arranged on one of the fixed member and the movable member so that their positions are different from each other in the rotation direction and a part of each is positioned on the first plane. Two tilting coils may be provided. The other one of the fixed member and the movable member is opposed to the first tilting magnet in a radial direction with respect to the first tilting coil and in the radial direction with respect to the second tilting coil. A second tilting magnet is provided. On the side of the fixed member and the movable member that supports the first tilt coil and the second tilt coil, a second sensor that detects a change in the position of the first tilt magnet, and a second tilt A third sensor that detects a change in the position of the magnet is supported. A second sensor is positioned on a second magnetic flux detection axis that extends through the oscillation center in the first plane and extends toward the first tilting magnet and the first tilting coil, and in the first plane. It is preferable that the third sensor be positioned on a third magnetic flux detection axis that extends toward the second tilting magnet and the second tilting coil through the swing center.

  As the plurality of movable side tilt restricting portions, it is preferable to include the following first to fourth movable side tilt restricting portions. The first set of movable side tilt restricting portions are provided in a pair substantially symmetrically with respect to the plane including the second magnetic flux detection axis and the optical axis, and are moved in the positive direction by the first tilting magnet and the first tilting coil. The tilting end of the movable member in the first tilting direction when the thrust is applied is determined by contact with the fixed-side tilt limiting portion. A pair of the second set of movable side tilt restricting portions is provided at substantially symmetrical positions with respect to the plane including the second magnetic flux detection axis and the optical axis, and the above-described positive tilting magnet and the first tilting coil are used to The tilting end of the movable member in the second tilting direction when thrust in the direction opposite to the direction is applied is determined by contact with the fixed-side tilt limiting portion. The third set of movable side tilt limiting portions is provided in a pair substantially symmetrically with respect to the plane including the third magnetic flux detection axis and the optical axis, and is forwardly moved by the second tilting magnet and the second tilting coil. The tilting end of the movable member in the third tilting direction when the thrust is applied is determined by contact with the fixed-side tilt limiting portion. The fourth set of movable side tilt limiting portions are provided in a pair substantially symmetrically with respect to the plane including the third magnetic flux detection axis and the optical axis, and the second tilting magnet and the second tilting coil are used to The tilting end of the movable member in the fourth tilt direction when the thrust in the forward direction and the reverse direction is applied is determined by contact with the fixed tilt limiter.

  The first set of movable side tilt limiting units and the fourth set of movable side tilt limiting units share one common limiting unit that contacts the fixed side tilt limiting unit in both the first tilt direction and the fourth tilt direction. The second set of movable side tilt restricting portions and the third set of movable side tilt restricting portions are different ones that contact the fixed side tilt restricting portion in both the second tilt direction and the third tilt direction. It is preferable that two sharing restriction parts are shared.

  Furthermore, the first set of movable side tilt limiting units and the second set of movable side tilt limiting units are one shared limiting unit that contacts the fixed side tilt limiting unit in both the first tilt direction and the second tilt direction. And the third set of movable side tilt restricting portions and the fourth set of movable side tilt restricting portions are different ones that contact the fixed side tilt restricting portion in both the third tilt direction and the fourth tilt direction. Two sharing restriction units may be shared.

  The present invention includes a moving magnet type in which magnets constituting the tilting drive means and the rotation drive means are supported on the movable member side, and a coil constituting the tilt drive means and the rotation drive means supported on the movable member side. The present invention can be applied to any of the moving magnet coil type vibration isolation mechanisms that are used. Considering that electrical wiring is connected to the coil and sensor, selecting the moving magnet type is advantageous in simplifying wiring and reducing load during vibration-proof driving.

  According to the imaging apparatus of the present invention, the rotation range limiting means for limiting the range of the rotation (roll) operation around the optical axis is the position (first position) that is least affected by the operation of tilting the optical axis (tilt operation). 1 plane). The configuration can be simplified by using the rotation range limiting means as radial protrusions provided on the movable member and the fixed member, respectively. With respect to the tilting range limiting means for limiting the tilting range of motion, it is simple and comprises a projecting portion in the optical axis direction provided on the movable member and a regulating surface provided on the fixed member and perpendicular to the optical axis. It is less affected by the difference in roll operation and tilt direction. Especially in the tilt range limiting means, when tilted in the direction of the thrust of the tilting drive means, the two movable side tilt limiters are paired and come into contact with the fixed side tilt limit section to obtain high stability and It has become. Accordingly, it is possible to determine the mechanical movement end of each operation of the movable member with a simple configuration with high accuracy while operating the movable member holding the optical element for vibration isolation with a high degree of freedom including a tilt operation and a roll operation. It is possible to carry out the image stabilization control with high accuracy using this mechanical moving end.

It is a front perspective view which shows the external appearance of the imaging device to which this invention is applied. It is a back perspective view of an imaging device. It is a front view of an imaging device. It is a rear view of an imaging device. It is a rear view of an imaging device in the state where a ball holder was removed. FIG. 4 is a view taken along arrow VI in FIG. 3. It is a VII arrow line view of FIG. It is a VIII arrow line view of FIG. It is sectional drawing which follows the IX line of FIG. It is a front perspective view of the state where the imaging device was disassembled. It is a back perspective view of the state where the imaging device was disassembled. It is a front perspective view of the state which disassembled the movable unit. It is a front view of the state which decomposed | disassembled the movable unit. It is a back perspective view of the state where the movable unit was disassembled. It is a rear view of the state which disassembled the movable unit. It is a front view of a movable unit. It is a rear view of a movable unit. It is a XVIII arrow directional view of FIG. It is the XIX arrow directional view of FIG. It is a XX arrow line view of FIG. It is a XXI arrow line view of FIG. It is sectional drawing which follows the XXII line of FIG. It is a front perspective view of the state which combined the movable unit, the lens-barrel, and the image sensor unit. It is a back perspective view of the state which combined the movable unit, the lens-barrel, and the image sensor unit. It is a front perspective view of the state which disassembled the fixed unit. It is a front view of the state which decomposed | disassembled the fixing unit. It is a back perspective view of the state where the fixed unit was disassembled. It is a rear view of the state which decomposed | disassembled the fixing unit. It is the figure which looked at the fixed unit in a completed state along the XXIX arrow line of FIG. It is sectional drawing which follows the XXX line of FIG. It is a front perspective view of a fixed unit. It is a back perspective view of a fixed unit. It is a figure of the state which removed the lens-barrel, the image sensor unit, and the coil support plate from FIG. It is sectional drawing which follows the XXXIV line of FIG. It is sectional drawing which follows the XXXV line of FIG. It is a front view which shows the positional relationship of a movable unit and a coil in the initial state which is not performing anti-vibration drive. FIG. 6 is a rear view showing a state where a movable unit and a hall sensor are left after removing the coil holder and the coil from FIG. 5. It is a front view of the imaging device in a state where the movable unit is tilted to the mechanical limit position. It is a rear view of the imaging device in the state of FIG. FIG. 39 is a view on arrow XL in FIG. 38. FIG. 40 is a rear view of the imaging apparatus with the ball holder removed from FIG. 39. It is sectional drawing which follows the XLII line of FIG. It is the rear view which showed the imaging device of the state which made the movable unit perform roll operation to a mechanical restriction position except a ball holder. It is the rear view which showed the imaging device of the state which made the movable unit perform roll operation to the mechanical restriction position of the reverse direction to FIG. 43 except a ball holder. It is the figure which looked at the movable unit made to tilt in the yawing direction from the same direction as FIG. FIG. 46 is a view similar to FIG. 45 showing a comparative example in which the positions of the roll range limiting protrusions are different. It is a rear view which shows the modification which varied the number and position of the inclination limitation protrusion provided in a barrel holder.

  Hereinafter, an imaging device 10 according to an embodiment of the present invention will be described with reference to the accompanying drawings. The imaging device 10 includes an imaging optical system L and an image sensor unit 19 as imaging means for obtaining a subject image. “O” in the figure is the optical axis of the imaging optical system L. In the following description, the direction along the optical axis O (the direction in which the optical axis O and its extension line extend, or a straight line parallel to the optical axis O extends). Direction) is the optical axis direction, the subject (object) side in the optical axis direction is the front, and the image side is the rear. Further, a radial direction centering on the optical axis O (a direction in which a straight line extending perpendicularly to the optical axis O and intersecting the optical axis O) is a radial direction, and a direction approaching the optical axis O in the radial direction is an inner diameter direction, an optical axis The direction away from O is the outer diameter direction. Further, the circumferential direction around the optical axis O is defined as the circumferential direction. Unless otherwise specified, the optical axis O means an optical axis in an initial design state in which the movable unit 17 and the lens barrel 11 described later are not tilted.

  FIGS. 1 to 4 and FIGS. 6 to 8 show the appearance of the imaging apparatus 10. As shown in FIGS. 9 to 11, the imaging device 10 includes a barrel holder (movable member) 12 for inserting and supporting the lens barrel 11, and a combined body of the lens barrel 11 and the barrel holder 12 is a coil holder (fixed member) 13 and a ball. It has a basic structure in which it is movably supported in a housing composed of a holder (fixing member) 14.

  As shown in FIGS. 9, 12 to 17, 22, 34 to 36, the barrel holder 12 is an axially penetrating portion that is a hole penetrating in the optical axis direction inside a cylindrical portion 12 a surrounding the optical axis O. 12b. An annular insertion restriction flange 12c is formed near the rear end of the axial through-hole 12b so as to protrude in the inner diameter direction and reduce the inner diameter size (opening diameter) of the axial through-hole 12b.

  As shown in FIGS. 5, 9, 12 to 18, 20, 22 to 24, 34 to 37, 41, 43, and 44, the outer surface of the cylindrical portion 12 a of the barrel holder 12 is provided. Three swing guide surfaces 20 are formed. The three swing guide surfaces 20 are provided at different positions in the circumferential direction, and are distinguished by reference numerals 20A, 20B, and 20C. Each of the swing guide surfaces 20A, 20B, and 20C is a part of the same spherical surface centered on a predetermined point on the optical axis O, and the center of this spherical surface is a spherical center swing center Q (FIGS. 9, 22, and 22). FIG. 35). The swing guide surfaces 20A, 20B, and 20C have substantially the same width in the circumferential direction, and are arranged at substantially equal intervals (120 degree intervals) in the circumferential direction.

  9, 11, 14, 15, 17 to 22, 24, 35, 37, and 41 to 44, the rear end surface of the barrel holder 12 is rearward in the optical axis direction. A plurality of tilt limiting protrusions (tilting range limiting means, a movable side tilt limiting portion, and an optical axis direction protruding portion) 30 that protrude are provided. The tilt limiting protrusions 30 are a pair of tilt limiting protrusions 30A and 30B provided at the circumferential positions on both sides of the swing guide surface 20A, and a pair of tilt limits provided at the circumferential positions on both sides of the swing guide surface 20B. It consists of a total of six projections 30C, 30D and a pair of tilt limiting projections 30E, 30F provided at circumferential positions on both sides of the swing guide surface 20C. Each tilt limiting projection 30 is a projection having a hemispherical tip (end on the rear side in the optical axis direction), and the amount of protrusion from the rear end surface of the barrel holder 12 is substantially equal (see FIGS. 18 to 22).

  Further, the six tilt limiting projections 30A, 30B, 30C, 30D, 30E, and 30F have substantially the same radial distance from the optical axis O, and all the circumferential intervals between the two adjacent tilt limiting projections 30 are all the same. It is almost coincident. In other words, the rear end portions of the six tilt limiting protrusions 30A, 30B, 30C, 30D, 30E, and 30F are positioned along the optical axis when viewed along the optical axis O as shown in FIGS. When the rear end portions of the tilt limiting protrusions 30A, 30B, 30C, 30D, 30E, and 30F that are located at substantially equal intervals on the same circumference centering on O and are adjacent to each other in the circumferential direction are connected in a straight line in order, a regular hexagon is formed .

  10 to 18, 21 to 24, 34, 36, 37, 41, 43, and 44, on the swing guide surface 20A of the barrel holder 12, it is spaced apart in the circumferential direction. A pair of roll range limiting projections (rotation range limiting means, movable side rotation limiting portion, outward projection portion) 31 is provided. The swing guide surface 20A, which is a part of a spherical surface centered on the ball center swing center Q (FIGS. 9, 22, and 35), moves from the optical axis O as it advances from the front end and the rear end to the center in the optical axis direction. The pair of roll range limiting protrusions 31 are provided near the center in the optical axis direction where the distance of the swing guide surface 20A from the optical axis O is the longest. In other words, the roll range limiting projection 31 is provided at the most protruding portion in the outer diameter direction of the swing guide surface 20A.

  More specifically, the pair of roll range limiting protrusions 31 is a first plane T1 that is substantially perpendicular to the optical axis O and passes through the spherical center swing center Q (shown by a one-dot chain line in FIGS. 18, 21, and 22). Located on the top. As shown in an enlarged view in FIG. 18, each roll range limiting protrusion 31 has a flat surface 31a located at the center in the optical axis direction and a pair of curved surfaces 31b formed before and after the flat surface 31a. The pair of roll range limiting protrusions 31 are arranged in such a direction that the flat surfaces 31a face each other, and the curved surfaces 31b in a positional relationship facing each other in the circumferential direction move away from the flat surface 31a and move forward and backward in the optical axis direction. Is curved to increase the circumferential interval.

  The tips of the six tilt limiting protrusions 30A, 30B, 30C, 30D, 30E, and 30F (the apex portion of the hemispherical surface) are substantially perpendicular to the optical axis O (that is, substantially parallel to the first plane T1). And located on the second plane T2 (indicated by the alternate long and short dash line in FIGS. 18 to 22) located rearward in the optical axis direction from the center of swinging Q of the ball.

  As shown in FIGS. 12 to 17, 34 to 37, and 41 to 44, the barrel holder 12 has three support seats 21 at a circumferential position between the three swing guide surfaces 20A, 20B, and 20C. 22 and 23. The support seat 21 is positioned between the swing guide surface 20A and the swing guide surface 20C, the support seat 22 is positioned between the swing guide surface 20A and the swing guide surface 20B, and the support seat 23 is the swing guide surface. It is located between 20B and the swing guide surface 20C. The support seats 21, 22, and 23 protrude in the outer diameter direction from the support surfaces 21a, 22a, and 23a, which are part of the same cylindrical surface with the optical axis O as the center, and the support surfaces 21a, 22a, and 23a, respectively. It has magnet support protrusions 21b, 22b, and 23b. A pair of support surfaces 21a, 22a, and 23a are provided at both ends in the circumferential direction of the support seats 21, 22, and 23, respectively, and a recess is formed between each pair of support surfaces 21a, 22a, and 23a.

  As shown in FIGS. 10 to 15, 18, 18, 20, 21, 23, 24, 34, and 42, the magnet support protrusion 21b and the magnet support protrusion 22b have a small thickness in the optical axis direction and have a small circumference. These are plate-like protrusions whose longitudinal directions are directed in the direction, and their shapes are substantially common. The front and rear surfaces of the magnet support protrusion 21b and the magnet support protrusion 22b in the optical axis direction are substantially parallel to each other and are substantially perpendicular to the optical axis O. The magnet support protrusions 21b and the magnet support protrusions 22b are located at approximately the center of the support seat 21 and the support seat 22 in the optical axis direction. As shown in FIGS. 5, 9, 12 to 17, 19, 22, 22, 33 to 37, 41, 43, and 44, the magnet support protrusion 23b has a small thickness in the circumferential direction and an optical axis. It is a plate-like protrusion whose longitudinal direction is directed to the direction. Both side surfaces in the circumferential direction of the magnet support protrusion 23b are flat surfaces that are substantially parallel to each other and extend in the optical axis direction. The magnet support protrusion 23b is located at the approximate center of the support seat 23 in the circumferential direction.

  The three support seats 21, 22, and 23 have substantially the same shape of the base portions (support surfaces 21a, 22a, and 23a) except for the magnet support protrusions 21b, 22b, and 23b, and the base portions are substantially equidistant in the circumferential direction. (120 degree intervals). As shown in FIGS. 12 to 24, 34, 36, 37, 41, 43, and 44, the yoke 24 is supported on the support seat 21, and the yoke 25 is supported on the support seat 22, A yoke 26 is supported on the support seat 23. Each of the yokes 24, 25, and 26 is formed of a metal magnetic material, and the curved bottom walls 24a, 25a, and 26a along the support surfaces 21a, 22a, and 23a, and the circumferential direction of the bottom walls 24a, 25a, and 26a. A pair of standing walls 24b, 25b, and 26b projecting in the outer diameter direction from the both ends of each. Long holes 24c and 25c are formed in the bottom wall 24a of the yoke 24 and the bottom wall 25a of the yoke 25 so as to extend in the circumferential direction. The bottom wall 26a of the yoke 26 has a longitudinal direction in the optical axis direction. An elongated hole 26c is formed through. The long hole 24c and the long hole 25c have shapes into which the magnet support protrusion 21b and the magnet support protrusion 22b can be inserted, respectively, and the long hole 26c has a shape into which the magnet support protrusion 23b can be inserted. Each of the magnet support protrusions 21b, 22b, and 23b has a cross-sectional shape that is inserted into the corresponding elongated holes 24c, 25c, and 26c without rattling, and the yokes 24, 25, and 26 with respect to the barrel holder 12 in this inserted state. The positions in the optical axis direction and the circumferential direction are determined. The three yokes 24, 25, 26 have a substantially common shape with respect to the bottom walls 24a, 25a, 26a and the standing walls 24b, 25b, 26b, and only the shape of the long hole 26c with respect to the long hole 24c and the long hole 25c. Is different.

  As shown in FIGS. 16, 17, 34, 36, 37, 41, 43, and 44, the yokes 24, 25, and 26 have inner circumferences of curved bottom walls 24a, 25a, and 26a, respectively. The surface is placed on the support surfaces 21a, 22a, 23a and supported on the support seats 21, 22, 23. At this time, the magnet support protrusions 21b, 22b, and 23b protrude in the outer diameter direction through the long holes 24c, 25c, and 26c, respectively. In a state where the yokes 24, 25, and 26 are supported on the support seats 21, 22, and 23, the bottom walls 24a, 25a, and 26a are positioned on the same cylindrical surface with the optical axis O as the center. As shown in FIGS. 18 to 24, the length of the yokes 24, 25, and 26 in the optical axis direction is substantially the same as the length of the barrel holder 12 in the optical axis direction, and the magnet support protrusions 21b, 22b, and 23b With the positions determined by the engagement of the long holes 24c, 25c, and 26c, the positions of the front edges of the yokes 24, 25, and 26 and the front end surface of the barrel holder 12 in the optical axis direction overlap, and the yokes 24, 25, and 26 The edge portion and the position of the rear end surface of the barrel holder 12 in the optical axis direction overlap.

  As shown in FIGS. 10 to 18, 20, 21, 21, 23, 24, 34, 36, 37, 41, 43, and 44, the first magnet unit (first 1 tilting magnet) 27 is supported, and a second magnet unit (second tilting magnet) 28 is supported on the yoke 25. The first magnet unit 27 is composed of a pair of permanent magnets 27-1 and 27-2 having a circular arc shape with the longitudinal direction oriented in the circumferential direction, and the second magnet unit 28 is also oriented in the circumferential direction in the same manner. It consists of a pair of permanent magnets 28-1 and 28-2 that form a circular arc shape. The permanent magnet 27-1 and the permanent magnet 27-2 have the same shape, and have a larger diameter than the inner peripheral surface 27 a that is a part of the cylindrical surface centered on the optical axis O and the cylindrical surface including the inner peripheral surface 27 a. It has the outer peripheral surface 27b which is a part of concentric cylindrical surface. Each of the permanent magnet 27-1 and the permanent magnet 27-2 has a pair of longitudinal end surfaces 27c that are located at both ends in the longitudinal direction and that radially connect the inner peripheral surface 27a and the outer peripheral surface 27b, and a pair of longitudinal directions. It has a pair of side surfaces 27d and 27e extending in the longitudinal direction between the end surfaces 27c and connecting the inner peripheral surface 27a and the outer peripheral surface 27b in the radial direction. The permanent magnet 28-1 and the permanent magnet 28-2 are both magnets having the same shape as the permanent magnet 27-1 and the permanent magnet 27-2, and have the same inner peripheral surface 28a as the permanent magnets 27-1, 27-2, It has an outer peripheral surface 28b, a pair of longitudinal end surfaces 28c, and a pair of side surfaces 28d and 28e.

  The first magnet unit 27 is arranged in parallel in the optical axis direction (the short direction of the permanent magnet 27-1 and the permanent magnet 27-2) so that the permanent magnet 27-1 is the front and the permanent magnet 27-2 is the rear. Arranged on the yoke 24. As shown in FIGS. 16 to 18, 21, 23, 24, 34, 36, 37, 41, 43, and 44, each of the permanent magnet 27-1 and the permanent magnet 27-2. The inner peripheral surface 27a is placed on the bottom wall 24a, and the pair of longitudinal end surfaces 27c oppose the pair of standing walls 24b. The inner peripheral surface 27a is a curved surface along the bottom wall 24a, and the permanent magnet 27-1 and the permanent magnet 27-2 are stably supported in the radial direction by contact between the inner peripheral surface 27a and the bottom wall 24a. Further, the circumferential positions of the permanent magnet 27-1 and the permanent magnet 27-2 are determined by sandwiching the pair of longitudinal end faces 27c between the pair of standing walls 24b. Further, the permanent magnet 27-1 and the permanent magnet 27-2 are optically sandwiched between the side surface 27e of the permanent magnet 27-1 and the side surface 27d of the permanent magnet 27-2 by sandwiching the magnet support projection 21b protruding through the long hole 24c. Axially spaced apart at a predetermined interval in the axial direction. The magnet support protrusion 21b is shorter in the circumferential direction than the permanent magnet 27-1 and the permanent magnet 27-2, and the magnet support protrusion 21b is sandwiched near the longitudinal center of the permanent magnet 27-1 and the permanent magnet 27-2. An adhesive injection space M1 is formed between the side surface 27e of the permanent magnet 27-1 and the side surface 27d of the permanent magnet 27-2 (FIGS. 18 and 21). In the state supported by the yoke 24 and the magnet support projection 21b, the side surface 27d of the permanent magnet 27-1 is at substantially the same optical axis position as the front end surface of the barrel holder 12 (the front edge portion of the yoke 24). The second side surface 27e is located at substantially the same position in the optical axis direction as the rear end surface of the barrel holder 12 (the rear edge portion of the yoke 24) (FIGS. 18, 21, 23, and 24). That is, the sum of the widths of the permanent magnet 27-1, the magnet support projection 21b, and the permanent magnet 27-2 in the optical axis direction is substantially equal to the length of the barrel holder 12 and the yoke 24 in the optical axis direction. The unit 27 is supported without protruding in front of and behind the barrel holder 12.

  The second magnet unit 28 is arranged in parallel in the optical axis direction (the short direction of the permanent magnet 28-1 and the permanent magnet 28-2) so that the permanent magnet 28-1 is the front and the permanent magnet 28-2 is the rear. Arranged on the yoke 25. As shown in FIGS. 16 to 18, 20, 23, 24, 34, 36, 37, 41 to 44, the inner circumferences of the permanent magnet 28-1 and the permanent magnet 28-2, respectively. The surface 28a is placed on the bottom wall 25a, and the pair of longitudinal end surfaces 28c are opposed to the pair of standing walls 25b. The inner peripheral surface 28a is a curved surface along the bottom wall 25a, and the permanent magnet 28-1 and the permanent magnet 28-2 are stably supported in the radial direction by contact between the inner peripheral surface 28a and the bottom wall 25a. Further, the circumferential positions of the permanent magnet 28-1 and the permanent magnet 28-2 are determined by sandwiching the pair of longitudinal end faces 28c between the pair of standing walls 25b. Further, the permanent magnet 28-1 and the permanent magnet 28-2 are made light by sandwiching the magnet support projection 22b protruding through the long hole 25c between the side surface 28e of the permanent magnet 28-1 and the side surface 28d of the permanent magnet 28-2. Axially spaced apart at a predetermined interval in the axial direction. The magnet support projection 22b is shorter in the circumferential direction than the permanent magnet 28-1 and the permanent magnet 28-2, and the magnet support projection 22b is sandwiched near the longitudinal center of the permanent magnet 28-1 and the permanent magnet 28-2. The adhesive injection space M2 is formed between the side surface 28e of the permanent magnet 28-1 and the side surface 28d of the permanent magnet 28-2 (FIGS. 18, 20, 23, and 24). In the state supported by the yoke 25 and the magnet support protrusion 22b, the side surface 28d of the permanent magnet 28-1 is substantially at the same position in the optical axis direction as the front end surface of the barrel holder 12 (the front edge portion of the yoke 25). The second side surface 28e is located at substantially the same position in the optical axis direction as the rear end surface of the barrel holder 12 (the rear edge portion of the yoke 25) (FIGS. 18, 20, 23, and 24). That is, the sum of the widths of the permanent magnet 28-1, the magnet support protrusion 22b, and the permanent magnet 28-2 in the optical axis direction is substantially equal to the length of the barrel holder 12 and the yoke 25 in the optical axis direction. The unit 28 is supported without protruding forward and backward of the barrel holder 12.

  As shown in FIGS. 9 to 17, 19, 20, 22, 22 to 24, 34, 36, 37, and 41 to 44, a third magnet unit (rotating magnet) is provided on the yoke 26. 29 is supported. The third magnet unit 29 includes a pair of permanent magnets 29-1 and 29-2 whose longitudinal direction is directed in the optical axis direction. The permanent magnet 29-1 and the permanent magnet 29-2 have the same shape, and have a larger diameter than the inner peripheral surface 29a, which is a part of the cylindrical surface centered on the optical axis O, and the cylindrical surface including the inner peripheral surface 29a. It has the outer peripheral surface 29b which is a part of concentric cylindrical surface. Each of the permanent magnet 29-1 and the permanent magnet 29-2 is located at both ends in the longitudinal direction and has a pair of longitudinal end surfaces 29c that connect the inner peripheral surface 29a and the outer peripheral surface 29b in the radial direction, and a pair of longitudinal directions. It has a pair of side surfaces 29d and 29e that extend in the longitudinal direction between the end surfaces 29c and connect the inner peripheral surface 29a and the outer peripheral surface 29b in the radial direction.

  Unlike the first magnet unit 27 and the second magnet unit 28, the third magnet unit 29 has a permanent magnet 29-1 and a permanent magnet 29-2 arranged in the circumferential direction (the short sides of the permanent magnet 29-1 and the permanent magnet 29-2). Arranged on the yoke 26 in parallel. As shown in FIGS. 9, 16, 17, 19, 22 to 24, 34, 36, 37, 41, 43, and 44, the permanent magnet 29-1 and the permanent magnet 29- 2 are placed on the bottom wall 26a, the side surface 29d of the permanent magnet 29-1 is opposed to one of the pair of standing walls 26b, and the side surface 29e of the permanent magnet 29-2 is paired with the pair of standing walls 26b. Opposite the other. The inner peripheral surface 29a is a curved surface along the bottom wall 26a, and the permanent magnet 29-1 and the permanent magnet 29-2 are stably supported in the radial direction by contact between the inner peripheral surface 29a and the bottom wall 26a. The permanent magnet 29-1 and the permanent magnet 29-2 are circumferentially sandwiched between the side surface 29e of the permanent magnet 29-1 and the side surface 29d of the permanent magnet 29-2 by sandwiching the magnet support protrusion 23b protruding through the long hole 26c. They are spaced in parallel at a predetermined interval. The magnet support protrusion 23b is shorter in the optical axis direction than the permanent magnet 29-1 and the permanent magnet 29-2, and the magnet support protrusion 23b is sandwiched near the center in the longitudinal direction of the permanent magnet 29-1 and the permanent magnet 29-2. Thus, an adhesive injection space M3 is formed between the side surface 29e of the permanent magnet 29-1 and the side surface 29d of the permanent magnet 29-2 (FIGS. 19 and 22). The permanent magnet 29-1 and the permanent magnet 29-2 sandwiching the magnet support protrusion 23b are sandwiched from both sides by a pair of standing walls 26b, and the circumferential position of the third magnet unit 29 is determined. In other words, the sum of the circumferential widths of the permanent magnet 29-1, the magnet support projection 23b, and the permanent magnet 29-2 is substantially equal to the distance between the pair of standing walls 26b of the yoke 26 in the circumferential direction. . The lengths of the permanent magnet 29-1 and the permanent magnet 29-2 in the optical axis direction (the distance between the pair of longitudinal end surfaces 29c) are substantially the same as the lengths of the barrel holder 12 and the yoke 26 in the optical axis direction. Each of the permanent magnet 29-1 and the permanent magnet 29-2 is supported without a pair of longitudinal end faces 29c overlapping the front and rear end faces (front and rear edges of the yoke 26) of the barrel holder 12, and projecting forward and backward. (FIG. 19, FIG. 22).

  Adhesive is injected into each of the adhesive injection spaces M1, M2, and M3. The yoke 24 and the first magnet unit 27 are fixed to the barrel holder 12 by the adhesive injected into the adhesive injection space M1, and the yoke 25 and the second magnet unit 28 are connected to the barrel holder by the adhesive injected into the adhesive injection space M2. 12 and the yoke 26 and the third magnet unit 29 are fixed to the barrel holder 12 by the adhesive injected into the adhesive injection space M3.

  By assembling the yokes 24, 25, and 26 and the magnet units 27, 28, and 29 to the barrel holder 12 as described above, the movable unit 17 that is the subassembly shown in FIGS. In the movable unit 17, a set of the yoke 24 and the first magnet unit 27 (including the magnet support protrusion 21b), a set of the yoke 25 and the second magnet unit 28 (including the magnet support protrusion 22b), the yoke 26 and the third Each set of the magnet units 29 (including the magnet support protrusions 23b) has substantially the same size in the circumferential direction and the optical axis direction, and these three sets are arranged at substantially equal intervals (120 degree intervals) in the circumferential direction.

  As shown in FIGS. 5, 16, 17, 34, 36, 37, 43, and 44, the magnet units 27, 28, and 29 in the movable unit 17 have outer peripheral surfaces 27b, 28b, 29b is located on the same cylindrical surface centered on the optical axis O, and has a diameter smaller than that of the cylindrical surface including the outer peripheral surfaces 27b, 28b, and 29b, and on another same cylindrical surface centered on the optical axis O. The inner peripheral surfaces 27a, 28a and 29a are located.

  The north pole and south pole of each permanent magnet constituting the first magnet unit 27, the second magnet unit 28, and the third magnet unit 29 in the movable unit 17 are denoted by the reference numerals in FIGS. 13, 15 to 17, 36, and 37. “N” and “S” are conceptually represented. Each permanent magnet is magnetized so that the N pole and the S pole are aligned in the radial direction. The permanent magnet 27-1, the permanent magnet 28-2, and the permanent magnet 29-1 have an S inner diameter side and an N outer diameter side, respectively. The permanent magnet 27-2, the permanent magnet 28-1, and the permanent magnet 29-2 each have an N-pole on the inner diameter side and an S-pole on the outer diameter side.

  As shown in FIGS. 9, 25 to 28, 30 to 32, and 35, the coil holder 13 includes an axial through portion 13 b that penetrates in the optical axis direction inside a cylindrical portion 13 a that surrounds the optical axis O. Have. A front wall 13c protruding in the inner diameter direction is formed at the front end of the coil holder 13, and the circular central opening 13d formed as the inner edge portion of the front wall 13c has a smaller opening diameter than the axial through-hole 13b.

  As shown in FIGS. 5, 9 to 11, 25 to 28, 30 to 32, 34, 35, 41, 43, and 44, the coil holder 13 has an axial through-hole 13 b. Are provided with three support seats (inward protruding portions) 40 protruding in the inner diameter direction from the inner peripheral surface of the cylindrical portion 13a. The three support seats 40 are provided at substantially equal intervals (120 degree intervals) in the circumferential direction, and are distinguished by reference numerals 40A, 40B, and 40C. Each support seat 40 has side surfaces 44 on both sides in the circumferential direction, and has a wedge-shaped cross-sectional shape that narrows the distance (width in the circumferential direction) between the pair of side surfaces 44 as it advances in the inner diameter direction. Of the three support seats 40A, 40B, and 40C, the side surface 44 of the support seat (rotation range restricting means, fixed side rotation restricting portion) 40A is a restricting surface 44A, and in FIG. 34, FIG. 41, FIG. , 40C is omitted, and only the side 44 (regulating surface 44A) of the support seat 40A is attached. A ball holding groove 41 is formed at the inner end of each support seat 40. The ball holding groove 41 is a bottomed long groove whose longitudinal direction is oriented in the optical axis direction. The bottom surface is located in the outer diameter direction and is opened in the inner diameter direction. The rear end of the ball holding groove 41 in the optical axis direction is open, and the front end of the ball holding groove 41 is closed by a front regulating wall 41a adjacent to the front wall 13c. As shown in FIG. 9 and FIG. 30, the region near the front end of the ball holding groove 41 provided with the front regulating wall 41a has a larger protruding amount in the inner diameter direction of each support seat 40 than the rear portion thereof, The depth of the holding groove 41 is increased. A screw hole 42 having a thread groove inside is formed in the rear end surface of each support seat 40. A contact surface 43 is formed in an annular region around each screw hole 42. Each contact surface 43 is a plane that is substantially perpendicular to the optical axis O and faces rearward.

  As shown in FIGS. 9, 11, 25, 27, 28, 30, 32, and 34, the cylindrical portion 13 a of the coil holder 13 has three through holes 45 and 46 that penetrate in the radial direction. , 47 are formed. The through holes 45, 46, and 47 are located at the circumferential position between the three support seats 40, the through hole 45 is located between the support seat 40A and the support seat 40C, and penetrates between the support seat 40A and the support seat 40B. The hole 46 is located, and the through hole 47 is located between the support seat 40B and the support seat 40C. Each of the through holes 45 and 46 is a long hole having a longitudinal direction in the circumferential direction, and has a developed shape that is substantially rectangular when the cylindrical portion 13a is developed in a planar shape. The circumferential lengths of the through hole 45 and the through hole 46 are substantially equal, and the lengths of the through hole 45 and the through hole 46 in the optical axis direction are also substantially equal. The through hole 47 also has a developed shape that is substantially rectangular when the cylindrical portion 13a is developed in a planar shape, but the ratio of the circumferential length to the optical axis length is different from the through hole 45 and the through hole 46. The circumferential length of the through hole 47 is smaller than the circumferential length of the through hole 45 and the through hole 46, and the optical axis length of the through hole 47 is larger than the optical axis length of the through hole 45 and the through hole 46. When the center of the length of the through holes 45, 46, 47 in the circumferential direction is set as the reference position in the circumferential direction, the reference positions of the three through holes 45, 46, 47 are substantially equally spaced in the circumferential direction (120 degree intervals). It is a relationship.

  On the outer peripheral surface of the cylindrical portion 13 a of the coil holder 13, bottomed support concave portions 48, 49, 50 are formed around the through holes 45, 46, 47. The support recesses 48 and 49 are recesses whose longitudinal direction faces in the circumferential direction, and the circumferential length and the optical axis length are substantially equal to each other. The support recess 50 is a recess that is shorter in the circumferential direction and longer in the optical axis direction than the support recesses 48 and 49 (see FIG. 33).

  As shown in FIGS. 1, 2, 6 to 11, 25 to 29, 31, 32, and 35, coil support plates 51, 52, and 53 are provided on the support recesses 48, 49, and 50, respectively. Supported. The coil support plates 51, 52, 53 are curved plate-like members along the outer peripheral surface of the cylindrical portion 13 a, and are outer surfaces of the coil support plates 51, 52, 53 while being supported on the support recesses 48, 49, 50. Is substantially flush with the outer peripheral surface of the cylindrical portion 13a. That is, the coil support plates 51, 52, and 53 are located on the same cylindrical surface with the optical axis O as the center. The coil support plate 51 and the coil support plate 52 have a substantially common shape, and coil support projections 51a and 52a projecting in the inner diameter direction are formed in the vicinity of the respective centers in the circumferential direction and the optical axis direction. , 52a are provided with sensor support recesses 51b, 52b. The coil support plate 53 is shorter in the circumferential direction than the coil support plate 51 and the coil support plate 52 and is longer in the optical axis direction. Near the center of the coil support plate 53 in the circumferential direction and the optical axis direction, a coil support projection 53a that projects in the inner diameter direction is formed, and a sensor support recess 53b is formed on the back side of the coil support projection 53a. The coil support plates 51, 52, 53 are further formed with through holes 51c, 52c, 53c penetrating in the radial direction.

  The coil support plate 51 supports a first coil (tilting drive means, first tilting coil) 54, and the coil support plate 52 supports a second coil (tilting drive means, second tilting coil) 55. The third coil (rotation drive means, rotation coil) 56 is supported on the coil support plate 53. Each of the first coil 54 and the second coil 55 has an air core in which circumferential ends of each pair of long side portions 54a and 55a extending in the circumferential direction are connected by a pair of short side portions 54b and 55b extending in the optical axis direction. It is a coil. The third coil 56 is an air-core coil in which end portions in the optical axis direction of the pair of long side portions 56a extending in the optical axis direction are connected by a pair of short side portions 56b extending in the circumferential direction. The first coil 54 and the second coil 55 have substantially the same shape, the circumferential lengths of the long side portions 54a and 55a are substantially equal, and the lengths of the short side portions 54b and 55b in the optical axis direction are substantially equal. The length in the optical axis direction of the long side portion 56 a of the third coil 56 is larger than the length in the optical axis direction of the short side portions 54 b and 55 b of the first coil 54 and the second coil 55, and the short side portion 56 b of the third coil 56. The circumferential length is smaller than the circumferential lengths of the long sides 54 a and 55 a of the first coil 54 and the second coil 55. Each coil 54, 55, 56 includes a curved outer peripheral surface 54c, 55c, 56c, which is a part of a cylindrical surface along the inner peripheral surface of the coil support plate 51, 52, 53, and an outer peripheral surface 54c, 55c, 56c. It has curved inner peripheral surfaces 54d, 55d, 56d located on a cylindrical surface having a smaller diameter than the cylindrical surface.

  The first coil 54 has a coil support protrusion 51a inserted in a hollow portion surrounded by a pair of long side portions 54a and a pair of short side portions 54b, and the outer peripheral surface 54c is brought into contact with the inner peripheral surface of the coil support plate 51. Attached to the coil support plate 51. The coil support plate 51 and the first coil 54 are fixed by adhesion or the like. When the coil support plate 51 is supported on the support recess 48 of the coil holder 13 in this state, the first coil 54 is inserted into the through hole 45 and the inner peripheral surface 54d faces the inner diameter side of the coil holder 13 (FIG. 5). 32, 34, 36, 41, 43, and 44).

  The second coil 55 has a coil support protrusion 52a inserted into a hollow portion surrounded by the pair of long side portions 55a and the pair of short side portions 55b, and the outer peripheral surface 55c is brought into contact with the inner peripheral surface of the coil support plate 52. Attached to the coil support plate 52. The coil support plate 52 and the second coil 55 are fixed by bonding or the like. When the coil support plate 52 is supported on the support recess 49 of the coil holder 13 in this state, the second coil 55 is inserted into the through hole 46 and the inner peripheral surface 55d faces the inner diameter side of the coil holder 13 (FIG. 5). 34, 36, 41 to 44).

  The third coil 56 has a coil support protrusion 53a inserted into a hollow portion surrounded by the pair of long side portions 56a and the pair of short side portions 56b, and the outer peripheral surface 56c is brought into contact with the inner peripheral surface of the coil support plate 53. Attached to the coil support plate 53. The coil support plate 53 and the third coil 56 are fixed by adhesion or the like. When the coil support plate 53 is supported on the support recess 50 of the coil holder 13 in this state, the third coil 56 is inserted into the through hole 47 and the inner peripheral surface 56d faces the inner diameter side of the coil holder 13 (FIG. 5). 9, 32, 34, 36, 35, 41, 43, 44).

  FIG. 34 shows the positional relationship between the coils 54, 55, and 56 attached to the coil holder 13 via the coil support plates 51, 52, and 53. As can be seen from FIG. 34, in each of the coils 54, 55, and 56, the outer peripheral surfaces 54c, 55c, and 56c are positioned on the same cylindrical surface with the optical axis O as the center, and the outer peripheral surfaces 54c, 55c, and 56c are The inner peripheral surfaces 54d, 55d, and 56d are located on the same other cylindrical surface that is smaller in diameter than the included cylindrical surface and that has the optical axis O as the center.

  As shown in FIGS. 1, 2, 6 to 11, 25 to 29, 31, and 32, Hall sensors (in the sensor support recesses 51 b, 52 b, and 53 b of the coil support plates 51, 52, and 53). Magnetic sensors) 57, 58 and 59 are attached. The sensor support recesses 51b, 52b, and 53b are respectively recessed using the internal spaces of the coil support protrusions 51a, 52a, and 53a that protrude in the inner diameter direction, and are recesses that are open toward the outer diameter direction. Yes. Therefore, the Hall sensors 57, 58, 59 attached in the sensor support recesses 51b, 52b, 53b are held in a state of being fitted inside the hollow portions of the coils 54, 55, 56 (see FIGS. 9 and 34). ). As shown in FIGS. 34 and 37, the hall sensors 57, 58, 59 in this holding state are positioned at substantially equal intervals (120 degree intervals) in the circumferential direction, and are the same cylinder centered on the optical axis O. Located on the surface (the radial distance from the optical axis O is substantially equal).

  As described above, by assembling the first coil 54, the second coil 55, the third coil 56 and the hall sensors 57, 58, 59 to the coil holder 13 through the coil support plates 51, 52, 53, FIG. The fixed unit 18 which is the subassembly shown in FIGS. 31 and 32 is configured.

  Three fixed-position balls 61 and three biasing balls 62 (FIGS. 5, 9 to 11, 35, 37, 41 to 41) are disposed in the axial through-hole 13b of the fixed unit 18 (coil holder 13). 44), the movable unit 17 (barrel holder 12) is supported. Each fixed-position ball 61 and each biasing ball 62 are metal spherical bodies having substantially the same diameter. One fixed-position ball 61 and one urging ball 62 are inserted into each of the ball holding grooves 41 of the three support seats 40A, 40B, and 40C provided in the coil holder 13, for a total of six fixed-position balls 61 and urging balls. The barrel holder 12 is supported at 62. Each of the three fixed-position balls 61 is held at the front end portion of the ball holding groove 41 where the front restricting wall 41 a is formed, and each of the three urging balls 62 is held near the rear end of the ball holding groove 41. The diameter of each fixed-position ball 61 and each biasing ball 62 and the groove width of the ball holding groove 41 are substantially the same, and the movement of the fixed-position ball 61 and the biasing ball 62 in the circumferential direction with respect to the ball holding groove 41 is restricted. The

  The movable unit 17 is configured such that the circumferential positions of the swing guide surfaces 20A, 20B, and 20C formed on the barrel holder 12 correspond to the support seats 40A, 40B, and 40C (opposite in the radial direction), and the axial through portion 13b. Inserted inside. Then, the swing guide surface 20A comes into contact with the fixed-position ball 61 and the urging ball 62 supported on the ball holding groove 41 of the support seat 40A, and the swing guide surface 20B is on the ball hold groove 41 of the support seat 40B. The supported fixed-position ball 61 and the biasing ball 62 are in contact with each other, and the swing guide surface 20C is in contact with the fixed-position ball 61 and the biasing ball 62 supported on the ball holding groove 41 of the support seat 40C.

  In this state, the three fixed-position balls 61 are sandwiched between the corresponding swing guide surfaces 20A, 20B, and 20C and the bottom surface of the ball holding groove 41, and further abut against the front regulation wall 41a, thereby Movement in the radial direction is restricted (position is determined). More specifically, as can be seen from FIGS. 9 and 35, the fixed-position ball 61 is restricted from moving in the outer diameter direction by the bottom surface of the ball holding groove 41, and is moved forward in the optical axis direction by the front restriction wall 41a. Be regulated. In the region facing the front half of the ball holding groove 41 in the optical axis direction, the swing guide surfaces 20A, 20B, and 20C have an inclination that advances from the inner diameter side to the outer diameter side as it advances from the front to the rear in the optical axis direction. (See FIGS. 9, 22, and 35). Therefore, the fixed-position ball 61 is restricted from moving backward in the inner diameter direction and the optical axis direction by the swing guide surfaces 20A, 20B, and 20C. In other words, the rocking guide surfaces 20A, 20B, 20C, the front regulating wall 41a, and the bottom surface of the ball holding groove 41 form a wedge-shaped space whose width in the radial direction decreases from the front to the rear in the optical axis direction. In this wedge-shaped space, the fixed-position ball 61 is in a state of being fitted with its movement restricted. As described above, the fixed-position ball 61 is held at a fixed position in which movement is restricted in any of the optical axis direction, the circumferential direction, and the radial direction by assembling the movable unit 17. The fixed-position ball 61 can roll at this fixed position (rolling operation with its own center position kept constant).

  The swing guide surfaces 20A, 20B, and 20C have a slope that advances from the inner diameter side to the outer diameter side as it advances from the rear to the front in the optical axis direction in the region facing the rear half of the ball holding groove 41 in the optical axis direction. (See FIGS. 9, 22, and 35). That is, the swinging guide surfaces 20A, 20B, and 20C are reversely inclined at the portion that contacts the fixed-position ball 61 and the portion that contacts the biasing ball 62. Therefore, when the urging ball 62 is sandwiched between the corresponding swing guide surfaces 20A, 20B, and 20C and the bottom surface of the ball holding groove 41, movement in the outer diameter direction is restricted by the bottom surface of the ball holding groove 41. In addition, the forward movement in the inner diameter direction and the optical axis direction is restricted by the swing guide surfaces 20A, 20B, and 20C. However, since the urging balls 62 are positioned in the vicinity of the opening at the rear end of the ball holding groove 41, the urging balls 62 are exposed at the stage where the ball holder 14 is not attached to the fixed unit 18 (FIGS. 5, 35, 37, FIG. 41, FIG. 43, and FIG. 44), the movement of each urging ball 62 rearward in the optical axis direction is not restricted.

  The ball holder 14 is assembled in the axial through portion 13 b of the coil holder 13. As shown in FIGS. 9 to 11, the ball holder 14 is a disk-shaped member having a diameter that fits in the inner peripheral portion of the axial through-hole 13 b, and includes a circular central opening 14 a located in the radial center and a central opening 14 a. A plate-like lid portion 14b that surrounds the outer diameter side, and an annular outer peripheral flange 14c that protrudes forward from the outer edge portion of the lid portion 14b in the optical axis direction. Three front protrusions 65 are provided on the front surface side of the lid portion 14b at substantially equal intervals (120 degree intervals) in the circumferential direction. Each front protrusion 65 has a screw insertion hole 66 penetrating in the optical axis direction, and a ball holding surface 67 facing forward is formed on the inner diameter side of the screw insertion hole 66. Further, on the front surface side of the lid portion 14b, a tilt restricting surface (tilt range limiting means, fixed side tilt restricting portion, restricting surface) 68 is formed in an annular region surrounding the central opening 14a. Each of the ball holding surface 67 and the tilt regulating surface 68 is a plane substantially perpendicular to the optical axis O. As shown in FIG. 9, the screw insertion hole 66 has three different inner diameters, the largest diameter portion 66a having the largest inner diameter size and the smallest diameter portion 66b having the rearmost portion and the foremost portion in the optical axis direction. An intermediate portion 66c having an intermediate inner diameter size is formed at a position in the optical axis direction therebetween.

  The ball holder 14 is circumferentially positioned so that the three front protrusions 65 are opposed to the rear surface of the three support seats 40A, 40B, 40C of the coil holder 13 in the optical axis direction. It is inserted in from the rear in the optical axis direction. Three front protrusions 65 facing the support seats 40A, 40B, and 40C are referred to as front protrusions 65A, 65B, and 65C, respectively. The ball holder 14 inserted into the axial direction through portion 13 b is fixed to the coil holder 13 using three fixing screws 69.

  As shown in FIGS. 9 to 11, each of the three fixing screws 69 has a threaded portion 69a having a thread groove on the outer peripheral surface at one end, a head 69b at the other end, The head 69b is connected by a shaft 69c. The diameter of the head portion 69 b is larger than the inner diameter of the intermediate portion 66 c of the screw insertion hole 66 in the ball holder 14 and smaller than the inner diameter of the large diameter portion 66 a. The diameter of the shaft portion 69 c is substantially the same as the inner diameter of the small diameter portion 66 b of the screw insertion hole 66. Each fixing screw 69 is inserted into the screw insertion hole 66 from the rear in the optical axis direction with the screwing portion 69a facing forward, and the screwing portion 69a is screwed into the screw groove in the screw hole 42. As shown in FIG. 9, a cylindrical coil spring 70 surrounding the shaft portion 69c is inserted into the intermediate portion 66c of the screw insertion hole 66, and the front end portion of the coil spring 70 is a step portion between the small diameter portion 66b and the intermediate portion 66c. The rear end of the coil spring 70 contacts the head 69b of the fixed screw 69. As the screwing amount of the screwing portion 69a into the screw hole 42 increases, the coil spring 70 is compressed by pushing the head 69b, and the compressed coil spring 70 biases the ball holder 14 forward in the optical axis direction. Work.

  Each fixed screw 69 has a limit of tightening into the screw hole 42 at a position in FIG. 9 where the front end portion of the shaft portion 69 c contacts the contact surface 43 of the coil holder 13. In this state, the ball holding surfaces 67 of the front protrusions 65A, 65B, and 65C formed on the ball holder 14 abut against the urging ball 62 from the rear, and forward in the optical axis direction applied to the ball holder 14 from the coil spring 70. Each urging ball 62 receives this urging force. As shown in FIG. 9, in the vicinity of the rear end of the ball holding groove 41 in which the urging ball 62 is inserted, the bottom surface of the ball holding groove 41 and the swing guide surfaces 20A, 20B, and 20C are moved forward in the optical axis direction. The wedge-shaped space in which the radial interval is reduced and the urging ball 62 that receives the urging force from the ball holding surface 67 is pushed in a direction in which the wedge-shaped space is narrowed. The urging ball 62 is supported in a stable state. Further, the ball holding surface 67 prevents the urging ball 62 from falling backward from the ball holding groove 41. In order to ensure that the urging ball 62 and the ball holding surface 67 are in contact with each other, a slight gap between the front surface of each of the front protrusions 65A, 65B, and 65C and the contact surface 43 in the optical axis direction in the state shown in FIG. The gap is secured. Further, there is a slight gap in the optical axis direction between the step portion between the intermediate portion 66 c and the large diameter portion 66 a in the screw insertion hole 66 and the head portion 69 b of the fixed screw 69. Therefore, it is possible to slightly change the position and inclination of the ball holder 14 in the optical axis direction between the front and rear ranges regulated by the contact surface 43 and the head 69b, and thereby the positions of the three biasing balls 62 can be changed. It is possible to perform stable holding by absorbing variations in the thickness.

  As described above, the movable unit 17 (barrel holder 12) supported in the axial through-hole 13b of the fixed unit 18 (coil holder 13) via the three fixed-position balls 61 and the three urging balls 62 has each fixed While changing the contact positions of the three swing guide surfaces 20A, 20B, and 20C with respect to the position ball 61 and each biasing ball 62, a spherical center swing center that is the center of the spherical surface including the swing guide surfaces 20A, 20B, and 20C. It is possible to perform a freely rotating operation around Q. During the rotation of the movable unit 17 (barrel holder 12), the fixed position ball 61 and the urging ball 62 may roll as the position of the swing guide surfaces 20A, 20B, and 20C changes. The swing guide surfaces 20A, 20B, and 20C may slide without causing the 61 or the urging ball 62 to roll. Since the swing guide surfaces 20A, 20B, and 20C and the fixed-position balls 61 and the urging balls 62 are in a point contact relationship, the movable unit 17 can be smoothly operated with little resistance in any aspect.

  The lens barrel 11 is supported in the barrel holder 12 constituting the movable unit 17. The lens barrel 11 is a cylindrical body that holds therein an imaging optical system L (see FIGS. 9 and 35) composed of a plurality of lenses. As shown in FIGS. 9 to 11, the diameter of the lens barrel 11 is changed step by step as it advances in the optical axis direction, and the largest diameter portion 11a having the largest diameter is provided at the forefront portion in the optical axis direction. In addition, an intermediate portion 11b having a smaller diameter than the large-diameter portion 11a is provided behind the small-diameter portion 11c having the smallest diameter at the rearmost portion in the optical axis direction.

  The lens barrel 11 is inserted into the axial through portion 12b of the barrel holder 12 from the front with the small-diameter portion 11c facing rearward, and the step portion between the intermediate portion 11b and the small-diameter portion 11c contacts the front surface of the insertion restriction flange 12c. Thus, further insertion in the optical axis direction is restricted (FIG. 9). As shown in FIGS. 1, 2, 6 to 9, 23, and 24, in this state, the small diameter portion 11c protrudes behind the barrel holder 12 through the inside of the insertion restriction flange 12c, and the large diameter portion 11a It is located in front of the barrel holder 12 without being inserted into the axial through-hole 12b. A peripheral screw 11d (FIGS. 9 to 11 and FIG. 35) is formed on the outer peripheral surface of the small diameter portion 11c projecting rearward from the barrel holder 12, and a presser ring 15 is attached to the peripheral screw 11d. The presser ring 15 is an annular body having a thread groove on the inner peripheral surface that is screwed into the peripheral surface screw 11d. The presser ring 15 is tightened until it comes into contact with the rear surface of the insertion restricting flange 12c, so that the barrel is fixed to the barrel holder 12. 11 is fixed. As shown in FIG. 9, the opening diameter of the central opening 14a of the ball holder 14 is larger than the diameter of the presser ring 15. After the ball holder 14 is attached to the coil holder 13, the presser ring 15 can be attached and detached through the central opening 14a. It is.

  Since the large-diameter portion 11a of the lens barrel 11 and the barrel holder 12 have a radial size that does not pass through the central opening 13d of the front wall 13c of the coil holder 13, the lens barrel 11 is in the axial direction of the coil holder 13. The barrel holder 12 can be inserted into the through-hole 13b from the front in the optical axis direction, and the barrel holder 12 can be inserted into the axial through-hole 13b of the coil holder 13 from the rear in the optical axis direction. As a procedure for assembling the imaging device 10, the movable unit 17 including the barrel holder 12 is inserted into the axial penetration portion 13 b of the coil holder 13 from the rear side, and then the ball holder 14 is attached. The lens barrel 11 may be inserted from the front with respect to 12b, and the presser ring 15 is assembled through the central opening 14a of the ball holder 14 to fix the lens barrel 11 to the barrel holder 12. When the movable unit 17 is attached, the circumferential position is determined so that the support seat 40A is positioned between the pair of roll range limiting protrusions 31 as shown in FIGS. Then, the flat surface 31a and the curved surface 31b of the one roll range limiting protrusion 31 are opposed to the one restricting surface 44A of the support seat 40A, and the flat surface 31a and the curved surface 31b of the other roll range limiting protrusion 31 are the support seat 40A. It faces the other restriction surface 44A. Further, the fixed-position balls 61 are stored in the respective ball holding grooves 41 before the movable unit 17 is inserted into the axial direction through portion 13 b of the coil holder 13, and the urging balls 62 are inserted into the ball holding grooves 41 after the movable unit 17 is inserted. And the ball holder 14 is attached.

  The lens barrel 11 inserted in the axial through-hole 12b of the barrel holder 12 has a large-diameter portion 11a protruding forward of the coil holder 13 and a rear end portion of the small-diameter portion 11b protruding rearward of the coil holder 13. An annular balancer 16 is attached to the outer periphery of the diameter portion 11a, and an image sensor unit 19 is attached to the rear end portion of the small diameter portion 11b. The lens barrel 11 and the movable unit 17 integrally perform a freely rotating operation around the above-described ball center swing center Q. By providing the balancer 16 at the front end portion of the lens barrel 11 with respect to the image sensor unit 19 provided at the rear end portion of the lens barrel 11, the center of gravity of the movable portion consisting of the lens barrel 11 and the movable unit 17 swings in the center of the ball. The weight is balanced so as to substantially coincide with the center Q.

  The image sensor unit 19 has an image sensor 19a (FIG. 9) whose light receiving surface is located on the optical axis O. A subject image obtained through the imaging optical system L is photoelectrically converted by the image sensor 19a, and the image signal is converted into an image signal. It is transmitted through the flexible substrate 19b. The flexible substrate 19b is connected to a control circuit 71 (conceptually shown in FIG. 9) that controls the imaging apparatus 10, and processes image signals in the control circuit 71 to display an image on a display device and image data on a recording medium. Record. Further, a signal from an attitude detection sensor 72 (FIG. 9) that detects the attitude of the imaging apparatus 10 is input to the control circuit 71.

  The coils 54, 55, 56 and the hall sensors 57, 58, 59 are assembled to the coil holder 13 at any stage before and after the movable unit 17 and the lens barrel 11 are attached to the coil holder 13. it can. As described above, the coil support plates 51, 52, 53 with the coils 54, 55, 56 attached are placed on the support recesses 48, 49, 50 of the coil holder 13 and fixed by bonding or the like. Coils 54, 55, 56 are inserted into the through holes 45, 46, 47. The inner peripheral surface 54d of the first coil 54 exposed through the through hole 45 and into the axial through portion 13b of the coil holder 13 is the permanent magnets 27-1 and 27-2 of the first magnet unit 27 constituting the movable unit 17. Is located opposite the outer peripheral surface 27b. Similarly, the inner peripheral surface 55d of the second coil 55 exposed in the axial through portion 13b of the coil holder 13 through the through hole 46 is the outer peripheral surface of each of the permanent magnets 28-1, 28-2 of the second magnet unit 28. The inner peripheral surface 56d of the third coil 56 that is located opposite to the b 28b and is exposed through the through hole 47 in the axial through portion 13b of the coil holder 13 is the permanent magnets 29-1, 29 of the third magnet unit 29. -2 is located opposite the outer peripheral surface 29b. FIG. 36 shows the positional relationship between each of the magnet units 27, 28, and 29 and each of the coils 54, 55, and 56 in the imaging apparatus 10 in the initial state where the image stabilization drive is not performed. FIG. 37 shows the positional relationship between the reference numeral 29 and each hall sensor 57, 58, 59. As can be seen from FIG. 36, the first coil 54 and the first magnet unit 27 that face in the radial direction constitute a first actuator (tilting drive means) V1, and the second coil 55 and the second magnet unit that face in the radial direction. 28 constitutes a second actuator (tilting drive means) V2, and the third coil 56 and the third magnet unit 29 facing in the radial direction constitute a third actuator (rotation drive means) V3.

  The magnetic flux detection axes C1, C2, and C3 that serve as references for the positions of the actuators V1, V2, and V3 and the hall sensors 57, 58, and 59 are shown in FIGS. The magnetic flux detection axes C1, C2, and C3 are virtual axes that are located on the first plane T1 (FIGS. 18, 21, and 22) and that pass through the swing center Q, and each of the magnet units 27, 28, and 29. The N pole and the S pole extend in the radial direction. The magnetic flux detection axis (second magnetic flux detection axis) C1 extends from the swing center Q toward the first actuator V1 and extends to the outer center of each of the yoke 24, the first magnet unit 27, and the first coil 54 (circumferential direction). And the center in the optical axis direction). The center of the hall sensor 57 is positioned on the magnetic flux detection axis C1. The magnetic flux detection axis (third magnetic flux detection axis) C2 extends from the swing center Q toward the second actuator V2 side, and the respective outer shape centers (circumferential directions) of the yoke 25, the second magnet unit 28, and the second coil 55. And the center in the optical axis direction). The center of the hall sensor 58 is located on the magnetic flux detection axis C2. The magnetic flux detection axis (first magnetic flux detection axis) C3 extends from the swing center Q toward the third actuator V3 side, and the outer center (circumferential direction) of each of the yoke 26, the third magnet unit 29, and the third coil 56. And the center in the optical axis direction). The center of the hall sensor 59 is positioned on the magnetic flux detection axis C3. The magnetic flux detection axis C1, the magnetic flux detection axis C2, and the magnetic flux detection axis C3 are in a relationship of substantially equal intervals in the circumferential direction with the optical axis O as the center (the mutual center angle with respect to the optical axis O is 120 degrees).

  In the first actuator V1, the yoke 24 together with the first magnet unit 27 forms a magnetic circuit, in the second actuator V2, the yoke 25 forms a magnetic circuit together with the second magnet unit 28, and in the third actuator V3, the third magnet unit 29. At the same time, the yoke 26 forms a magnetic circuit. The yokes 24, 25, 26 are coils in which the bottom walls 24a, 25a, 26a and the standing walls 24b, 25b, 26b surround the magnet units 27, 28, 29, and the tips of the standing walls 24b, 25b, 26b are positioned in the outer diameter direction. By directing it toward 54, 55, 56, the magnetic lines of force of the magnet units 27, 28, 29 are concentrated on the coil 54, 55, 56 side (between the outer peripheral surfaces 27b, 28b, 29b and the tips of the standing walls 24b, 25b, 26b). Thus, the magnetic force acting on the coils 54, 55 and 56 is amplified. As described above, the yokes 24, 25, and 26 further have a function of holding the corresponding magnet units 27, 28, and 29.

  The hall sensors 57, 58, 59 are assembled in the sensor support recesses 51b, 52b, 53b of the coil support plates 51, 52, 53, so that the outer peripheral surfaces 27b, 28b, 29b of the magnet units 27, 28, 29 are obtained. In contrast, it is positioned with a slight gap in the radial direction (see FIGS. 9, 34, and 37). The Hall sensor (second sensor) 57 detects a change in the magnetic field in the first actuator V1 (first magnet unit 27), and the Hall sensor (third sensor) 58 detects the second actuator V2 (second magnet unit 28). Is detected, and a Hall sensor (first sensor) 59 detects a magnetic field change in the third actuator V3 (third magnet unit 29). Highly accurate detection is achieved by positioning the hall sensors 57, 58, and 59 on the magnetic flux detection axes C1, C2, and C3 passing through the outer center of each actuator V1, V2, and V3 and the center of rotation of the spherical center Q. Can do. The sensor support recesses 51b, 52b, 53b are recessed using the internal space of the coil support protrusions 51a, 52a, 53a protruding in the inner diameter direction, so that the hall sensors 57, 58, 59 are arranged with excellent space efficiency. can do. Further, the Hall sensors 57, 58, 59 are positioned close to the magnet units 27, 28, 29, so that the detection accuracy can be further improved.

  A flexible substrate (not shown) is disposed on the outer peripheral surfaces of the coil support plates 51, 52, and 53. The flexible substrate includes a sensor connection portion connected to the hall sensors 57, 58, and 59 in the sensor support recess portions 51b, 52b, and 53b, and the first coil 54, the second coil 55, and the third coil through the through holes 51c, 52c, and 53c. A coil connecting portion connected to each of 56 is provided. The flexible substrate is connected to the control circuit 71 (FIG. 9), and information on the magnetic field obtained by the Hall sensors 57, 58, 59 is sent to the control circuit 71 via the flexible substrate. Based on this sensor information, the movable unit 17 and The attitude of the lens barrel 11 is detected. Further, the control circuit 71 performs energization control to the first coil 54, the second coil 55, and the third coil 56. 9 shows only the connection relationship between the control circuit 71, the third coil 56, and the hall sensor 59, the same applies to the control circuit 71 and the first coil 54, the second coil 55, and the hall sensors 57, 58. Electrically connected.

  In the first actuator V1, the longitudinal direction of each of the pair of long side portions 54a of the first coil 54 and the permanent magnets 27-1, 27-2 of the first magnet unit 27 faces the circumferential direction, and the long side portion on the front side 54a and the permanent magnet 27-1 are opposed to each other in the radial direction, and the rear long side portion 54a and the permanent magnet 27-2 are opposed to each other in the radial direction. Since the permanent magnet 27-1 and the permanent magnet 27-2 are respectively magnetized as shown in FIGS. 13, 15 to 17, 36, and 37, when the first coil 54 is energized, the left hand of Fleming According to the law, there is a thrust in a direction substantially perpendicular to the direction of current flow along the long side portion 54a of the first coil 54 and the direction of the magnetic field around the long side portion 54a by the permanent magnets 27-1, 27-2. work. The thrust generated by the first actuator V1 is conceptually shown in FIGS. 6, 18, 21, and 29 by arrows F11 and F12. The direction of the thrust is switched between F11 and F12 depending on the direction of the current of the first coil 54. In the first actuator V1, the longitudinal direction of the first magnet unit 27 and the long side portion 54a of the first coil 54 extend in the circumferential direction. As a result, the thrusts F11 and F12 can be generated efficiently.

  In the second actuator V2, the longitudinal directions of the pair of long side portions 55a of the second coil 55 and the permanent magnets 28-1 and 28-2 of the second magnet unit 28 face the circumferential direction, and the long side portion on the front side 55a and the permanent magnet 28-1 are opposed to each other in the radial direction, and the rear long side portion 55a and the permanent magnet 28-2 are opposed to each other in the radial direction. Since the permanent magnet 28-1 and the permanent magnet 28-2 are respectively magnetized as shown in FIGS. 13, 15 to 17, 36, and 37, when the second coil 55 is energized, the left hand of Fleming According to the law, there is a thrust in a direction substantially perpendicular to the direction in which current flows along the long side portion 55a of the second coil 55 and the direction of the magnetic field around the long side portion 55a by the permanent magnets 28-1, 28-2. work. The thrust by the second actuator V2 is conceptually shown in FIGS. 6, 8, 18, and 20 by arrows F21 and F22. The direction in which the thrust acts is switched between F21 and F22 depending on the direction of the current in the second coil 55. In the second actuator V2, the longitudinal direction of the second magnet unit 28 and the long side portion 55a of the second coil 55 extend in the circumferential direction. As a result, the thrusts F21 and F22 can be generated efficiently.

  In the third actuator V3, the longitudinal directions of the pair of long side portions 56a of the third coil 56 and the permanent magnets 29-1, 29-2 of the third magnet unit 29 extend in the optical axis direction, and one of the long sides The portion 56a and the permanent magnet 29-1 are opposed to each other in the radial direction, and the other long side portion 56a and the permanent magnet 29-2 are opposed to each other in the radial direction. Since the permanent magnet 29-1 and the permanent magnet 29-2 are magnetized as shown in FIGS. 13, 15 to 17, 36, and 37, respectively, when the third coil 56 is energized, the left hand of Fleming According to the law, there is a thrust in a direction substantially perpendicular to the direction in which the current flows along the long side portion 56a of the third coil 56 and the direction of the magnetic field around the long side portion 56a by the permanent magnets 29-1, 29-2. work. The thrust by the third actuator V3 is conceptually shown in FIGS. 7, 8, 19, 20, and 33 by arrows F31 and F32. The direction in which the thrust acts is switched between F31 and F32 depending on the direction of the current in the third coil 56. Unlike the first actuator V1 and the second actuator V2, in the third actuator V3, the longitudinal direction of the third magnet unit 29 and the direction in which the long side portion 56a of the third coil 56 extends are not in the circumferential direction but in the optical axis direction. It has become. Thereby, thrusts F31 and F32 in the rolling direction can be generated efficiently.

  Since each coil 54, 55, 56 is fixedly supported by the coil holder 13, the thrust of each actuator V1, V2, V3 is a force for operating the movable unit 17 having each magnet unit 27, 28, 29. work. As described above, the movable unit 17 is supported so as to be rotatable about the pivot center Q of the ball, and the movable unit 17 and the mirror are mirrored by the thrusts F11, F12, F21, and F22 of the first actuator V1 and the second actuator V2. The cylinder 11 performs a tilting operation in which the optical axis O is tilted about the ball center swing center Q. For example, the virtual plane P1 including the optical axis O before tilting through the intermediate circumferential position between the magnetic flux detection axis C1 passing through the first actuator V1 and the magnetic flux detection axis C2 passing through the second actuator V2 (FIGS. 3, 36, and 36) 37) and a virtual plane P2 (FIGS. 3, 36, and 37) perpendicular to the virtual plane P1 and including the optical axis O before tilting are set, and the movable unit 17 and the lens barrel 11 are tilted along the virtual plane P1. The operations in the pitching directions Y1 and Y2 (see FIGS. 8, 21, and 22), the tilting of the movable unit 17 and the lens barrel 11 along the virtual plane P2, and the yawing directions X1 and X2 (FIGS. 6, 7, 18, and FIG. 19 and FIG. 33), the components in the pitching directions Y1, Y2 and the yawing directions X1, X2 are generated by the thrusts F11, F12, F21, F22 of the first actuator V1 and the second actuator V2. It can be performed on the movable unit 17 and the lens barrel 11 to all directions of the tilt operation including. The magnetic flux detection axis C3 is included in the virtual plane P1. 38 to 42 show a state in which the movable unit 17 and the lens barrel 11 are tilted along a plane including the magnetic flux detection axis C2 and the optical axis O in the initial state, and the light of the imaging optical system L is tilted by this tilting. The axis changes to an optical axis O ′ inclined with respect to the optical axis O in the initial state. When the tilting operation of the movable unit 17 reaches a predetermined amount, any of the six tilt limiting protrusions 30A, 30B, 30C, 30D, 30E, 30F provided on the barrel holder 12 hits the tilt restricting surface 68 of the ball holder 14. In contact therewith, further tilting of the movable unit 17 is mechanically limited. 38 to 42, the tilt limiting protrusion 30B and the tilt limiting protrusion 30C are in contact with the tilt restricting surface 68.

  The movable unit 17 and the lens barrel 11 perform a rotation operation (roll operation) in the rolling direction around the optical axis O by the thrusts F31 and F32 of the third actuator V3. When the movable unit 17 and the lens barrel 11 are tilted from the initial state by driving the first actuator V1 and the second actuator V2, the rotation of the third actuator V3 about the optical axis in the tilted state is centered. Rotation is performed by the direction thrust component. As shown in FIGS. 43 and 44, when the roll operation of the movable unit 17 reaches a predetermined amount, one and the other of the pair of range limiting protrusions 31 provided on the barrel holder 12 are connected to one of the support seats 40A and the other restricting surface 44A. A further roll operation of the movable unit 17 is mechanically restricted. FIG. 43 shows a rotation restricting state in which the movable unit 17 rolls in the direction of the arrow R1 and one range restricting projection 31 contacts the support seat 40A. FIG. 44 shows the movable unit 17 in the direction of the arrow R2. The rotation limit state in which the other range limit protrusion 31 is in contact with the support seat 40A by the roll operation is shown.

  As described above, the first to third actuators are used to move the movable unit 17 and the lens barrel 11 in any direction including the pitching, yawing, and rolling motion components (centered on the pivot center Q). Rotation). By this operation, the direction of the optical axis O (O ′) (the inclination of the light receiving surface of the image sensor 19a) and the rotational direction position of the image sensor 19a around the optical axis O (O ′) can be changed. For example, when vibration due to camera shake or the like is applied to the image pickup apparatus 10, the movable unit 17 and the lens barrel 11 are operated in a direction and size to reduce the image shake on the image sensor 19a due to the posture change. It is possible to perform image stabilization (image blur correction) control that reduces image quality degradation. In the image stabilization control, the control circuit 71 controls each coil based on the posture information of the imaging device 10 by the posture detection sensor 72 (FIG. 9) and the positional information of the movable unit 17 and the lens barrel 11 by the hall sensors 57, 58, and 59. It is executed by controlling the energization of 54, 55 and 56. In particular, in the imaging apparatus 10 according to the present embodiment, the optical system is arranged along a plane perpendicular to the optical axis O by supporting the imaging cylinder L that supports the imaging optical system L and the image sensor unit 19 in a freely rotatable manner. Compared to the type of imaging device to be operated, it is possible to increase the image blur correction angle that can be accommodated with a compact configuration. For this reason, not only a camera that is supposed to be photographed by hand, but also a wearable camera that can be attached to any position of the body, or a camera that is mounted on a mobile machine such as an automobile, conditions that cause large image blurring. Even in the imaging apparatus, an excellent anti-shake correction effect can be obtained.

  Further, since the center of gravity of the movable part including the movable unit 17 and the lens barrel 11 and the ball center swing center Q substantially coincide with each other, the load variation when driving the movable unit 17 and the lens barrel 11 is small, and the first is small and light. The operations of the movable unit 17 and the lens barrel 11 can be controlled with high response and high accuracy by the second and third actuators.

  As described above, in the imaging apparatus 10, the movable unit 17 and the lens barrel 11 perform a roll operation by the thrust of the third actuator V <b> 3, and this roll operation is limited by the mechanical moving end shown in FIGS. 43 and 44. In addition, the movable unit 17 and the lens barrel 11 are tilted by the thrust of the first actuator V1 and the second actuator V2, and this tilting operation is limited by a mechanical moving end as shown in FIG. 38 to FIG. . By providing these mechanical limits, the positional relationship between the magnet units 27, 28, and 29 and the coils 54, 55, and 56 constituting the actuators V1, V2, and V3 is excessively shifted so that the position cannot be controlled. Can be prevented. Further, when the image pickup apparatus 10 is started up or when the image stabilization function is switched from the invalid state to the valid state, these mechanical moving ends are referred to as the reference positions for detection by the Hall sensors 57, 58, 59, and the Initialize (initialize) vibration control. Note that, in normal vibration isolation control other than at the time of initialization, the movable unit 17 and the lens barrel 11 are operated within a range that does not reach the mechanical moving end.

  First, details of mechanical movement restriction for roll operation will be described. As described above, the pair of roll range limiting protrusions 31 provided on the swing guide surface 20A of the barrel holder 12 abut against the support seat 40A provided on the coil holder 13, thereby limiting the range of roll operation. The As shown in FIGS. 5 and 34, the circumferential interval between the pair of roll range limiting projections 31 is larger than the circumferential width connecting the pair of regulating surfaces 44A of the support seat 40A. A circumferential gap between the restricting surfaces 44A of 40A is a movable amount of the movable unit 17 (barrel holder 12) in the rolling direction. In the initial state shown in FIGS. 5 and 34, the pair of roll range limiting protrusions 31 are positioned substantially symmetrically with respect to a virtual plane P1 (FIGS. 3, 36, and 37) passing through the center in the circumferential direction of the support seat 40A. The circumferential interval between one regulating surface 44A of the support seat 40A and the one roll range limiting projection 31 facing this, and the other roll range facing the other regulating surface 44A of the support seat 40A. The circumferential interval between the limiting protrusions 31 is substantially the same. Therefore, the roll operation amount (rotation angle) from the initial state (FIGS. 5 and 34) to the moving end in the rolling direction of the arrow R1 shown in FIG. 43 and the arrow shown in FIG. 44 from the initial state (FIGS. 5 and 34) The roll operation amount (rotation angle) up to the moving end of R2 in the rolling direction is substantially equal.

  As shown in FIGS. 18, 21, and 22, in the initial state in which the movable unit 17 is not performing the tilt operation described above, the first plane that is substantially perpendicular to the optical axis O and passes through the spherical center swing center Q. A pair of roll range limiting protrusions 31 is positioned on T1 (FIGS. 18, 21, and 22). More specifically, as shown in FIG. 18, the first plane T1 passes through the approximate center in the optical axis direction of the plane 31a of each roll range limiting protrusion 31. Each of the pair of restricting surfaces 44A of the support seat 40A is a plane that faces in the radial direction around the optical axis O in the initial state. Similarly to the restricting surface 44A, the flat surface 31a (FIG. 18) of each roll range limiting protrusion 31 is also a flat surface facing the radial direction with the optical axis O as the center. Therefore, when the roll operation is performed without the tilt operation from the initial state, the flat surface 31a of each roll range limiting protrusion 31 comes into contact with the pair of restricting surfaces 44A of the support seat 40A.

  When the movable unit 17 performs a tilting operation, the position of the pair of roll range limiting protrusions 31 changes according to the inclination of the barrel holder 12. In the tilting operation along the virtual plane P1 (that is, the tilting operation of only the components in the pitching directions Y1 and Y2 shown in FIGS. 8, 21, and 22), the pair of roll range limiting protrusions 31 maintain a symmetrical arrangement with respect to the virtual plane P1. However, since the position in the optical axis direction is changed, the circumferential distance between each roll range limiting protrusion 31 and the support seat 40A and the orientation of the plane 31a of each roll range limiting protrusion 31 with respect to each regulating surface 44A of the support seat 40A do not change. . On the other hand, when a tilting operation including components in the yawing directions X1 and X2 (FIGS. 6, 7, 18, 19, and 33) along the virtual plane P2 is performed, the circumferential direction of the support seat 40A as shown in FIG. The pair of roll range limiting projections 31 are asymmetric with respect to the virtual plane P1 passing through the center of the center, and the distance and direction of each roll range limiting projection 31 with respect to each regulating surface 44A of the support seat 40A change. In FIG. 45, in accordance with the change from the optical axis O in the initial state to the tilted optical axis O ′, the first plane T1 ′ where the pair of roll range limiting protrusions 31 are located and the six tilt limiting protrusions 30 are located. The direction of the second plane T2 ′ on which the end of is located also changes from the initial state. Here, the tilt operation is performed by arranging the pair of roll range limiting protrusions 31 on the first plane T1 (T1 ′) that is substantially perpendicular to the optical axis O (O ′) and passes through the spherical center swing center Q. It is possible to minimize a change in the circumferential position of each roll range limiting protrusion 31 with respect to the support seat 40A.

  As a comparative example, FIG. 46 shows a case where a pair of roll range limiting protrusions 80 is provided near the rear end of the barrel holder 12 away from the first plane T1 (T1 '). The direction and magnitude of the tilt of the movable unit 17 in FIG. 46 are the same as those in FIG. In this comparative example, one roll range limiting projection 80 is close to the virtual plane P1 up to a position where it overlaps with the support seat 140A, whereas the other roll range limiting projection 80 has a distance from the virtual plane P1. The difference in the movable amount of the roll operation increases in the forward and reverse directions. The unbalance of the movable amount in the forward and reverse rolling directions increases as the distance of the roll range limiting protrusion 80 from the first plane T1 (T1 ') increases. As described above, when the displacement of the mechanical moving end in the rolling direction due to the tilting operation becomes large, the accuracy of initialization referring to the mechanical moving end is adversely affected. In addition, in the comparative example of FIG. 46, the roll range limiting protrusion 80 on one side interferes with the support seat 140A. Therefore, it is necessary to take measures such as widening the circumferential interval between the pair of roll range limiting protrusions 80. There is a risk of increasing the size.

  On the other hand, in the configuration of the present embodiment in which the pair of roll range limiting protrusions 31 are positioned on the first plane T1 (T1 ′), the positional change in the circumferential direction of each roll range limiting protrusion 31 due to the tilt operation is minimal. Therefore, highly accurate initialization can be realized in the rolling direction. Further, it is possible to reduce the size of the mechanism that limits the range of the roll operation.

  As described above, when the tilt operation is not performed or when the tilt operation is performed only for the components in the pitching directions Y1 and Y2, the flat surface 31a of the roll range limiting protrusion 31 faces the restriction surface 44A of the support seat 40A. The flat surface 31a abuts on the restricting surface 44A when the roll operation is restricted. On the other hand, when the movable unit 17 performs a tilt operation including components in the yawing directions X1 and X2 and the inclination of each roll range limiting projection 31 with respect to the support seat 40A increases, the curved surface 31b is supported by the support seat when the roll operation is limited. It comes into contact with the restricting surface 44A of 40A. As shown in FIG. 18, the curved surface 31b has a smooth arc shape that increases the circumferential interval with the support seat 40A as it moves away from the plane 31a and back and forth in the optical axis direction. Even if the orientation of the protrusion 31 changes, the support seat 40A can be stably contacted without causing rattling or the like.

  The three support seats 40A, 40B, and 40C provided on the coil holder 13 have a common configuration. Therefore, as a roll operating range limiting mechanism different from the illustrated embodiment, it is also possible to provide a pair of roll range limiting projections 31 at positions where they abut against the side surfaces 44 of the support seat 40B and the support seat 40C. However, as in the illustrated embodiment, a support seat 40A having a Hall sensor 59 that detects a magnetic field change of the third actuator V3 for driving in the rolling direction and a restriction surface 44A with which the pair of roll range restriction protrusions 31 abut, The configuration in which the sensors are arranged side by side on the virtual plane P1 including the optical axis O (in other words, the Hall sensor 59 and the support seat 40A have a 180-degree relationship in the circumferential direction around the optical axis O) is initialized. This is advantageous in terms of accuracy.

  Next, details of the mechanical movement restriction for the tilt operation will be described. As described above, the six tilt limiting protrusions 30A, 30B, 30C, 30D, 30E, and 30F provided on the barrel holder 12 are brought into contact with the tilt restricting surface 68 provided on the ball holder 14, so that the range of the tilt operation is achieved. Is limited. As shown in FIG. 37, the two tilt limiting projections 30C and 30F are positioned on the virtual plane P2, and when the tilting operation in the yawing directions X1 and X2 along the virtual plane P2 is performed to the limit, the tilt limiting projections 30C and 30F Any one of 30F abuts against the tilt regulating surface 68. As shown in FIG. 37, two tilt limiting protrusions 30A and 30D are located on the virtual plane P3 among the virtual plane P3 and the virtual plane P4 that pass through the optical axis O and intersect substantially symmetrically with respect to the virtual plane P1, and the virtual plane Two tilt restricting projections 30B and 30E are located on P4, and in the tilting operation along the virtual plane P3, any one of the tilt restricting projections 30A and 30D abuts on the tilt restricting surface 68, and the tilt operation along the virtual plane P4 is performed. Then, one of the tilt limiting protrusions 30 </ b> B and 30 </ b> E contacts the tilt restricting surface 68. In a tilting operation in a direction other than the direction along the virtual planes P2, P3, and P4, any tilting restricting protrusion 30 that is closest to the ball holder 14 is brought into contact with the tilting restricting surface 68 by the tilting operation.

  The end portions of the six tilt limiting protrusions 30A, 30B, 30C, 30D, 30E, and 30F are all located on the second plane T2 (T2 ′) substantially perpendicular to the optical axis O (O ′), and the tilt limiting surfaces Since 68 is a plane substantially perpendicular to the optical axis O, in the initial state where the tilting operation is not performed, the distance between the tilt limiting projections 30A, 30B, 30C, 30D, 30E, 30F and the tilt restricting surface 68 in the optical axis direction. Are the same. Further, each of the tilt limiting protrusions 30A, 30B, 30C, 30D, 30E, and 30F is located on the same circumferential surface with the optical axis O (O ′) as the center (the radial direction from the optical axis O (O ′)). The distances coincide with each other) and are provided at substantially equal intervals in the circumferential direction. Therefore, the tilt operation amount (tilt angle of the movable unit 17) until each tilt limiting protrusion 30A, 30B, 30C, 30D, 30E, 30F comes into contact with the tilt regulating surface 68 is substantially the same. Since each of the tilt limiting protrusions 30A, 30B, 30C, 30D, 30E, and 30F makes the hemispherical tip portion contact the tilt restricting surface 68, the tilt restricting projection 68 is smoothly and stably moved to the tilt restricting surface 68 regardless of the direction of the tilt operation. Can be obtained.

  As can be seen from FIG. 37, there are three planes: a plane including the magnetic flux detection axis C1 and the optical axis O, a plane including the magnetic flux detection axis C2 and the optical axis O, and a plane including the magnetic flux detection axis C3 and the optical axis O (virtual plane P1). In the tilting operation along the plane, the two tilt limiting protrusions 30 that are substantially symmetrical with respect to the plane come into contact with the tilt regulating surface 68.

  Specifically, when the movable unit 17 is tilted in the acting direction (first tilt direction) of the thrust F11 of the first actuator V1 in the plane including the magnetic flux detection axis C1 and the optical axis O, the tilting is performed. The restricting protrusion 30C and the tilt restricting protrusion 30D are in contact with the tilt restricting surface 68. When the movable unit 17 is tilted in the direction in which the thrust F12 of the first actuator V1 is applied (the second tilt direction) in the plane including the magnetic flux detection axis C1 and the optical axis O, the tilt limit protrusion 30C and tilt The tilt limiting projection 30A and the tilt limiting projection 30F located on the opposite sides of the limiting projection 30D with respect to the optical axis O abut against the tilt regulating surface 68. When the movable unit 17 is tilted in the direction of action of the thrust F21 of the second actuator V2 (referred to as the third tilting direction) out of the plane including the magnetic flux detection axis C2 and the optical axis O, the tilting restriction protrusion 30E and tilting are performed. The restricting protrusion 30 </ b> F contacts the tilt restricting surface 68. When the movable unit 17 is tilted in the acting direction (the fourth tilting direction) of the thrust F22 of the second actuator V2 in the plane including the magnetic flux detection axis C2 and the optical axis O, the tilt limiting protrusion 30E and tilting are performed. The tilt limiting projection 30B and the tilt limiting projection 30C located on the opposite sides of the limiting projection 30F with respect to the optical axis O abut against the tilt regulating surface 68. 38 to 42 show a case where the tilt operation is performed in the fourth tilt direction. As described above, the movable unit 17 is tilted in the first to fourth tilt directions in which the thrusts F11 and F12 of the first actuator V1 and the thrusts F21 and F22 of the second actuator V2 work (a plane including the magnetic flux detection axes C1 and C2). 2), the two tilt restriction protrusions 30 arranged substantially symmetrically with respect to the magnetic flux detection axis C1 or the magnetic flux detection axis C2 abut against the tilt restriction surface 68.

  Further, when the movable unit 17 is tilted in the pitching direction Y1 (the fifth tilting direction) in the plane (virtual plane P1) including the magnetic flux detection axis C3 and the optical axis O, the tilting restriction protrusion 30D and the tilting are tilted. The restricting protrusion 30 </ b> E contacts the tilt restricting surface 68. When the movable unit 17 is tilted in the pitching direction Y2 (referred to as the sixth tilting direction) in the plane including the magnetic flux detection axis C3 and the optical axis O (virtual plane P1), tilting is limited with the optical axis O in between. The tilt restricting protrusion 30A and the tilt restricting protrusion 30B located on the opposite side of the protrusion 30A and the tilt restricting protrusion 30E are in contact with the tilt restricting surface 68. As described above, when the tilting operation is performed along the plane including the magnetic flux detection axis C3, the two tilt restriction protrusions 30 arranged substantially symmetrically with respect to the magnetic flux detection axis C3 are brought into contact with the tilt restriction surface 68.

  In summary, each of the three virtual planes (virtual planes P2, P3, P4) of the first group, which includes the optical axis O and has a substantially equal interval (120 degree interval) in the circumferential direction, is substantially symmetrical with respect to the optical axis O. Tilt restricting protrusions 30 that are paired in a proper positional relationship (that is, a total of six) are provided. When the movable unit 17 and the lens barrel 11 perform a tilting operation that changes the direction of the optical axis O around the center of swinging of the spherical center Q, the six tilt limiting protrusions 30A, 30B, The positional relationship in the optical axis direction of 30C, 30D, 30E, and 30F changes, and the tilt restricting protrusion 30 that protrudes to the rearmost of these contacts the tilt restricting surface 68 of the ball holder 14 to restrict the tilt. In particular, the three virtual planes of the second group (the plane including the magnetic flux detection axis C1, the plane including the magnetic flux detection axis C2, and the magnetic flux detection axis C3 are included in which the circumferential position is shifted 60 degrees from the three virtual planes of the first group. When the tilting operation (tilting operation in the first to sixth tilt directions) is performed along the plane (virtual plane P1)), the two tilt limiting protrusions 30 abut on the tilt limiting surface 68. In the state in which the two tilt limiting protrusions 30 are in contact with the tilt restricting surface 68, the movable unit 17 has higher stability and positional accuracy than in the state in which only one tilt restricting protrusion 30 is in contact with the tilt restricting surface 68. can get. Then, the anti-vibration operation is initialized with reference to these mechanical moving ends where the two tilt restriction protrusions 30 are in contact with the tilt regulating surface 68 as reference positions. As a result, highly accurate initialization regarding the tilt operation can be realized, and the performance of the image stabilization control can be improved by improving the initialization accuracy. In particular, the first and second tilt directions described above have a large amount of change in magnetic flux density detected by the Hall sensor 57 (change in the relative position of the first magnet unit 27 with respect to the Hall sensor 57), and the third and fourth tilt directions. Since the amount of change in magnetic flux density detected by the hall sensor 58 (the change in the relative position of the second magnet unit 28 with respect to the hall sensor 58) is large, it is desirable to perform initialization by tilting the movable unit 17 in these tilt directions.

  In FIG. 17, the tilt limiting protrusions 30C and 30D that abut on the tilt restricting surface 68 in the first tilt direction are the first set 30-1, and the tilt restricting protrusions 30A and 30F that abut on the tilt restricting surface 68 in the second tilt direction. Tilt restriction protrusions 30E and 30F that contact the tilt restriction surface 68 in the second set 30-2 and the third tilt direction are tilt restriction that contact the tilt restriction surface 68 in the third set 30-3 and the fourth tilt direction. The protrusions 30B and 30C are shown as a fourth set 30-4 surrounded by a one-dot chain line. As can be seen from the figure, the first set 30-1 and the fourth set 30-4 share the tilt limiting projection 30C (the tilt limiting projection 30C is a shared limiting portion), and the second set 30-2. And the third set 30-3 share the tilt limiting projection 30F (the tilt limiting projection 30F is a common limiting portion). Thereby, the number of the tilt limiting protrusions 30 can be reduced, and a simple and space efficient configuration can be obtained.

  As can be seen from FIG. 17, the swing guide surface 20B is positioned between the two tilt limiting projections 30C and 30D constituting the first set 30-1, and the two tilt limiting projections constituting the third set 30-3. The swing guide surface 20C is positioned between 30E and 30F, and the swing guide surface 20C is positioned between the second set 30-1 tilt limit protrusion 30A and the fourth set 30-4 tilt limit protrusion 30B. ing. Therefore, the three swing guide surfaces 20A, 20B, and 20C and the six tilt limiting protrusions 30A, 30B, 30C, 30D, 30E, and 30F are arranged in a circumferentially efficient manner without interfering with each other.

  As a configuration for stabilizing the movement restriction of the tilt operation in the direction of the thrust force of the two actuators for tilt operation, a modified example as shown in FIG. 47 can be used. In this modified example, four tilt limiting protrusions (tilt ranges) are provided at the rear end portion in the optical axis direction of the barrel holder 112 that holds the imaging optical system L at substantially equal intervals (90-degree intervals) in the circumferential direction around the optical axis O. A limiting means, a movable side tilt limiting portion, and an optical axis direction protruding portion) 130 (130A, 130B, 130C, 130D). On the magnetic flux detection axis C11 extending in the outer diameter direction from the optical axis O, the outer center of the magnet unit and the coil constituting the first actuator (not shown) and the center of the hall sensor (not shown) are positioned. On the magnetic flux detection axis C12 extending in the outer diameter direction from the axis O, the outer center of the magnet unit and coil constituting the second actuator (not shown) and the center of the hall sensor (not shown) are located. The tilt limiting projection 130A and the tilt limiting projection 130C are positioned on the virtual plane P11 including the optical axis O, passing through the intermediate circumferential position of the magnetic flux detection axis C12 passing through the magnetic flux detection axis C11, and perpendicular to the virtual plane P1 and the optical axis O. The tilt limiting projection 130B and the tilt limiting projection 130D are positioned on the virtual plane P12 including The four tilt limiting protrusions 130A, 130B, 130C, and 130D have substantially the same radial distance from the optical axis O. That is, the tilt limiting protrusions 130A, 130B, 130C, and 130D are positioned at substantially equal intervals on the same circumference with the optical axis O as the center.

  In the modification of FIG. 47, when the thrust in the forward and backward direction (front-rear direction) in the optical axis direction is applied by the first actuator, the barrel holder 112 is tilted first along the plane including the magnetic flux detection axis C11 and the optical axis O. When the tilting operation is performed in the direction and the second tilting direction, and the thrust in the forward / backward direction (front-rear direction) of the optical axis direction is applied by the second actuator, the barrel holder 112 is brought into a plane including the magnetic flux detection axis C12 and the optical axis O. A tilt operation is performed along the third tilt direction and the fourth tilt direction. In the first tilt direction of the barrel holder 112, the pair of tilt limit protrusions 130B and 130C of the first set 130-1 abuts on the tilt restricting surface 68 (not shown in FIG. 47) of the ball holder 14 and beyond. Regulate tilting. In the second tilting direction of the barrel holder 112, the pair of tilt limiting protrusions 130A and 130D of the second set 130-2 abuts on the tilt restricting surface 68 of the ball holder 14 to restrict further tilting. In the third tilt direction of the barrel holder 112, the pair of tilt limiting protrusions 130C and 130D of the third set 130-3 abuts on the tilt restricting surface 68 of the ball holder 14 to restrict further tilting. In the fourth tilting direction of the barrel holder 112, the pair of tilt limiting protrusions 130A and 130B of the fourth group 130-4 abuts on the tilt restricting surface 68 of the ball holder 14 to restrict further tilting. In any of the first to fourth tilt directions, since the two tilt limiting projections 130 abut against the tilt restricting surface 68, the moving end of the tilting operation of the barrel holder 112 can be determined with high accuracy and stability. Initialize can be realized. Since each of the first group 130-1 to the fourth group 130-4 shares both of the pair of tilt limiting protrusions 130 constituting each group with two adjacent groups, It becomes a simpler configuration with fewer numbers.

  As mentioned above, although this invention was demonstrated based on illustration embodiment, this invention can be made into a different form from illustration embodiment in the range of a summary. For example, in the illustrated embodiment, a pair of roll range limiting protrusions 31 is provided on the barrel holder 12 that constitutes the movable unit 17 as a part that restricts the moving end of the roll operation, and the support holder 40 </ b> A is provided on the coil holder 13 that constitutes the fixed unit 18. However, a pair of rotation restricting portions (fixed side rotation restricting portions) may be provided on the fixed unit 18 side, and one rotation restricting portion (movable side rotation restricting portion) may be provided on the movable unit 17 side. . Further, instead of the configuration in which the protrusions projecting in the radial direction are brought into contact with each other, a recess (hole) is formed in one of the movable unit 17 and the fixed unit 18, and a protrusion is formed in the other, and both end portions in the circumferential direction of the recess A configuration is also possible in which the range of the roll operation is restricted by the protrusions coming into contact with the protrusions. Further, it is possible to limit the range of the tilting operation by the contact between the end of the recess (hole) in the optical axis direction and the protrusion.

  In the illustrated embodiment, a pair of roll range limiting projections 31 is positioned at the approximate center of the barrel holder 12 in the optical axis direction, and the tilt limiting projection 30 is positioned at the rear end of the barrel holder 12 in the optical axis direction. The positions in the optical axis direction of the plane T1 and the second plane T2 are different. According to this configuration, the roll range restricting protrusion 31 and the tilt restricting protrusion 30 can be arranged in a space-efficient manner while preventing the barrel holder 12 from becoming large (particularly having a large diameter). However, if space is allowed, a configuration in which a portion corresponding to the tilt limiting projection 30 in addition to the roll range limiting projection 31 is also located on the first plane T1 passing through the spherical center swing center Q is selected. Can do.

  In the illustrated embodiment, the protrusion amounts in the optical axis direction of the six tilt limiting protrusions 30A, 30B, 30C, 30D, 30E, and 30F provided on the barrel holder 12 are equal. According to this configuration, there is an advantage that it is easy to calculate the movement amount at the time of initialization and to manage the parts. However, the protrusion amount (position in the optical axis direction) of each tilt limiting protrusion 30 can be varied. The tilting operation is performed only at the time of initialization until each tilting restricting projection 30 comes into contact with the tilting restricting surface 68. In the normal anti-vibration control other than at the time of initializing, each tilting restricting projection 30 comes into contact with the tilting restricting surface 68. Therefore, as long as the condition that a practical tilt operation amount for vibration isolation can be secured is satisfied, even if the protrusion amount of each tilt limiting projection 30 in the optical axis direction is different, it can be prevented without any problem. A vibration operation can be performed. Even when the amount of protrusion of each tilt restricting projection 30 is varied, it is desirable that the two tilt restricting projections 30 abut on the tilt restricting surface 68 at the time of initialization as in the illustrated embodiment.

  In the illustrated embodiment, a plurality of tilt limiting protrusions 30 and 130 are provided on the barrel holder 12 constituting the movable unit 17 as a part for limiting the moving end of the tilt operation, and the tilt regulating surface 68 is provided on the ball holder 14 constituting the fixed unit 18. However, it is also possible to form a portion corresponding to the tilt restricting surface 68 on the movable unit 17 side and to provide protrusions such as the tilt limiting protrusions 30 and 130 on the fixed unit 18 side.

  As the drive means for applying the vibration-proof thrust, a different one from the actuators V1, V2, and V3 in the illustrated embodiment can be employed. For example, the actuators V1, V2, and V3 in the illustrated embodiment have the magnet unit and the coil bent in a shape centered on the optical axis O, so that the gap variation between the magnet unit, the coil, and the Hall sensor during the vibration isolating operation. There is an advantage that the size is small and the space efficiency is also excellent. However, even when an actuator composed of a flat magnet unit or a coil that is not curved is used, the required effect can be obtained by applying the present invention.

  In the illustrated embodiment, the magnetic flux detection axes C1, C2, C3 connecting the hall sensors 57, 58, 59 and the optical axis O pass through the outer shape centers of the magnet units 27, 28, 29 in the actuators V1, V2, V3. As described above, the positional relationship between the hall sensors 57, 58, 59 and the magnet units 27, 28, 29 is set. This position setting is advantageous in terms of driving accuracy of the movable unit 17 during the image stabilization operation, and has an advantage that position calculation using the outputs of the Hall sensors 57, 58, and 59 becomes easy. However, the movable unit 17 can be driven and controlled even when a configuration in which the outer center of each of the magnet units 27, 28, 29 is deviated to some extent with respect to the magnetic flux detection axes C1, C2, C3 is adopted. . Further, the positional relationship with the magnet units 27, 28, and 29 is highly important for magnetic flux detection by the hall sensors 57, 58, 59. Therefore, as a configuration different from the illustrated embodiment, it is possible to adopt an arrangement in which the positions of the outer centers of the coils 54, 55, 56 in the actuators V1, V2, V3 do not coincide with the magnetic flux detection axes C1, C2, C3. It is.

  In the illustrated embodiment, a moving magnet type vibration isolating mechanism in which a magnet and a yoke are supported on a movable member (barrel holder 12) that moves during an anti-vibration operation, and a coil is supported on a fixed member (coil holder 13) that does not move during the anti-vibration operation. Is applied. The moving magnet type has an advantage that the coils 54, 55, and 56 and the hall sensors 57, 58, and 59 that need to be electrically connected by a flexible substrate or the like do not move, so that a load by such an electrical connecting means is not applied. However, the present invention can also be applied to a moving coil type vibration isolation mechanism. When the moving coil type modification is applied to the imaging apparatus 10 of the first embodiment, each coil 54, 55, 56 supported by the barrel holder 12 is supported by the coil holder 13 so as to be opposed to the outer diameter direction. The magnet units 27, 28, and 29 are positioned, the magnet support protrusions 21b, 22b, and 23b protrude from the coil holder 13 toward the inner diameter direction, and the yokes 24, 25, and 26 face the standing walls 24b, 25b, and 26b in the inner diameter direction. And is supported by the coil holder 13. Hall sensors 57, 58, 59 are supported by barrel holder 12.

DESCRIPTION OF SYMBOLS 10 Imaging device 11 Lens tube 11a Large diameter part 11b Middle part 11c Small diameter part 11d Peripheral screw 12 Barrel holder (movable member)
12a Tube portion 12b Axial through portion 12c Insertion restriction flange 13 Coil holder (fixing member)
13a cylinder part 13b axial direction penetration part 13c front wall 13d center opening 14 ball holder (fixing member)
14a Center opening 14b Lid portion 14c Outer peripheral flange 15 Presser ring 16 Balancer 17 Movable unit 18 Fixed unit 19 Image sensor unit (imaging means)
19a Image sensor 19b Flexible substrate 20 (20A 20B 20C) Swing guide surface (spherical surface)
21 22 23 Support seat 21a 22a 23a Support surface 21b 22b 23b Magnet support projection 24 25 26 Yoke 24a 25a 26a Bottom wall 24b 25b 26b Standing wall 24c 25c 26c Slot 27 First magnet unit (first tilting magnet)
28 Second magnet unit (second tilting magnet)
29 3rd magnet unit (magnet for rotation)
27-1 28-1 29-1 Permanent magnet 27-2 28-2 29-2 Permanent magnet 27a 28a 29a Inner peripheral surface 27b 28b 29b Outer peripheral surface 27c 28c 29c Longitudinal end surface 27d 27e 28d 28e 29d 29e Side surface 30 Tilt limiting projection (Tilt range limiting means, movable side tilt limiter, optical axis direction protrusion)
30A Tilt limiting projection (second set of tilt limiting projection)
30B Tilt limiting protrusion (fourth set of tilt limiting protrusion)
30C Tilt limiting protrusion (first and fourth sets of tilt limiting protrusion, shared limiting portion)
30D Tilt-limiting projection (first set of tilt-limiting projection)
30E Tilt limiting protrusion (third set of tilt limiting protrusion)
30F Tilt limiting projection (2nd and 3rd tilt limiting projection, shared limiting section)
30-1 First set of tilt limiting projections 30-2 Second set of tilt limiting projections 30-3 Third set of tilt limiting projections 30-4 Fourth set of tilt limiting projections 31 Roll range limiting projection (rotation range limiting means) , Movable side rotation limiter, outward projection)
31a plane 31b curved surface 40 support seat 40A support seat (rotation range limiting means, fixed side rotation limiting portion, inward protruding portion)
40B Support seat (inward protrusion)
40C Support seat (inward protrusion)
41 Ball holding groove 41a Front restricting wall 42 Screw hole 43 Abutting surface 44 Side surface 44A Restricting surface 45 46 47 Through hole 48 49 50 Support recess 51 52 53 Coil support plate 51a 52a 53a Coil support protrusion 51b 52b 53b Sensor support recess 51c 52c 53c Through-hole 54 First coil (tilting drive means, first tilting coil)
55 Second coil (tilting drive means, second tilting coil)
56 Third coil (rotation drive means, rotation coil)
54a 55a 56a Long side portion 54b 55b 56b Short side portion 54c 55c 56c Outer peripheral surface 54d 55d 56d Inner peripheral surface 57 Hall sensor (second sensor)
58 Hall sensor (third sensor)
59 Hall sensor (first sensor)
61 Fixed-position ball 62 Energizing ball 65 (65A, 65B, 65C) Front projecting portion 66 Screw insertion hole 66a Large diameter portion 66b Small diameter portion 66c Intermediate portion 67 Ball holding surface 68 Tilt restricting surface (tilting range limiting means, fixed side tilting) (Restriction section, regulatory aspects)
69 Fixing screw 69a Screwing part 69b Head part 69c Shaft part 70 Coil spring 71 Control circuit 72 Attitude detection sensor 112 Barrel holder (movable member)
130 Tilt limiting protrusion (Tilt range limiting means, movable side tilt limiting portion, optical axis direction protruding portion)
130A Tilt limiting projection (2nd and 4th tilt limiting projection, shared limiting section)
130B Tilt limiting protrusion (first and fourth sets of tilt limiting protrusion, shared limiting portion)
130C Tilt limiting projection (first and third set tilt limiting projection, shared limiting section)
130D Tilt limiting projection (2nd and 3rd tilt limiting projection, shared limiting section)
130-1 First set of tilt limiting projections 130-2 Second set of tilt limiting projections 130-3 Third set of tilt limiting projections 130-4 Fourth set of tilt limiting projections C1 C11 Magnetic flux detection axis (second magnetic flux) Detection axis)
C2 C12 Magnetic flux detection axis (third magnetic flux detection axis)
C3 Magnetic flux detection axis (first magnetic flux detection axis)
L Imaging optical system (imaging means)
M1 M2 M3 M4 Adhesive injection space O O ′ Optical axis P1 P2 P3 P4 P11 P12 Virtual plane Q Ball center swing center T1 T1 ′ First plane T2 T2 ′ Second plane V1 First actuator (tilting drive means )
V2 second actuator (drive means for tilting)
V3 3rd actuator (drive means for rotation)
X1 X2 Pitching direction Y1 Y2 Yawing direction

Claims (15)

A movable member that supports at least part of the imaging means for obtaining a subject image;
A fixed member that supports the movable member so as to be capable of pivoting around a pivot center on an optical axis of an optical system constituting the imaging means;
A tilt drive means for applying a force in a tilt direction to change the tilt of the optical axis to the movable member;
A drive means for rotation for applying a force in the rotational direction about the optical axis to the movable member;
A tilting range limiting means for mechanically limiting an operating range of the movable member relative to the fixed member in the tilting direction; and a rotational range for mechanically limiting the operating range of the movable member relative to the fixed member in the rotating direction. Restriction means;
With
The rotation range limiting means includes a fixed side rotation limiting portion provided on the fixed member, and a movable side rotation limiting portion provided on the movable member and contacting the fixed side rotation limiting portion by the rotation operation to restrict rotation. The imaging apparatus according to claim 1, wherein the fixed-side rotation limiting unit and the movable-side rotation limiting unit are located on a first plane that passes through the swing center and is perpendicular to the optical axis. The imaging device according to claim 1,
The fixed member is a cylindrical body that surrounds the outside of the movable member in a radial direction centered on the optical axis,
The fixed-side rotation limiting portion is an inward protruding portion that protrudes toward the inner diameter direction on the fixed member,
The movable side rotation restricting portions are a pair of outward projecting portions that project from the movable member toward the outer diameter direction and are positioned on both sides of the inward projecting portion in the rotational direction. The protrusion is located on the first plane,
The imaging device in which the inward protruding portion is longer in the direction along the optical axis than the pair of outward protruding portions. The imaging apparatus according to claim 2, wherein
The movable member includes a spherical surface centered on the swing center,
The fixing member includes a plurality of inward projecting portions including the inward projecting portions at different positions in the rotational direction, and the spherical surface can be pivoted through the plurality of inward projecting portions. Supporting imaging device. The imaging device according to claim 2 or 3,
The rotation drive means includes a rotation coil supported by one of the fixed member and the movable member, and a rotation magnet supported by the other of the fixed member and the movable member, and the rotation coil and the above The rotating magnets are opposed to the radial direction and each part thereof is positioned on the first plane in the direction along the optical axis,
A first sensor that is supported on a side of the fixed member and the movable member that supports the rotating coil and detects a change in the position of the rotating magnet;
The first sensor is located on a first magnetic flux detection axis that extends through the oscillation center in the first plane and extends toward the rotating magnet and the rotating coil,
An imaging apparatus in which the pair of outward projecting portions are positioned substantially symmetrically with respect to the first magnetic flux detection axis in the first plane. 5. The imaging apparatus according to claim 1, wherein the tilt range limiting unit includes a fixed-side tilt limiting unit provided on the fixed member and a plurality of movable-side tilt limiting units provided on the movable member. Prepared,
An imaging apparatus that regulates tilting by any one of the plurality of movable side tilt limiting portions contacting the fixed side tilt limiting portion according to the tilt direction of the movable member. The imaging device according to claim 5.
The plurality of movable side tilt restricting portions are a plurality of optical axis direction projecting portions projecting from the movable member in a direction along the optical axis,
The fixed-side tilt limiting portion is a regulating surface that is substantially perpendicular to the optical axis in the non-tilted state,
The imaging device with which the edge part of the said some optical axis direction protrusion part and the said control surface are facing in the direction in alignment with the said optical axis. The imaging device according to claim 6, wherein end portions of the plurality of optical axis direction protruding portions are positioned on a second plane substantially parallel to the first plane. The imaging device according to claim 7, wherein ends of the plurality of projecting portions in the optical axis direction are located on the same circumference around the optical axis in the second plane. 9. The imaging device according to claim 6, wherein ends of the plurality of projecting portions in the optical axis direction have a hemispherical shape. The imaging device according to any one of claims 5 to 9, wherein the tilting drive means includes:
A first tilting coil and a second tilting coil, each of which is disposed on one of the fixed member and the movable member so that their positions are different from each other in the rotational direction, each of which is located on the first plane. A first tilting magnet positioned opposite to the first tilting coil in the radial direction and arranged on the other of the fixed member and the movable member in the rotational direction. And a second tilting magnet positioned opposite to the second tilting coil in the radial direction;
With
A second sensor for detecting a change in position of the first tilting magnet supported on the side of the fixed member and the movable member that supports the first tilting coil and the second tilting coil. And a third sensor for detecting a position change of the second tilting magnet,
The second sensor is located on a second magnetic flux detection axis that extends toward the first tilting magnet and the first tilting coil through the swing center in the first plane,
The third sensor is located on a third magnetic flux detection axis extending in the first plane through the swing center and extending toward the second tilting magnet and the second tilting coil. apparatus. The imaging apparatus according to claim 10, wherein the plurality of movable side tilt restriction units are
A pair is provided at substantially symmetrical positions with respect to the plane including the second magnetic flux detection axis and the optical axis, and a positive thrust is applied by the first tilting magnet and the first tilting coil. A first set of movable-side tilt limiting portions that determine a tilting end of the movable member in the tilting direction of 1 by contact with the fixed-side tilt limiting portion;
A pair is provided at substantially symmetrical positions with respect to the plane including the second magnetic flux detection axis and the optical axis, and thrust in the direction opposite to the forward direction is applied by the first tilting magnet and the first tilting coil. A second set of movable-side tilt limiting portions that determine the tilting end of the movable member in the second tilting direction by contact with the fixed-side tilt limiting portion;
A pair of the magnetic flux detection axis and the optical axis is provided symmetrically with respect to the plane including the third magnetic flux detection axis, and a positive thrust is applied by the second tilting magnet and the second tilting coil. A third set of movable side tilt limiting portions that determine a tilting end of the movable member in the third tilt direction by contact with the fixed side tilt limiting portion; and the third magnetic flux detection axis and the optical axis. A pair provided substantially symmetrically with respect to the plane, and movable in the fourth tilt direction when thrust in the direction opposite to the positive direction is applied by the second tilt magnet and the second tilt coil. A fourth set of movable side tilt limiting portions that determine the tilting end of the member by contacting the fixed side tilt limiting portion;
An imaging apparatus comprising: The imaging device according to claim 11, wherein
The first set of movable-side tilt limiting portions and the fourth set of movable-side tilt limiting portions are in contact with the fixed-side tilt limiting portion in both the first tilt direction and the fourth tilt direction. Share sharing restrictions,
The second set of movable side tilt limiting portions and the third set of movable side tilt limiting portions are different from each other in contact with the fixed side tilt limiting portion in both the second tilt direction and the third tilt direction. An imaging apparatus sharing one sharing restriction unit. The imaging device according to claim 12, wherein
The first set of movable side tilt limiting portions and the second set of movable side tilt limiting portions are in contact with the fixed side tilt limiting portion in both the first tilt direction and the second tilt direction. Share sharing restrictions,
The third set of movable side tilt restricting portions and the fourth set of movable side tilt restricting portions are different from each other in contact with the fixed side tilt restricting portion in both the third tilt direction and the fourth tilt direction. An imaging apparatus sharing one sharing restriction unit. 5. The imaging apparatus according to claim 4, wherein the rotating coil and the first sensor are supported by the fixed member, and the rotating magnet is supported by the movable member. 11. The imaging device according to claim 10, wherein the first tilting coil, the second tilting coil, the second sensor, and the third sensor are supported by the fixing member, and the first tilting coil is used. An imaging apparatus in which a magnet and the second tilting magnet are supported by the movable member.

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