JP2022188570A - moving device - Google Patents

Abstract

To provide a moving device that is compact and has low power consumption.SOLUTION: A moving device comprises: a moving member; a slide member that moves straight forward simultaneously with the moving member; a shaft member that guides the straight forward movement of the slide member; a driving unit that applies a driving force for the straight forward movement to the slide member; and an elastic member 20 that is attached to the slide member 10 at one end and to the moving member 1 at the other end. The elastic member urges the moving member 1 and the slide member 10 in the straight forward movement direction and generates an urging force in a direction orthogonal to the straight forward movement direction to the slide member 10 and the shaft member 17.SELECTED DRAWING: Figure 1

Description

The present invention relates to a moving device for moving members.

As described in Japanese Patent Laid-Open No. 2009-265509, a conventional moving device is arranged between a driven portion having a first inclined surface formed integrally with a lens frame and a coil spring and the driven portion. , discloses a configuration for preventing rattling of a lens frame by means of a second driven portion having a second inclined surface that abuts against the first inclined surface of the driven portion.

JP 2009-265509 A

However, in the prior art disclosed in the above patent document, the amount of bending of the coil spring changes depending on the position of the lens frame, so the load applied to the motor changes. Therefore, in the design, it is necessary to select the motor or determine the input to the motor by assuming the load applied to the motor when the coil spring force is maximized within the moving range of the lens frame. This leads to an increase in device size and power consumption.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a mobile device that is compact, consumes less power, and has high performance.

In order to achieve the above object, the moving device of the present invention comprises a moving member, a slide member that moves linearly at the same time as the moving member, a shaft member that guides the linear movement of the slide member, and a driving force for the linear movement of the slide member. and an elastic member having one end attached to the slide member and the other end attached to the moving member and biasing the moving member and the sliding member in the direction of linear movement, wherein the elastic member is attached to the slide member. and a biasing force in a direction orthogonal to the straight movement direction is generated with respect to the shaft member.

According to the present invention, it is possible to provide a mobile device that is compact, consumes low power, and has high performance.

1 is an exploded perspective view of a shake correction device of the present invention; FIG. 4 is a perspective view of a main portion of a moving member of the shake correction device of the present invention; FIG. 4 is a drive unit diagram of the shake correction device of the present invention; FIG. FIG. 2 is an exploded perspective view of a slide unit of the shake correction device of the present invention; 4 is a diagram of a slide unit of the shake correction device of the present invention; FIG. FIG. 4 is an assembly completion diagram of a slide unit and a motor unit of the shake correction device of the present invention; FIG. 4 is an assembly completion diagram of the drive unit of the shake correction device of the present invention; FIG. 4 is an explanatory diagram of a driving method of the shake correction device of the present invention; FIG. 4 is a diagram showing a looseness removing structure of the slide member of the shake correction device of the present invention; FIG. 5 is a diagram showing a state in which backlash of the slide member of the shake correction device of the present invention is removed; 3 is a control block diagram of the shake correction device of the present invention; FIG. FIG. 4 is a diagram showing loads applied to bearings of the shake correction device of the present invention; FIG. 4 is a diagram showing the ratio of loads applied to the bearings of the shake correction device of the present invention; 5 is a table showing magnitude relationships of loads applied to bearings of the shake correction device of the present invention. 1 is a cross-sectional view of a camera equipped with a shake correction device of the present invention; FIG.

Preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings.

First, the overall configuration of an imaging apparatus equipped with a movement device (hereinafter referred to as a shake correction device) of the present invention will be described.

[Overall Configuration of Imaging Device]
FIG. 15 is a central cross-sectional view of a digital single-lens reflex camera main body (hereinafter referred to as a camera) 100 and an interchangeable lens 50 as an embodiment of an imaging device equipped with the shake correction device of the present invention.

The interchangeable lens 50 is detachably fixed to the camera 100 by a mount section 210 on the camera 100 side and a mount section 51 on the interchangeable lens 50 side. When the interchangeable lens 50 is attached to the camera 100, the contact portion 220 of the camera 100 and the contact portion 52 of the interchangeable lens 50 are electrically connected.

Subject light from the direction of the optical axis Oa passes through the focus lens 53 of the interchangeable lens 50 and enters the main mirror 130 of the camera 100 . The main mirror 130 is held by a main mirror holding frame 131 and pivotally supported by a rotating shaft portion 131a so as to be rotatable between a mirror up position and a mirror down position.

The main mirror 130 is a half mirror, and the light beam transmitted through the main mirror 130 is reflected downward by the sub-mirror 140 and guided to the focus detection unit 150 .

The sub-mirror 140 is held by a sub-mirror holding frame 141 . The sub-mirror holding frame 141 is rotatably supported with respect to the main mirror holding frame 131 by a hinge shaft (not shown).

The focus detection unit 150 detects the defocus amount of the focus lens 53 and calculates the drive amount of the focus lens 53 to bring the focus lens 53 into the in-focus state. Interchangeable lens 50 receives the calculated drive amount via contact portions 220 and 52 . The interchangeable lens 50 controls a motor (not shown) based on the received drive amount, and drives the focus lens 53 to perform focus adjustment.

The light flux reflected by main mirror 130 is guided to optical viewfinder 160 . The optical viewfinder 160 is composed of a focusing plate 170 , a pentaprism 180 and an eyepiece lens 190 . A light flux guided to the optical viewfinder 160 by the main mirror 130 forms a subject image on the focusing screen 170 . The user can observe the subject image on the focusing screen 170 through the pentaprism 180 and the eyepiece lens 190 .

A shutter device 120 is arranged behind the sub-mirror 140 . Behind the shutter device 120, an optical low-pass filter 121, an image pickup device holder 122, an image pickup device 123, a cover member 124, and a rubber member 125, which are the image pickup device unit 30, are arranged. At the time of photographing, the light flux that has passed through the optical low-pass filter 121 is incident on the imaging device 123 . The imaging device 123 is held by an imaging device holder 122 . The cover member 124 protects the imaging device 123 . The rubber member 125 holds the optical low-pass filter 121 and seals the space between the optical low-pass filter 121 and the imaging device 123 . The drive unit 31 is connected to the imaging element unit 30 (121 to 125) and drives the imaging element unit 30 according to the shake of the camera 100. FIG. The drive unit 31 is fixed to the housing of the camera 100 with screws (not shown).

The display monitor 260 is a monitor configured by an LCD or the like, and displays captured images and various setting states of the camera 100 .

[Mechanical Configuration of the Shake Correction Device of the Present Invention]
FIG. 1 is an exploded perspective view of a shake correction device of the present invention.

1 is a moving member. The moving member 1 is provided with elongated through holes 1a to 1c, non-through round holes 1d to 1f, protruding portions 1g to 1i, and protruding portions 1j to 1m (shown in FIG. 2). 2 is a drive unit for driving the moving member. The drive unit 2, as shown in FIG. 3, comprises a motor unit 2a and a slide unit 2b.

Here, the slide unit 2b will be described in detail.

FIG. 4 shows an exploded perspective view of the slide unit 2b. A slide member 10 is provided with a hole portion 10a, hole portions 10b and 10c, hole portions 10d and 10e, a groove portion 10g and a projection portion 10f. 11 is a bearing (second connecting member). 12 is a stopper pin. Reference numeral 13 denotes a threaded member holder, which is provided with shaft portions 13a and 13b, a hole portion 13c, and a groove portion 13d. 14 is a torsion coil spring. A threaded member (first connecting member) 15 is provided with a shaft portion 15a, a projecting piece portion 15b, and a screw portion 15c. A spring member 16 is provided with four projecting pieces 16a. 17 and 18 are shaft members. 19 is a sheet metal member. 20 is a tension coil spring (elastic member).

Next, the interrelationship of the parts of the slide unit 2b will be described.

In the present embodiment, there are three slide units 2b, and since all three are made up of parts and structures of the same shape and material, the same numbers will be used for description.

The shaft portion 13 b of the threaded member holder 13 is inserted through the inner diameter portion of the torsion coil spring 14 . The shafts 13a and 13b of the threaded member holder 13 are fitted into the holes 10d and 10e of the slide member 10, respectively. At that time, the torsion coil spring 14 is generated by the fitting backlash between the holes 10d and 10e of the threaded member holder 13 and the shafts 13a and 13b of the slide member 10, and between the shaft member 17 and the holes 10b and 10c of the slide member 10. It works to suppress fitting backlash and backlash of a screw (lead screw or drive shaft) portion 23 between a threaded member 15 and the motor unit 2a, which will be described later. As a result, since the moving member 1 can be moved with high accuracy with respect to the target position, it is possible to improve the shake correction performance with a simple structure. The shaft member 17 is fitted in the hole portions 10b and 10c of the slide member 10, and the shaft portion 18 is fitted in the groove portion 10g.

Both ends of the shaft members 17 and 18 are fixed to the holes of the sheet metal member 19 by press fitting. The tip of the shaft member 12 is fitted into the inner diameter of the bearing 11 and press-fitted into the hole 10 a of the slide member 10 to fix the bearing 11 to the slide member 10 . The shaft portion and projecting piece portion 15b of the threaded member 15 are fitted into the hole portion 13c and the groove portion 13d of the threaded member holder 13, respectively.

After that, the threaded member holder 13 and the threaded member 15 are held in contact with each other by the spring force of the four projecting pieces 16a of the spring member 16 . One end 20a of the tension coil spring 20 is attached to the projection 10f of the slide member 10. As shown in FIG. The other ends 20b are attached to the corresponding protrusions 1j, 1k, and 1m, respectively. By attaching the tension coil spring 20 in this way, the spring force does not act as a load on the motor throughout the movement range of the moving member 1, so there is an advantage that backlash can be eliminated without consuming extra power.

FIG. 5 shows the assembled state of the slide unit. Then, as shown in FIG. 3, the screw portion 23 and the shaft portions 17 and 18 are arranged substantially parallel. Further, the threaded portion 15c of the threaded member 15 meshes with a threaded (lead screw or drive shaft) portion 23 protruding from the motor body portion 22 of the motor unit 2a. By energizing the motor main body in these states, the screw portion rotates, and the slide member 10 can be moved in the axial direction of the screw portion 23 according to the lead of the screw. The motor unit 2a also includes a magnet 24 magnetized in multiple poles in the circumferential direction for detecting the rotation angle, a magnetic sensing element 26 (such as a Hall element) for detecting the magnetic flux, and a motor mounted on a base (to be described later). A motor sheet metal 25 for attachment to the sheet metal 3 and a bearing member 27 for pivotally supporting the tip of the screw portion 23 are provided.

Reference numeral 3 denotes a base sheet metal, to which the aforementioned slide unit and motor unit are fixed with screws 4. As shown in FIG. Also, the rolling plates 6 are fitted into the holes 3a to 3c of the base metal plate and fixed by adhesion, press-fitting, welding, or the like. FIG. 6 shows a state in which the slide unit 2b, the motor unit 2a, and the rolling plate 6 are attached. A rolling plate 5 is fixed to the holes 1d to 1f of the moving member 1 by adhesion, press-fitting, or the like. A tension coil spring 8 has both ends attached to the projections 1g to 1i of the moving member and the projections 3d to 3f of the base metal plate 3, respectively. At this time, the rolling ball (rolling portion) 7 is sandwiched between the rolling plates 5 and 6, and the movable member 1 and the base metal plate 3 are kept at a constant distance in the optical axis direction. energized and held; The rolling of the rolling balls smoothes the movement of the moving member 1 in the direction perpendicular to the optical axis.

Further, the outer diameter portion 11a of the bearing 11 is inserted through the elongated holes 1a to 1c of the moving member 1. As shown in FIG. At that time, one end 20a of the tension coil spring 20 is attached to the protrusion 10f of the slide member 10, and the other end 20b is attached to the protrusions 1j, 1k, and 1m of the moving member 1, respectively. The side surface of the outer diameter portion 11a of the moving member 1 abuts against the side surface portions 1a-1 to 1c-1 of the long hole portions 1a to 1c of the moving member 1, respectively, and is held in a biased state. FIG. 7 shows a state in which the moving member 1, the rolling plate 5, the rolling balls 7, and the tension coil spring 8 are assembled from the state shown in FIG. This state is a state of horizontal posture in the camera. The imaging element unit 30 is fixed to the drive unit 31 in the state shown in FIG. 7 with screws or the like. At that time, a magnetic shield sheet is laid so that the magnetism generated by the energization of the motor does not enter the imaging element.

The mechanical configuration of the shake correction device of the present invention is as described above.

[Mechanical Features of the Shake Correction Device of the Present Invention]
Here, the features of the mechanical configuration of the shake correction device of the present invention will be described.

First, the relationship between the bearing 11 and the moving member 1 will be described.

As shown in FIG. 7, in the shake correction device of the present invention, three bearings 11 attached to a slide member 10 are attached to the side portions 1a-1 to 1c- of the elongated holes 1a to 1c of the moving member 1. 1 is in contact with. That is, the moving member 1 (including the magnetic shield sheet 9 and the rolling plate 5) to which the imaging element unit 30 is fixed is supported by the three bearings 11. As shown in FIG. The three bearings 11 are arranged at approximately equal intervals (at intervals of 120°) around the center of gravity of the moving member 1 to which the imaging element unit 30 is fixed. The elongated holes 1a to 1c are provided so that the long sides of the substantially rectangular shape are substantially parallel to the line connecting the center of gravity and the center of the bearing when viewed from the direction of FIG.

By the way, in the horizontal posture of the camera, the shape of the imaging device is a substantially rectangular shape that is long in the horizontal direction and short in the vertical direction. The shake correcting device of the present invention is provided with a motor unit 2a and a slide unit 2b behind the optical axis of the imaging device unit 30. As shown in FIG. Also, when considering a roughly square layout that connects the three points at the center of the bearing, the length in the vertical direction is the shortest and the size can be reduced because, due to the nature of the equilateral triangle, one point of the bearing is either directly above or directly below. This is the case when it is placed. Therefore, in this embodiment, one bearing is arranged directly above. These configurations have the advantage of reducing the size in the direction perpendicular to the optical axis.

Further, considering the positional relationship between the motor unit 2a and the slide unit 2b, it is desirable that the slide unit 2b be arranged outside the motor unit 2a in the direction perpendicular to the optical axis. This is because, as the three-point bearings move away in the direction perpendicular to the optical axis, the sensitivity of the amount of movement in the roll direction to the rotation angle of the motor decreases, and more accurate roll driving can be achieved. be. Further, when the motor unit 2a is arranged inside the slide unit 2b in the direction perpendicular to the optical axis, the distance between the motor 22 and the side surface of the imaging device unit 30 becomes longer. magnetic flux is reduced. As a result, it is possible to reduce noise intrusion into the captured image signal exposed to the image sensor, and avoid adverse effects on the captured image.

It is desirable that the center of gravity of the moving member 1 to which the imaging device unit 30 is fixed be in the vicinity of the optical axis. According to the above configuration, the optical axis and the center of gravity are arranged within the range of the triangle formed by the lines connecting the centers of the three bearings. As a result, the mass of the moving member 1 to which the imaging device unit 30 is fixed can be distributed and supported by the three bearings, and the moving member 1 can be efficiently driven.

In addition, regarding the arrangement of the three rolling balls 7, the triangle formed by the line connecting the three rolling balls 7 is arranged almost opposite to the triangle formed by the line connecting the centers of the three bearings (implemented). In terms of form, it is desirable for space efficiency to make the top point downward. This is because, due to the nature of the triangle, an empty space can be secured outside the two sides other than the base.

With the above configuration, when the motor unit 2a is energized to drive the three bearings 11 to change their positions (coordinates), the position of the moving member 1 is uniquely determined according to the positions of the three bearings.

Details of the bearing position and the position of the moving member will now be described with reference to the schematic diagram of FIG. As shown in FIG. 8A, when the moving member 1 to which the imaging device unit 30 is fixed moves Mx in the horizontal (Yaw) right direction (moves from the dotted line to the solid line), the bearing A is moved by mA ( =Mx), bearing B is moved by mB (=-Mx·SIN θ), and bearing C is moved by mC (=-Mx·SIN θ).

Further, as shown in FIG. 8B, when the moving member 1 to which the imaging device unit 30 is fixed moves MY in the upward (Pitch) direction (moves from the dotted line to the solid line), the bearing A moves. Instead, bearing B is moved by mB (=MY.COS .theta.), and bearing C is moved by mC (=-MY.COS .theta.). Further, as shown in FIG. 8C, when the moving member 1 to which the imaging device unit 30 is fixed moves clockwise by MR° in the roll direction (moves from the dotted line to the solid line), Bearing A is mA (≈2・π・L・MR/360), Bearing B is mB (≈2・π・L・MR/360), Bearing C is mC (≈2・π・L・MR/360) only move. The same applies when moving in the opposite direction to the above.

Here, as described above, the moving member 1 to which the imaging device unit 30 is fixed is supported by three bearings, but how much load (force required for driving) is applied to each bearing will be described.

FIG. 12 is a conceptual diagram for explaining the load applied to each bearing. Each bearing is defined as A, B, C counterclockwise from the top. FIG. 12 shows a state in which the moving member 1 has rotated clockwise by θ. It also shows component forces in the direction of each drive shaft (screw portion 23) when a constant force G acts on each bearing in the direction of gravity. The component force of each bearing is G·COS (90°−θ) for bearing A, G·COS (30°−θ) for bearing B, and G·COS (30°+θ) for bearing C. These forces are required at least when driving. FIG. 13 is a graph showing the ratio of the force required to drive each bearing, with the mass of the image sensor unit 30 and the moving member 1 being 100%, with θ changed in the range of 0 to 180°. become. In other words, it can be seen that each bearing should have a minimum driving force of 0% and a maximum driving force of 50% depending on the value of θ. In other words, with the structure supported by three bearings, the masses of the imaging element unit 30 and the moving member 1 are dispersed. This has the effect of reducing the size of each driving unit and reducing the thickness of the entire device in the direction of the optical axis.

The necessary driving force described above is a force necessary to support the mass of the imaging device unit 30 and the moving member 1, but acceleration force is also added when driving at various frequencies for shake correction. However, since this force is very small compared to the force required to support the mass of the imaging device unit 30 and the moving member 1, the force has been omitted in the description of the present embodiment.

Next, the relationship between the slide member 10 and the shaft member 17 will be described.

FIG. 9 shows a state in which the slide member 10 is pulled rightward by the tension coil spring 20 and the bearing 11 is in contact with the side surface 1a-1 of the elongated hole of the moving member 1 (for convenience of explanation, The shaft member 18 is not shown). Focusing on the holes 10b and 10c of the slide member 10 and the shaft member 17 in this state, as shown in the schematic diagram of FIG. . In addition, since the bearing 11 is biased against the side surface 1a-1 of the elongated hole 1a by the spring force of the tension coil spring 20, the bearing 11 attached to the slide member 10 receives the force F1. ing.

Since F1 and F2 are not on the same straight line, a moment is generated in the slide member 10. FIG. Then, as shown in FIG. 10, the slide member is slightly inclined, and the hole portions 10b and 10c and the shaft member 17 are held in a loose state. That is, by shifting the contact position between the bearing 11 and the side surface 1a-1 and the attachment position of the end 20a of the tension coil spring 20, the play between the bearing 11 and the elongated hole 1a and the hole 10b of the slide member 10 are reduced. , 10c and the shaft member 17 can be suppressed at the same time. In addition, when the bearing 11 is composed of a ball bearing or the like, play between the inner ring and the outer ring can be suppressed. In this embodiment, the attachment position of the end portion 20a of the tension coil spring 20 is provided between the contact position of the bearing 11 and the side surface portion 1a-1 and the shaft portion.

With this configuration, it is not necessary to provide a separate space for the tension coil spring 20 in the optical axis direction, so that the height (distance in the optical axis direction) of the slide unit 2b can be kept low and the size can be reduced. Although one of the three slide units 2b has been described as a representative, the other two have the same configuration. In this way, it is possible to suppress backlash of the movement mechanism of the device with a simple and feasible configuration. When the backlash is suppressed, the moving member 10 can be moved faithfully in accordance with the rotation angle of the motor, thereby improving the shake correction performance.

[Electrical configuration of the shake correction device of the present invention]
Here, the electrical configuration of the shake correction device of the present invention will be described.

FIG. 11 is a block diagram showing the electrical configuration. The outputs of the gyro sensors 311 to 313 in the yaw direction, pitch direction, and roll direction provided in the camera 100 are input to the target position calculation units 321 to 323 of the image sensor in each direction, and the target position of the image sensor is calculated. Calculated. The calculation result is input to the control unit 331 , converted into a drive command signal for the motor by the control unit 331 , output, and input to the motor driver 341 . Then, the motors 351 to 353 that have received the output signal from the motor driver 341 rotate, and drive the shake correction mechanism section (corresponding to the drive unit 31) 371 according to the target position of the imaging device that changes every moment. At that time, the rotation state of the motor is constantly detected by magnetic sensitive elements (for example, Hall elements) 361 to 363, and feedback control is performed so that the rotation of the imaging element along the target position is performed.

Further, the vibration correction mechanism 371 has an orientation detection unit (orientation detection means) 381 , and the detection signal is input to the control unit, and a drive command corresponding to the orientation is input to the motor driver 341 . there is Note that the orientation detection section may be provided in the camera instead of the shake correction mechanism section. At that time, an attitude signal from the microcomputer in the camera is input to the control section 331 , and a drive command corresponding to the attitude is input to the motor driver 341 .

[Method for reducing power consumption of shake correction device of the present invention]
In FIG. 13, it was explained that each bearing should have a minimum driving force of 0% and a maximum driving force of 50%. As described above, this has the effect of reducing the size of each driving unit and reducing the thickness of the entire device in the direction of the optical axis, but it also has the effect of reducing power consumption. For example, 0 to 180° in FIG. 13 is divided into 12 (“1” to “12”). Looking at the area of "1", bearing A is 0 to 15%, bearing B is 50%, and bearing C is 35 to 50%. As a result, the driving force of the bearing A can be very weak, that is, the input to the motor (for example, the signal corresponding to the driving voltage) can be reduced. On the other hand, bearing B and bearing C require normal driving force. Next, looking at area "2", bearing A is 15-25%, bearing B is 50%, and bearing C is 25-35%. As a result, the driving force of the bearings A and B may be slightly weaker, and the input to the motor can be made slightly smaller. Next, looking at area "3", bearing A is 25-35%, bearing B is 50%, and bearing C is 15-25%. As a result, the driving force of the bearings A and B may be slightly weaker, and the input to the motor can be made slightly smaller. FIG. 14 is a table summarizing the driving forces required in the regions "1" to "12" as described above. ● represents a normal driving force, ▼ represents a slightly weaker driving force than usual, and ▼▼ represents a much weaker driving force than usual. A "very weaker than normal driving force" requires very little input to the motor. With "driving force slightly weaker than usual", the input to the motor is slightly smaller. Therefore, if the posture (θ) of the shake correction device of the present invention is detected, power consumption can be reduced by adjusting the input of the motor that drives each bearing according to the posture.

Furthermore, when the bearings are driven according to gravity (+ direction for A, - direction for B, and + direction for C), gravity assists the driving force, so the input to the motor can be further reduced, resulting in higher power consumption. can be reduced. Specifically, if the angle formed by the direction of gravity and the driving direction is 0° or more and less than 90°, the input to the motor can be reduced, and power consumption can be reduced.

Although preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and changes are possible within the scope of the gist. For example, it can be applied not only to a device in a camera in which an imaging element unit is attached to a moving member as described above, but also to a moving device that moves a stage-shaped moving member to a target position. effect can be obtained.

1 Moving members 1a, 1b, 1c Long hole portions 1a-1, 1b-2, 1c-3 Surface portion 2a Motor unit (driving portion)
2b slide unit 7 rolling ball (rolling part)
10 slide member 11 bearing (second connecting member)
15 screwing member (first connecting member)
17 shaft member 20 tension coil spring (elastic member)
Oa optical axis 381 attitude detection unit (attitude detection means)

Claims (4)

A moving member (1), a slide member (10) that moves straight along with the moving member, a shaft member (17) that guides the straight movement of the slide member, and a drive that applies a driving force for the straight movement to the slide member. and an elastic member having one end attached to the slide member and the other end attached to the moving member, and biasing the moving member and the sliding member in the straight movement direction, wherein the The moving device according to claim 1, wherein the elastic member generates an urging force in a direction orthogonal to a straight movement direction to the slide member and the shaft member. 2. The moving device according to claim 1, wherein the position of the elastic member attached to the slide member is located closer to the guide member than the second connecting member (11). A moving member (1), three sliding members (10) that move linearly together with the moving members, three shaft members (17) that guide the linear movement of the sliding members, and driving the sliding members for the linear movement. three drive units (2a) for applying force, one end of which is attached to the slide member and the other end of which is attached to the moving member, for biasing the moving member and the slide member in the direction of linear movement; and an elastic member, wherein the elastic member generates an urging force in a direction orthogonal to a rectilinear movement direction with respect to the slide member and the shaft member. 4. The moving device according to claim 3, wherein the position of the elastic member attached to the slide member is located closer to the guide member than the second connecting member (11).

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