TW202242528A - Shape memory alloy actuators and module assembly thereof - Google Patents

Abstract

SMA actuators and related methods are described. One embodiment of an actuator includes a base; a plurality of buckle arms; and at least a first shape memory alloy wire coupled with a pair of buckle arms of the plurality of buckle arms. Another embodiment of an actuator includes a base and at least one bimorph actuator including a shape memory alloy material. The bimorph actuator attached to the base.

Description

Shape memory alloy actuator and its module assembly

Embodiments of the present invention are in the field of shape memory alloy systems. More particularly, embodiments of the present invention relate to the field of shape memory alloy actuators and related methods.

Shape memory alloy ("SMA") systems have a moving assembly or structure that can be used, for example, in conjunction with a camera lens element as an autofocus drive. These systems may be surrounded by a structure such as a shield. The moving assembly is supported for movement on a support assembly by bearings such as balls. Flexure elements formed of metal such as phosphor bronze or stainless steel have a moving plate and flexure. A flexure extends between the moving plate and the stationary support assembly and acts as a spring to enable movement of the moving assembly relative to the stationary support assembly. The balls allow the moving assembly to move with little resistance. The moving and supporting assemblies are coupled by four shape memory alloy (SMA) wires extending between the assemblies. Each of the SMA wires has one end attached to the support assembly and an opposite end attached to the moving assembly. The suspension is driven by applying an electrical drive signal to the SMA wire. However, these types of systems suffer from system complexity, resulting in bulky systems that require a large footprint and a large height gap. Furthermore, the present system fails to provide a high Z-stroke range with a compact, low profile footprint.

SMA actuators and related methods are described. An embodiment of an actuator includes: a base; a plurality of buckle arms; and at least one first shape memory alloy wire coupled to a pair of buckle arms of the plurality of buckle arms. Another embodiment of an actuator includes a base and at least one bimorph actuator including a shape memory alloy material. The bimorph actuator is attached to the base.

Other features and advantages of embodiments of the present invention will become apparent from the accompanying drawings and from the ensuing detailed description.

Cross References to Related Applications

This application claims the benefit of U.S. Provisional Patent Application No. 63/152,299, filed February 22, 2021, and U.S. Patent Application No. 17/569,268, filed January 5, 2022, the entire contents of both cases Incorporated herein by reference.

Described herein is an embodiment of an SMA actuator that includes a compact footprint and provides a high actuation height, such as movement in the positive z-axis direction (z-direction), referred to herein as the z-stroke. Examples of SMA actuators include an SMA buckle actuator and an SMA bimorph actuator. SMA actuators can be used in many applications including, but not limited to, lens assemblies as an autofocus actuator, a microfluidic pump, a sensor shift, optical image stabilization, optical zoom assemblies, etc. The two surfaces are struck to produce the vibratory sensation commonly found in tactile feedback sensors and devices and other systems in which an actuator is used. For example, embodiments of an actuator described herein can be used as a haptic feedback actuator for use in a cell phone or wearable device configured to provide the user with an alert, Respond to notifications, warnings, touch areas or press buttons. Additionally, more than one SMA actuator can be used in a system to achieve a larger stroke.

For various embodiments, the SMA actuator has a z-stroke greater than 0.4 mm. Furthermore, for various embodiments, the SMA actuator has a height in the z-direction of 2.2 millimeters or less when the SMA actuator is in its initial, non-actuated position. Embodiments of an SMA actuator configured as an autofocus actuator in a lens assembly can have a footprint that is only 3 millimeters larger than the inner diameter ("ID") of the lens. According to various embodiments, SMA actuators may have a footprint that is wider in one direction to accommodate components including but not limited to sensors, wires, traces, and connectors. According to some embodiments, the footprint of an SMA actuator is 0.5 mm larger in one direction, eg the length of the SMA actuator is 0.5 mm larger than the width.

Figure 1a illustrates a lens assembly including an SMA actuator configured as a buckle actuator, according to one embodiment. Figure 1b illustrates an SMA actuator configured as a buckle actuator according to one embodiment. The buckle actuator 102 is coupled to a base 101 . As shown in FIG. 1 b, the SMA wire 100 is attached to the buckle actuator 102 such that when the SMA wire 100 is actuated and retracted, this causes the buckle actuator 102 to buckle, which causes each buckle to buckle. At least central portion 104 of actuator 102 moves in the z-stroke direction (eg, positive z-direction), as indicated by arrow 108 . According to some embodiments, the SMA wire 100 is actuated when current is supplied to one end of the wire through a wire holder, such as a crimp structure 106 . Current flows through the SMA wire 100 , heating the SMA wire 100 due to the inherent electrical resistance of the SMA material from which the SMA wire 100 is made. The other side of the SMA wire 100 has a wire holder, such as a crimp structure 106 that connects the SMA wire 100 to ground the circuit. Heating the SMA wire 100 to a sufficient temperature causes the unique material properties to change from a martensite crystal structure to an austenite crystal structure, which causes a change in the length of the wire. Changing the current changes the temperature and thus the length of the wire, which is used to actuate and de-actuate the actuator to control movement of the actuator in at least the z-direction. Those skilled in the art will understand that other techniques can be used to provide current to an SMA wire.

Figure 2 illustrates an SMA actuator configured as an SMA bimorph actuator according to one embodiment. As shown in FIG. 2 , the SMA actuator includes a bimorph actuator 202 coupled to a base 204 . The bimorph actuator 202 includes a SMA tape 206 . The bimorph actuator 202 is configured to move at least the unsecured end of the bimorph actuator 202 in the z-stroke direction 208 as the SMA tape 206 contracts.

Figure 3 illustrates an exploded view of an autofocus assembly including an SMA actuator according to one embodiment. As shown, an SMA actuator 302 is configured as a buckle actuator according to embodiments described herein. The autofocus assembly also includes an optical image stabilizer ("OIS") 304, a lens carrier 306 configured to hold one or more optical lenses using techniques including techniques known in the art, a return spring 308 , a vertical sliding bearing 310 and a guide cover 312 . When the SMA wire actuates and pulls and buckles the buckle actuator 302 using techniques including those described herein, the lens holder 306 is configured to follow the SMA actuator 302 in the z-stroke direction (e.g. positive z-axis direction) to slide against the vertical slide bearing 310. Return spring 308 is configured to exert a force on lens carrier 306 in a direction opposite to the z-stroke direction using techniques including techniques known in the art. According to various embodiments, the return spring 308 is configured to move the lens holder 306 in the opposite direction of the z-stroke direction when the tension in the SMA wire decreases as the SMA wire is deactivated. When the tension in the SMA wire is reduced to the initial value, the lens holder 306 moves to the lowest height in the z-stroke direction. FIG. 4 illustrates an autofocus assembly including an SMA wire actuator according to one embodiment depicted in FIG. 3 .

Figure 5 illustrates an SMA wire actuator including a sensor according to one embodiment. For various embodiments, the sensor 502 is configured to measure the movement of the SMA actuator in the z-direction or the movement of a component that the SMA actuator is moving using techniques including techniques known in the art. The SMA actuators include one or more buckle actuators 506 configured to actuate using one or more SMA wires 508 similar to those described herein. For example, in the autofocus assembly described with reference to FIG. 4, the sensor is configured to determine movement of the lens carrier 306 in the z-direction 504 from an initial position using techniques including techniques known in the art quantity. According to some embodiments, the sensor is a tunneling magnetoresistive ("TMR") sensor.

6 shows a top view and a side view of an SMA actuator 602 configured as a belt buckle actuator equipped with a lens holder 604 according to one embodiment. FIG. 7 illustrates a side view of a section of an SMA actuator 602 according to the embodiment depicted in FIG. 6 . According to the embodiment depicted in FIG. 7 , the SMA actuator 602 includes a sliding base 702 . According to one embodiment, slide base 702 is formed from a metal, such as stainless steel, using techniques including techniques known in the art. However, those skilled in the art will appreciate that other materials may be used to form the slide base 702 . Additionally, the sliding base 702 has a spring arm 612 coupled to the SMA actuator 602 according to some embodiments. According to various embodiments, the spring arm 612 is configured to serve two functions. The first function is to help push an object such as a lens holder 604 into the vertical sliding surface of a guide cover. For this example, the spring arm 612 preloads the lens carrier 604 upward against this surface to ensure that the lens will not tilt during actuation. For some embodiments, vertical sliding surface 708 is configured to mate with the guide cover. A second function of the spring arm 612 is to help pull the SMA actuator 602 back, eg, in the negative z direction, after the SMA wire 608 has moved the SMA actuator 602 in the z-stroke direction (ie, the positive z direction). Thus, when the SMA wire 608 is actuated, it contracts to move the SMA actuator 602 in the z-stroke direction and when the SMA wire is deactivated, the spring arm 612 is configured to move in the opposite direction of the z-stroke direction. SMA actuator 602 .

The SMA actuator 602 also includes a buckle actuator 710 . For various embodiments, buckle actuator 710 is formed from a metal, such as stainless steel. Additionally, the buckle actuator 710 includes a buckle arm 610 and one or more wire retainers 606 . According to the embodiment depicted in FIGS. 6 and 7 , the buckle actuator 710 includes four wire retainers 606 . Each of the four wire holders 606 is configured to receive an end of an SMA wire 608 and hold the end of the SMA wire 608 such that the SMA wire 608 is attached to the buckle actuator 710 . For various embodiments, four wire retainers 606 are crimps configured to clamp down on a portion of SMA wire 608 to attach the wire to the crimp. Those skilled in the art will understand that the SMA wire 608 can be attached to the wire holder 606 using techniques known in the art, including but not limited to adhesives, solder, and mechanical attachment. A smart memory alloy ("SMA") wire 608 extends between a pair of wire retainers 606 such that the buckle arm 610 of the buckle actuator 710 is configured to move when the SMA wire 608 is actuated, which results in The pair of wire holders 606 are drawn closer together. According to various embodiments, the SMA wire 608 is electrically actuated to move and control the position of the buckle arm 610 when a current is applied to the SMA wire 608 . When the current is removed or falls below a threshold, the SMA wire 608 is deactivated. This moves the pair of wire holders 606 apart and the buckle arm 610 moves in the opposite direction to when the SMA wire 608 is actuated. According to various embodiments, when the SMA wire is deactivated in its initial position, the buckle arm 610 is configured to have an initial angle of 5 degrees relative to the slide base 702 . Also, according to various embodiments, at full stroke or when the SMA wire is fully actuated, buckle arm 610 is configured to have an angle of between 10 and 12 degrees relative to slide base 702 .

According to the embodiment depicted in FIGS. 6 and 7 , the SMA actuator 602 also includes a sliding bearing 706 configured between the sliding base 702 and the wire holder 606 . Sliding bearing 706 is configured to minimize any friction between sliding base 702 and buckle arm 610 and/or wire holder 606 . For some embodiments, a slide bearing is attached to the wire holder 606 . According to various embodiments, the sliding bearing is formed from polyoxymethylene ("POM"). Those skilled in the art will understand that other structures can be used to reduce any friction between the buckle actuator and the base.

According to various embodiments, the sliding base 702 is configured to couple with an assembly base 704 such as an autofocus base of an autofocus assembly. According to some embodiments, the actuator base 704 includes an etched spacer. Such an etched spacer can be used to provide clearance for wires and crimps when the SMA actuator 602 is part of an assembly such as an autofocus assembly.

FIG. 8 shows views of an embodiment of a buckle actuator 802 relative to an x-axis, a y-axis, and a z-axis. As oriented in Figure 8, the buckle arm 804 is configured to move in the z-axis when the SMA wire is actuated and de-actuated as described herein. According to the embodiment depicted in FIG. 8 , buckle arms 804 are coupled to each other through a central portion, such as a hammock portion 806 . According to various embodiments, a hammock portion 806 is configured to support an object acted upon by the buckle actuator (such as a lens holder moved by the buckle actuator using techniques including the techniques described herein ) part of. According to some embodiments, a hammock portion 806 is configured to provide lateral stiffness to the buckle actuator during actuation. For other embodiments, the buckle actuator does not include a hammock portion 806 . According to these embodiments, the buckle arm is configured to act on an object to move the object. For example, the buckle arm is configured to act directly on a feature of a lens carrier to push up the lens carrier.

Figure 9 illustrates an SMA actuator configured as an SMA bimorph actuator according to one embodiment. SMA bimorph actuators include bimorph actuators 902, including bimorph actuators described herein. According to the embodiment depicted in FIG. 9 , one end 906 of each of the bimorph actuators 902 is attached to a base 908 . According to some embodiments, the end 906 is welded to the base 908 . However, those skilled in the art will understand that another technique may be used to attach the end 906 to the base 908 . FIG. 9 also depicts a lens carrier 904 configured such that the bimorph actuator 902 is configured to curl in the z-direction and lift the carrier 904 in the z-axis direction when actuated. For some embodiments, a return spring is used to push the bimorph actuator 902 back to an initial position. A return spring may be configured as described herein to assist in pushing down the bimorph actuator to its initial, de-actuated position. Due to the small footprint of the bimorph actuator, it is possible to fabricate SMA actuators with a reduced footprint compared to current actuator technology.

10 illustrates a cross-sectional view of an autofocus assembly including an SMA actuator including a position sensor, such as a TMR sensor, according to one embodiment. Autofocus assembly 1002 includes a position sensor 1004 attached to a moving spring 1006, and one of the autofocus assemblies attached to an SMA actuator including an SMA actuator such as the one described herein A magnet 1008 of the lens holder 1010 . The position sensor 1004 is configured to determine the movement of the lens holder 1010 from an initial position in the z-direction 1005 based on the distance of the magnet 1008 from the position sensor 1004 using techniques including techniques known in the art amount of movement. According to some embodiments, the position sensor 1004 is electrically coupled to a controller or a processor (such as a central processing unit) using electrical traces on a spring arm of a moving spring 1006 of an optical image stabilization assembly. catch.

11a-11c illustrate views of a bimorph actuator according to some embodiments. According to various embodiments, a bimorph actuator 1102 includes a beam 1104 and one or more SMA materials 1106, such as an SMA tape 1106b (e.g., a bimorph including a SMA tape as in the embodiment of FIG. piezo actuator shown in a perspective view) or SMA wire 1106a (eg, as depicted in a cross-section of a bimorph actuator comprising an SMA wire according to the embodiment of FIG. 11a Show). SMA material 1106 is attached to beam 1104 using techniques including those described herein. According to some embodiments, the SMA material 1106 is attached to a beam 1104 using an adhesive film material 1108 . For various embodiments, the ends of the SMA material 1106 are electrically and mechanically coupled to contacts 1110 configured to supply electrical current to the SMA material 1106 using techniques including techniques known in the art. According to various embodiments, the contacts 1110 (eg, as depicted in FIGS. 11 a and 11 b ) are gold-plated copper pads. According to an embodiment, a bimorph actuator 1102 having a length of approximately 1 millimeter is configured to generate a large stroke and 50 millinewtons ("mN") of thrust as part of a lens assembly, e.g. As shown in Figure 11c. According to some embodiments, the use of a bimorph actuator 1102 having a length greater than 1 mm will produce a greater stroke but less force than a bimorph actuator having a length of 1 mm . For one embodiment, a bimorph actuator 1102 includes a 20 micron thick SMA material 1106, a 20 micron thick insulator 1112 such as polyimide insulator, and a 30 micron thick stainless steel beam 1104 or alkali metal. Embodiments include a second insulator disposed between a contact layer including contacts 1110 and SMA material 1106 . According to some embodiments, the second insulator is configured to insulate the SMA material 1106 from portions of the contact layer not used as contacts 1110 . For some embodiments, the second insulation system is a surface coating, such as a polyimide insulation. Those skilled in the art will understand that other dimensions and materials may be used to meet the desired design characteristics.

Figure 12 shows a view of one embodiment of a bimorph actuator according to one embodiment. The embodiment as depicted in Figure 12 includes a central feed 1204 for applying power. Power is supplied at the center of an SMA material 1202 (wire or ribbon), such as the SMA material described herein. The end of the SMA material 1202 is grounded at the end pad 1203 to the beam 1206 or alkali metal as a return path. Terminal pad 1203 is electrically isolated from the rest of contact layer 1214 . According to an embodiment, a beam 1206 or alkali metal in close proximity to the SMA material 1202 (such as an SMA wire) along the entire length of the SMA material 1202 will when the current is turned off (i.e., the bimorph actuator is deactivated) Provides faster wire cooling. The result is a faster line deactivation activation and actuator response time. The heat distribution of the SMA wire or tape is improved. For example, more uniform heat distribution allows a higher total current to be reliably delivered to the wire. Without a uniform heat sink, portions of the line, such as a central region, may overheat and become damaged, thus requiring a reduced current and reduced motion to operate reliably. The center feed 1204 provides the benefits of faster start/actuation of the wires of the SMA material 1202 (faster heating) and reduced power consumption (lower resistive path length) with faster response time. This allows for a faster actuator movement and the ability to operate at a higher frequency of movement.

As shown in FIG. 12 , beam 1206 includes a center metal 1208 isolated from the rest of beam 1206 to form center feed 1204 . An insulator 1210 , such as the insulator described herein, is disposed over beam 1206 . The insulator 1210 is configured with one or more openings or vias 1212 to provide electrical access to the beam 1206, for example to couple to a ground section 1214b of the contact layer, and to provide contact to the center metal 1208 to form a center feed. Electric 1204. According to some embodiments, a contact layer 1214, such as described herein, includes a power section 1214a and a ground section 1214b to connect Actuation/control signals are provided to the bimorph actuator. A topcoat 1220, such as the topcoat described herein, is disposed over the contact layer 1214 to electrically isolate the contact layer except for portions of the contact layer 1214 where the electrical coupling is desired (e.g., a or multiple contacts) except at.

FIG. 13 shows a cross-section of an end pad of a bimorph actuator according to an embodiment as shown in FIG. 12 . As described above, the terminal pad 1203 is electrically isolated from the rest of the contact layer 1214 by a gap 1222 formed between the terminal pad 1203 and the contact layer 1214 . According to some embodiments, the gap is formed using etching techniques including etching techniques known in the art. End pad 1203 includes a via segment 1224 configured to electrically couple end pad 1203 to beam 1206 . A via section 1224 is formed in a via 1212 formed in the insulator 1210 . SMA material 1202 is electrically coupled to terminal pad 1203 . SMA material 1202 may be electrically coupled to terminal pads 1203 using techniques including, but not limited to, solder, resistance welding, laser welding, and direct plating.

FIG. 14 shows a central feed cross-section of a bimorph actuator according to an embodiment as shown in FIG. 12 . Center feed 1204 is electrically coupled to a power supply through contact layer 1214 and is electrically and thermally coupled to center metal 1208 by a via segment 1224 in center feed 1204 formed in A via hole 1212 is formed in the insulator 1210 .

The actuators described herein can be used to form an actuator assembly using multiple buckles and/or multiple bimorph actuators. According to one embodiment, the actuators can be stacked on top of each other in order to increase the achievable stroke distance.

Figure 15 depicts an exploded view of an SMA actuator comprising two buckle actuators according to one embodiment. According to embodiments described herein, the two buckle actuators 1302, 1304 are configured relative to each other to use their motion relative to each other. For various embodiments, the two buckle actuators 1302 , 1304 are configured to move in an inverse relationship to each other to position a lens holder 1306 . For example, first buckle actuator 1302 is configured to receive a power signal inverse of a power signal sent to second buckle actuator 1304 .

Figure 16 illustrates an SMA actuator comprising two buckle actuators according to one embodiment. The buckle actuators 1302, 1304 are configured such that the buckle arms 1310, 1312 of each buckle actuator 1302, 1304 face each other and the sliding base 1314, 1316 of each buckle actuator 1302, 1304 is on the The outer surface of one of the two buckle actuators. According to various embodiments, a hammock portion 1308 of each SMA actuator 1302, 1304 is configured to support an object to which one or more buckle actuators 1302, 1304 act (eg, caused by the buckles). The actuator moves a portion of a lens holder 1306) using techniques including those described herein.

17 illustrates a side view of an SMA actuator comprising two buckle actuators shown causing movement of one such as a lens holder in a positive z-direction or in an upward direction, according to one embodiment. The direction of the SMA line 1318 of the object.

18 illustrates a side view of an SMA actuator comprising two buckle actuators shown causing movement of one such as a lens holder in a negative z-direction or in a downward direction, according to one embodiment. The direction of the SMA line 1318 of the object.

19 depicts an exploded view of an assembly including an SMA actuator including two buckle actuators, according to one embodiment. The buckle actuators 1902, 1904 are configured so that the buckle arm 1910, 1912 of each buckle actuator 1902, 1904 is attached to one of the outer surfaces of the two buckle actuators, and each buckle actuator 1902 The sliding bases 1914, 1916 of , 1904 face each other. According to various embodiments, a hammock portion 1908 of each SMA actuator 1902, 1904 is configured to support an object to which one or more buckle actuators 1902, 1904 is actuated (e.g., by the buckles). The actuator moves a portion of a lens holder 1906) using techniques including those described herein. For some embodiments, the SMA actuator includes a base portion 1918 configured to receive the second buckle actuator 1904 . The SMA actuator may also include a cover portion 1920 . Figure 20 illustrates an SMA actuator comprising two buckle actuators comprising a base portion and a cover portion, according to one embodiment.

Figure 21 illustrates an SMA actuator comprising two buckle actuators according to one embodiment. For some embodiments, the buckle actuators 1902, 1904 are configured relative to each other such that the hammock portion 1908 of the first buckle actuator 1902 is rotated approximately 90 degrees from the hammock portion of the second buckle actuator 1904. The 90 degree configuration enables pitch and roll rotation of an object such as a lens holder 1906 . This provides better control over the movement of the lens holder 1906 . For various embodiments, a differential power signal is applied to the SMA wires of each pair of buckle actuators, which provides pitch and roll rotation of the lens carriage for tilt OIS motion.

Embodiments of the SMA actuator comprising two buckle actuators eliminate the need to have a return spring. The use of two buckle actuators improves/reduces hysteresis when using SMA wire resistors for position feedback. A reaction force SMA actuator comprising two buckle actuators facilitates more accurate position control due to lower hysteresis compared to an SMA actuator comprising one return spring. For some embodiments, such as the one depicted in FIG. 22, an SMA actuator comprising two buckle actuators 2202, 2204 uses differential power to the left SMA wire 2218a of each buckle actuator 2202, 2204. and right SMA wire 2218b provides 2-axis tilt. For example, a left SMA wire 2218a is actuated with a higher power than a right SMA wire 2218b. This causes the left side of the lens carrier 2206 to move down and the right side to move up (tilt). For some embodiments, the SMA wires of the first buckle actuator 2202 are held at equal power to act as a fulcrum for differentially pushing the SMA wires 2218a, 2218b to cause tilting motion. Inverting the power signal applied to the SMA wires, such as applying equal power to the SMA wires of the second buckle actuator 2204 and using differential power to the left and right SMA wires 2218a of the second buckle actuator 2204 2218b causes lens carrier 2206 to tilt in one of the other directions. This provides the ability to tilt an object such as a lens mount in either axis of motion, or any tilt between the lens and sensor can be untuned for good dynamic tilt, which results in better picture quality across all pixels .

Figure 23 illustrates an SMA actuator comprising two buckle actuators and a coupler, according to one embodiment. The SMA actuator includes two buckle actuators, such as the buckle actuator described herein. A first buckle actuator 2302 is configured to couple with a second buckle actuator 2304 using a coupler, such as a coupler ring 2305 . The buckle actuators 2302, 2304 are arranged relative to each other such that the hammock portion 2308 of the first buckle actuator 2302 is rotated approximately 90 degrees from the hammock portion 2309 of the second buckle actuator 2304 . A payload for movement, such as a lens or lens assembly, is attached to a lens carrier 2306 configured to rest on a sliding base of the first buckle actuator 2302 .

For various embodiments, equal power may be applied to the SMA wires of the first buckle actuator 2302 and the second buckle actuator 2304 . This can result in maximizing the z-stroke of the SMA actuator in the positive z-direction. For some embodiments, the stroke of the SMA actuator may have a z-stroke that is equal to or greater than twice the stroke of other SMA actuators including two buckle actuators. For some embodiments, an additional spring can be added to push against both buckle actuators to assist in pushing back the actuator assembly and payload down when the power signal is removed from the SMA actuator. The same and opposite electrical signals may be applied to the SMA wires of the first buckle actuator 2302 and the second buckle actuator 2304 . This enables the SMA actuator to move in the positive z-direction with the buckle actuator and in the negative z-direction with the buckle actuator, which enables accurate control of the position of the SMA actuator. In addition, equal and opposite power signals (differential power signals) can be applied to the left and right SMA wires of the first buckle actuator 2302 and the second buckle actuator 2304, so that, for example, a lens holder 2306 An object is tilted on at least one of two axes.

Embodiments of an SMA actuator comprising two buckle actuators and a coupler, such as the one depicted in FIG. 23, can be combined with an additional buckle actuator and buckle actuator The pair is coupled to achieve a desired stroke greater than that of a single SMA actuator.

24 depicts an exploded view of an SMA system including an SMA actuator including a buckle actuator with a laminated hammock, according to one embodiment. As described herein, for some embodiments, an SMA system is configured to function as an autofocus driver in conjunction with one or more camera lens elements. As shown in FIG. 24 , the SMA system includes a return spring 2403 configured according to various embodiments so that when the tension in the SMA wire 2408 decreases as the SMA wire is deactivated, the tension in the z-direction Move a lens holder 2405 in the opposite direction. For some embodiments, the SMA system includes a housing 2409 configured to receive a return spring 2403 and act on a sliding bearing to guide the lens carrier in the z-stroke direction. Housing 2409 is also configured to seat over buckle actuator 2402 . Buckle actuator 2402 includes a sliding base 2401 similar to that described herein. The buckle actuator 2402 includes a buckle arm 2404 coupled to a hammock portion, such as a laminated hammock 2406 formed from laminated sheets. The buckle actuator 2402 also includes an SMA wire attachment structure, such as a laminate formed crimp connector 2412 .

As shown in FIG. 24 , the sliding base 2401 is seated on an optional adapter plate 2414 . The adapter board is configured to mate the SMA system or buckle actuator 2402 with another system, such as an OIS, additional SMA system, or other components. Figure 25 illustrates an SMA system 2501 comprising an SMA actuator comprising a buckle actuator 2402 with a laminated hammock, according to one embodiment.

Figure 26 illustrates a buckle actuator comprising a laminated hammock according to one embodiment. Buckle actuator 2402 includes a buckle arm 2404 . Buckle arm 2404 is configured to move in the z-axis when SMA wire 2408 is actuated and de-actuated as described herein. SMA wire 2408 is attached to the buckle actuator using laminate forming crimp connector 2412 . According to the embodiment depicted in FIG. 26 , the buckle arms 2404 are coupled to each other through a central portion, such as a laminated hammock 2406 . According to various embodiments, laminated hammock 2406 is configured to support an object acted upon by the buckle actuator (eg, one moved by the buckle actuator using techniques including those described herein). part of the lens holder).

Figure 27 depicts a laminated hammock with an SMA actuator according to one embodiment. For some embodiments, the laminated hammock 2406 material is a low stiffness material so it does not resist actuation motion. For example, laminated hammock 2406 is formed using a copper layer disposed on a first polyimide layer and a second polyimide layer disposed on the copper. For some embodiments, laminated hammock 2406 is formed on buckle arm 2404 using deposition and etching techniques including those known in the art. For other embodiments, laminated hammock 2406 is formed separately from buckle arm 2404 and is attached to buckle arm 2404 using techniques including welding, adhesives, and other techniques known in the art. For various embodiments, glue or other adhesives are used on the laminated hammock 2406 to ensure that the buckle arm 2404 remains in a position relative to a lens holder.

Figure 28 illustrates a lamination of an SMA actuator to form a crimp connection according to one embodiment. The lamination forms a crimp connector 2412 configured to attach an SMA wire 2408 to the buckle actuator and create an electrical connection with the SMA wire 2408 . For various embodiments, lamination to form a crimp connection 2412 includes a laminate formed from one or more layers of an insulator and one or more layers of a conductive layer formed on a crimp.

For example, a layer of polyimide is disposed on at least a portion of the stainless steel portion forming a crimp 2413 . A conductive layer, such as copper, is then disposed on the polyimide layer that is electrically coupled to one or more signal traces 2415 disposed on the buckle actuator. Deforming the crimp to make contact with the SMA wires therein also brings the SMA wires into electrical contact with the conductive layer. Accordingly, a conductive layer with one or more signal traces is used to apply power signals to the SMA wires using techniques including those described herein. For some embodiments, a second polyimide layer is formed over the conductive layer in areas where the conductive layer will not be in contact with the SMA lines. For some embodiments, a laminate forming crimp connection 2412 is formed on a crimp 2413 using deposition and etching techniques including those known in the art. For other embodiments, the lamination to form the crimp connection 2412 and one or more electrical traces is formed independently of the crimp 2413 and the buckle actuator and using other methods including soldering, adhesives, and other methods known in the art. The technology is attached to the crimp 2413 and the buckle actuator.

Figure 29 depicts an SMA actuator comprising a buckle actuator with a laminated hammock. As shown in Figure 29, when a power signal is applied, the SMA wire contracts or shortens to move the buckle arm and laminate hammock in the positive z-axis direction. A laminated hammock in contact with an object then moves that object, such as a lens holder, in the positive z-axis direction. When the power signal is reduced or removed, the SMA wire extends and moves the buckle arm and laminate hammock in a negative z-axis direction.

30 depicts an exploded view of an SMA system including an SMA actuator, including a belt buckle actuator, according to one embodiment. As described herein, for some embodiments, an SMA system is configured to function as an autofocus driver in conjunction with one or more camera lens elements. As shown in FIG. 30 , the SMA system includes a return spring 3003 configured according to various embodiments to act in the z-stroke direction when the tension in the SMA wire 3008 decreases as the SMA wire is deactivated. Move a lens holder 3006 in the opposite direction. For some embodiments, the SMA system includes a stiffener 3000 disposed on a return spring 3003 . For some embodiments, the SMA system includes a housing 3009 formed from two parts configured to receive a return spring 3003 and act on a sliding bearing to guide the lens carrier in the z-stroke direction. Housing 3009 is also configured to seat over buckle actuator 3002 . The buckle actuator 3002 includes a slide base 3001 similar to the one described herein, the slide base 3001 being formed from two parts. The slide base 3001 is split to electrically isolate 2 sides (eg one side is grounded and the other side is powered) because according to some embodiments current flows partially through the slide base 3001 to the line.

Buckle actuator 3002 includes a buckle arm 3004 . Each pair of buckle actuators 3002 is formed on a separate portion of the buckle actuators 3002 . Buckle actuator 3002 also includes an SMA wire attachment structure, such as a resistance bond wire crimp 3012 . The SMA system optionally includes a flex circuit 3020 for electrically coupling the SMA wire 3008 to one or more control circuits.

As shown in FIG. 30 , the sliding base 3001 is placed on an optional adapter plate 3014 . The adapter board is configured to mate the SMA system or buckle actuator 3002 with another system, such as an OIS, additional SMA system, or other components. Figure 31 illustrates an SMA system 3101 comprising an SMA actuator comprising a belt buckle actuator 3002 according to one embodiment.

Figure 32 illustrates an SMA actuator including a buckle actuator according to one embodiment. Buckle actuator 3002 includes a buckle arm 3004 . Buckle arm 3004 is configured to move in the z-axis when SMA wire 3008 is actuated and de-actuated as described herein. SMA wire 3008 is attached to resistance bond wire crimp 3012 . According to the embodiment depicted in FIG. 32, the buckle arm 3004 is configured to mate with an object, such as a lens holder, without the use of a double yoke to capture a central portion of the joint.

Figure 33 illustrates a double yoke capture joint of a buckle arm of an SMA actuator according to one embodiment. Figure 33 also shows the plated pads used to attach the optional flex circuit to the slide base. For some embodiments, plating pad 3022 is formed using gold. 34 illustrates a resistance weld crimp of an SMA actuator used to attach an SMA wire to a buckle actuator, according to one embodiment. For some embodiments, glue or adhesive may also be placed on top of the solder to aid in mechanical strength and to function as fatigue strain relief during handling and impact loading.

Figure 35 shows an SMA actuator including a buckle actuator with a double yoke capture joint. As shown in Figure 35, when a power signal is applied, the SMA wire contracts or shortens to move the buckle arm in the positive z direction. The double-yoke capture joint contacts an object, which in turn moves the object, such as a lens holder, in the positive z-direction. When the power signal is reduced or eliminated, the SMA wire lengthens and moves the buckle arm in a negative z-axis direction. This yoke capture feature ensures that the buckle arm remains in the correct position relative to the lens holder.

Figure 36 illustrates a SMA bimorph liquid lens according to one embodiment. SMA bimorph liquid lens 3501 includes a liquid lens subassembly 3502 , a housing 3504 and an electrical circuit with SMA actuator 3506 . For various embodiments, the SMA actuator includes 4 bimorph actuators 3508, such as the embodiments described herein. The bimorph actuator 3508 is configured to push a forming ring 3510 positioned on a flexible diaphragm 3512 . The ring wraps around the membrane 3512/fluid 3514, changing the path of light through the membrane 3512/fluid 3514. Integral containment ring 3516 is used to contain liquid 3514 between diaphragm 3512 and lens 3518 . Equal force from the bimorph actuator changes the focus of the image in the Z direction (normal to the lens), which allows it to be used as an autofocus device. According to some embodiments, the differential force from the bimorph actuator 3508 can move light in the X, Y axis, which allows it to be used as an optical image stabilizer. By properly controlling each actuator, both the OIS function and the AF function can be achieved simultaneously. For some embodiments, 3 actuators are used. The circuit 3506 with the SMA actuator includes one or more contacts 3520 for the control signal to actuate the SMA actuator. According to some embodiments that include 4 SMA actuators, the circuit with SMA actuators 3506 includes 4 power circuit control contacts and a common reset contact for each SMA actuator.

Figure 37 illustrates a see-through SMA bimorph liquid lens according to one embodiment. 38 illustrates a cross-section and a bottom view of an SMA bimorph liquid lens according to an embodiment.

FIG. 39 illustrates an SMA system including an SMA actuator 3902 with a bimorph actuator, according to one embodiment. SMA actuator 3902 includes 4 bimorph actuators using techniques described herein. Two of the bimorph actuators are configured as positive z-stroke actuators 3904 and the other two are configured as negative z-stroke actuators 3906, as shown in FIG. An SMA actuator 3902 with a bimorph actuator is shown according to one embodiment. Opposite actuators 3906, 3904 are configured to control motion in both directions throughout the range of stroke. This provides the ability to tune the control code to compensate for tilt. For various embodiments, two SMA wires 3908 attached to the top of the assembly enable positive z-stroke displacement. Two SMA wires attached to the bottom of a component achieve negative z-stroke displacement. For some embodiments, each bimorph actuator is attached to an object such as a lens holder 3910 using tabs used to engage the object. The SMA system includes a top spring 3912 configured to provide stability of the lens holder 3910 in an axis perpendicular to the z-stroke axis (eg, in the directions of the x-axis and y-axis). Additionally, a top spacer 3914 is configured to be disposed between the top spring 3912 and the SMA actuator 3902 . A bottom spacer 3916 is disposed between the SMA actuator 3902 and a bottom spring 3918 . Bottom spring 3918 is configured to provide stability of lens holder 3910 in an axis perpendicular to the z-stroke axis, such as in the directions of the x-axis and y-axis. Bottom spring 3918 is configured to rest on a base 3920, such as those described herein.

Figure 41 shows the length 4102 of a bimorph actuator 4103 and the location of a bond pad 4104 for an SMA wire 4106 to extend the wire length beyond the bimorph actuator. Wire longer than the bimorph actuator is used to increase stroke and force. Thus, the extension length 4108 of the SMA wire 4106 beyond the bimorph actuator 4103 is used to set the stroke and force of the bimorph actuator 4103 .

Figure 42 shows an exploded view of an SMA system including an SMA bimorph actuator 4202 according to one embodiment. According to various embodiments, the SMA system is configured to use a single metal material and a non-conductive adhesive to create one or more circuits to independently power the SMA wires. Some embodiments have no AF size effect and include 4 bimorph actuators, such as the bimorph actuators described herein. Two of the bimorph actuators were configured as positive z-stroke actuators and the other two were configured as negative z-stroke actuators. Figure 43 depicts an exploded view of a subsection of an SMA actuator according to one embodiment. The subsection includes a negative actuator signal connection 4302 , a base 4304 with a bimorph actuator 4306 . The negative actuator signal connection 4302 includes wire bond pads 4308 for connecting the SMA wires of a bimorph actuator 4306 using techniques including techniques described herein. The negative actuator signal connection 4302 is attached to the base 4304 using an adhesive layer 4310 . This subsection also includes a positive actuator signal connection 4314 with a wire bond pad 4316 for connecting a bimorph actuator using techniques including those described herein. One of the devices 4306 is an SMA wire 4312. The positive actuator signal connection 4314 is attached to the base 4304 using an adhesive layer 4318 . Each of base 4304, negative actuator signal connection 4302, and positive actuator signal connection 4314 are formed from metal, such as stainless steel. The connection pads 4322 on each of the base 4304, negative actuator signal connection 4302, and positive actuator signal connection 4314 are configured to electrically couple control signals and ground for use using a system that includes the techniques described herein. Technology actuates the bimorph actuator 4306. For some embodiments, connection pads 4322 are gold plated. Figure 44 depicts a sub-section of an SMA actuator according to one embodiment. For some embodiments, gold plated pads are formed on the stainless steel layer for solder bonding or other known electrical termination methods. Additionally, shaped wire bond pads are used for signal contacts to electrically couple SMA wires for power signals.

Figure 45 illustrates a 5-axis sensor displacement system according to one embodiment. The 5-axis sensor shift system is configured to move an object, such as an image sensor, in 5 axes relative to one or more lenses. This includes X/Y/Z axis translation and pitch/roll tilt. Optionally, the system is configured to use only 4 axes, with X/Y translation and pitch/roll tilt for Z motion along with a single AF on top. Other embodiments include 5-axis sensor shift systems configured to move one or more lenses relative to an image sensor. For some embodiments, the static lens stack is mounted on the top cover and inserted inside the ID (without touching the orange mobile bracket inside).

Figure 46 depicts an exploded view of a 5-axis sensor displacement system according to one embodiment. The 5-axis sensor displacement system consists of 2 circuit components: a flexible sensor circuit 4602, bimorph actuator circuit 4604; and built into the bimorph using techniques including those described herein 8 to 12 bimorph actuators 4606 on the circuit assembly. The 5-axis sensor displacement system includes a moving carriage 4608 and a housing 4610 configured to hold one or more lenses. According to one embodiment, the bimorph actuator circuit 4604 includes 8 to 12 SMA actuators, such as the SMA actuators described herein. The SMA actuators are configured to move the mobile carriage 4608 in 5 axes similar to other 5-axis systems described herein, such as in the x-direction, in the y-direction, in the z-direction, pitch and roll.

Figure 47 shows an SMA actuator including a bimorph actuator integrated into this circuit for all motions, according to one embodiment. An embodiment of an SMA actuator may include 8 to 12 bimorph actuators 4606 . However, other embodiments may include more or fewer bimorph actuators 4606 . FIG. 48 shows an SMA actuator 4802 including a bimorph actuator integrated into this circuit for all motions, partly formed to fit inside a corresponding housing 4804, according to one embodiment. Figure 49 depicts a cross-section of a 5-axis sensor displacement system according to one embodiment.

FIG. 50 illustrates an SMA actuator 5002 including a bimorph actuator, according to one embodiment. The SMA actuator 5002 is configured to move an image sensor, lens or other various payloads in the x and y directions using the 4-side mounted SMA bimorph actuator 5004. 51 shows a top view of an SMA actuator comprising a bimorph actuator that moves an image sensor, lens, or other various payloads in different x and y positions.

FIG. 52 illustrates an SMA actuator including a bimorph actuator 5202 configured as a cartridge bimorph autofocus device, according to one embodiment. Four top and bottom mounted SMA bimorph actuators, such as the SMA bimorph actuators described herein, are configured to move together to generate movement in the z-stroke direction for autofocus motion. Figure 53 illustrates an SMA actuator comprising a bimorph actuator with two top mounted bimorph actuators 5302 configured to push down one or more lenses according to one embodiment. Figure 54 illustrates an SMA actuator comprising a bimorph actuator with two bottom mounted bimorph actuators 5402 configured to push up one or more lenses, according to one embodiment. 55 depicts an SMA actuator including a bimorph actuator to show four top and bottom mounted SMA bimorph actuators 5502 (such as the SMA bimorph described herein) according to one embodiment. Electric wafer actuator) is used to move one or more lenses to produce tilting motion.

Figure 56 illustrates an SMA system comprising an SMA actuator comprising a bimorph actuator configured as a biaxial lens shift OIS, according to one embodiment. For some embodiments, the dual-axis lens shift OIS is configured to move a lens in the X/Y axis. For some embodiments, the Z-axis movement is from a separate AF, such as the AF described herein. 4 bimorph actuators push the sides of the autofocus unit for OIS movement. 57 depicts an exploded view of an SMA system including an SMA actuator 5802 including a bimorph actuator 5806 configured as a biaxial lens shift OIS, according to one embodiment. . Figure 58 illustrates a cross-section of an SMA system comprising an SMA actuator 5802 comprising a bimorph actuator 5806 configured as a biaxial lens shift OIS, according to one embodiment . FIG. 59 illustrates a cartridge bimorph actuator 5802 for use in an SMA system configured to fit in the system when it is formed, according to one embodiment. One of the biaxial lens shift OIS was manufactured before. Such a system can be configured to have a high OIS excursion OIS (eg, +/- 200 um or higher). Furthermore, the embodiments are configured to have a wide range of motion and good OIS dynamic tilt using 4 slide bearings such as POM slide bearings. These embodiments are configured to be easily integrated with AF designs such as VCM or SMA.

Figure 60 illustrates an SMA system comprising an SMA actuator comprising a bimorph actuator configured as a 5-axis lens shift OIS and autofocus device, according to one embodiment. For some embodiments, the 5-axis lens shift OIS and autofocus device is configured to move a lens in X/Y/Z axes. For some embodiments, pitch and roll (yaw) axis motion is used for dynamic pitch tuning capabilities. Using the techniques described herein, 8 bimorph actuators were used to provide motion for the autofocus device and OIS. 61 depicts an exploded view of an SMA system including an SMA actuator 6202 including a 5-axis lens shift OIS and autofocus device configured according to an embodiment. Bimorph Actuator 6204. Figure 62 depicts a cross-section of an SMA system comprising an SMA actuator 6202 comprising a bimorph configured as a 5-axis lens shift OIS and autofocus device, according to one embodiment Actuator 6204. FIG. 63 illustrates a cartridge bimorph actuator 6202 for use in an SMA system configured to fit in the system when it is formed, according to one embodiment. One of the previously manufactured 5-axis lens shift OIS and autofocus devices. Such a system can be configured to have a high OIS stroke OIS (eg, +/- 200 um or higher) and a high autofocus stroke (eg, 400 um or higher). Furthermore, these embodiments are able to detune any tilt and eliminate the need for a separate autofocus assembly.

Figure 64 illustrates an SMA system comprising an SMA actuator comprising a bimorph actuator configured as an extrapolation box, according to one embodiment. For some embodiments, the bimorph actuator assembly is configured to wrap around an object, such as a lens holder. A flexible section is configured for low X/Y/Z stiffness since the circuit assembly moves with the lens holder. The tail pads of this circuit are static. The extrapolation box can be configured for both 4 or 8 bimorph actuators. Thus, the extrapolation box can be configured as a 4-bimorph actuator located on the OIS side and moving in the X and Y axes. The extrapolate box can be configured as a 4-bimorph actuator on the top and bottom to autofocus when moving in the z-axis. Extrapolation boxes can be configured to sit on the top, bottom and sides of OIS and autofocus devices and move in x, y and z axes and capable of one of 3 axes of tilt (pitch/roll/roll)8 Bimorph actuator. 65 shows an exploded view of an SMA system including an SMA actuator 6602 including a bimorph actuator 6604 configured as an extrapolation box, according to one embodiment. Accordingly, the SMA actuator is configured such that the bimorph actuator acts on the housing 6504 to move the lens carrier 6506 using the techniques described herein. FIG. 66 illustrates an SMA system including an SMA actuator 6602 comprising a bimorph configured to receive a pusher box partially shaped to receive a lens holder 6603, according to one embodiment. wafer actuator. Figure 67 illustrates an SMA system comprising an SMA actuator 6602 comprising an extrapod configured to be manufactured before it is shaped to fit in the system, according to one embodiment. Bimorph Actuator 6604.

Figure 68 illustrates an SMA system comprising an SMA actuator 6802 comprising a bimorph actuator 6806 configured as a 3-axis sensor shift OIS, according to one embodiment. For some embodiments, the z-axis movement comes from a separate autofocus system. 4 bimorph actuators were configured to push the side of a sensor bracket 6804 to provide motion for OIS using techniques described herein. Figure 69 depicts an exploded view of an SMA including an SMA actuator 6802 comprising a bimorph actuator configured as a 3-axis sensor shift OIS, according to one embodiment 6806. 70 illustrates a cross-section of an SMA system including an SMA actuator 6802 comprising a bimorph actuated configured as a 3-axis sensor shift OIS, according to one embodiment. device 6806. FIG. 71 illustrates a cartridge bimorph actuator 6802 assembly for use in an SMA system, the cartridge bimorph actuator 6802 assembly configured so that it is formed as A 3-axis sensor shift OIS was equipped in the system previously manufactured. 72 illustrates a flexible sensor circuit for use in an SMA system configured as a 3-axis sensor shift OIS, according to one embodiment. Such a system can be configured to have a high OIS stroke OIS (eg, +/- 200 um or higher) and a high autofocus stroke (eg, 400 um or higher). Furthermore, these embodiments are configured to have a wide dual axis range of motion and good OIS dynamic tilt using 4 slide bearings such as POM slide bearings. These embodiments are configured to be easily integrated with AF designs such as VCM or SMA.

73 illustrates an SMA system including an SMA actuator comprising a bimorph actuator configured as a 6-axis sensor shift OIS and autofocus device, according to one embodiment. 7404. For some embodiments, the 6-axis sensor shift OIS and autofocus device is configured to move a lens on the X/Y/Z/pitch/roll/roll axes. For some embodiments, pitch and roll axis motion is used for dynamic pitch tuning capabilities. Using the techniques described herein, 8 bimorph actuators were used to provide motion for the autofocus device and OIS. 74 depicts an exploded view of an SMA system including an SMA actuator 7402 including dual pressure configured as a 6-axis sensor shift OIS and autofocus device, according to one embodiment. Electric wafer actuator 7404. 75 depicts a cross-section of an SMA system including an SMA actuator 7402 comprising a bimorph configured as a 6-axis sensor shift OIS and autofocus device, according to one embodiment. wafer actuator. 76 illustrates a cartridge bimorph actuator 7402 for use in an SMA system configured to fit in the system when it is formed, according to one embodiment. One of the previously manufactured 6-axis sensor shift OIS and autofocus devices. 77 illustrates a flexible sensor circuit for use in an SMA system configured as a 3-axis sensor shift OIS, according to one embodiment. Such a system can be configured to have a high OIS stroke OIS (eg, +/- 200 um or higher) and a high autofocus stroke (eg, 400 um or higher). Furthermore, these embodiments are able to detune any tilt and eliminate the need for a separate autofocus assembly.

Figure 78 illustrates an SMA system comprising an SMA actuator comprising a bimorph actuator configured as a two-axis camera tilt OIS, according to one embodiment. For some embodiments, the dual-axis camera tilt OIS is configured to move a camera on the pitch/roll axis. Using the techniques described herein, 4 bimorph actuators are used to push the top and bottom of the autofocus device to obtain the entire camera motion for OIS pitch and roll motion. 79 shows an exploded view of an SMA system including an SMA actuator 7902 including a bimorph actuator 7904 configured as a two-axis camera tilt OIS, according to one embodiment. 80 depicts a cross-section of an SMA system comprising an SMA actuator comprising a bimorph actuator configured as a two-axis camera tilt OIS, according to one embodiment. 81 depicts a cartridge bimorph actuator for use in an SMA system configured to be mounted before being formed into the system, according to one embodiment. Manufacture one dual axis camera tilt OIS. 82 illustrates a flexible sensor circuit for use in an SMA system configured as a two-axis camera tilt OIS, according to one embodiment. Such a system can be configured to have a high OIS excursion OIS (eg, plus/minus 3 degrees or more). The embodiments are configured to be easily integrated with autofocus ("AF") designs (eg, VCM or SMA).

Figure 83 illustrates an SMA system comprising an SMA actuator comprising a bimorph actuator configured as a 3-axis camera tilt OIS, according to one embodiment. For some embodiments, the three-axis camera tilt OIS is configured to move a camera on the pitch/roll/roll axis. Using the technique described in this article, 4 bimorph actuators are used to push the top and bottom of the autofocus device to obtain the entire camera movement of OIS pitch and roll motion, and using the technique described in this article, 4 A bimorph actuator is used to push the side of the autofocus unit to obtain the full camera motion for the OIS roll motion. Figure 84 shows an exploded view of an SMA system including an SMA actuator 8402 including a bimorph actuator 8404 configured as a 3-axis camera tilt OIS, according to one embodiment. 85 depicts a cross-section of an SMA system comprising an SMA actuator comprising a bimorph actuator configured as a 3-axis camera tilt OIS, according to one embodiment. Figure 86 illustrates a cartridge bimorph actuator for use in an SMA system configured to fit in the system when it is shaped, according to one embodiment One of the 3-axis cameras with tilt OIS was manufactured before. 87 illustrates a flexible sensor circuit for use in an SMA system configured as a 3-axis camera tilt OIS, according to one embodiment. Such a system can be configured to have a high OIS excursion OIS (eg, plus/minus 3 degrees or more). These embodiments are configured to be easily integrated with AF designs such as VCM or SMA.

FIG. 88 illustrates exemplary dimensions of a bimorph actuator of an SMA actuator according to an embodiment. These dimensions are preferred embodiments, but those skilled in the art will understand that other dimensions may be used based on the desired characteristics of an SMA actuator.

Figure 89 illustrates a lens system for a folded camera according to an embodiment. The folded camera includes a folded lens 8902 configured to bend light to a lens system 8901 comprising one or more lenses 8903a-8903d. For some embodiments, the folding lens is any one or more of a lens and a lens. The lens system 8901 is configured to have a primary axis 8904 that is angled relative to a transmission axis 8906 that is parallel to the direction of travel of light before reaching the folded lens 8902 . For example, a folded camera is used in a camera phone system to reduce the height of a lens system 8901 in the direction of a transmission axis 8906 .

Embodiments of the lens system include one or more liquid lenses, such as the liquid lenses described herein. The embodiment depicted in Figure 89 includes two liquid lenses 8903b, 8903d, such as those described herein. One or more liquid lenses 8903b, 8903d are configured to be actuated using techniques including those described herein. A liquid lens is actuated using actuators, including but not limited to buckle actuators, bimorph actuators, and other SMA actuators. FIG. 108 illustrates a liquid lens actuated using buckle actuator 60 according to one embodiment. The liquid lens includes a forming ring coupler 64, a liquid lens assembly 61, one or more buckle actuators 60 (such as the buckle actuators described herein), a slide base 65, and a Base 62. One or more buckle actuators 60 are configured to move the shaping ring/coupler 64 to change the shape of the flexible membrane of the liquid lens assembly 61 to move or shape light, eg, as described herein. For some embodiments, 3 or 4 actuators are used. A liquid lens can act alone or in combination with other lens configurations to act as an autofocus device or optical image stabilizer. A liquid lens can also be configured to otherwise direct an image onto an image sensor.

FIG. 90 illustrates several embodiments of a lens system 9001 comprising liquid lenses 9002a through 9002h to focus an image on an image sensor 9004. As shown, the liquid lenses 9002a-9002h may comprise any lens shape and be configured to dynamically adjust the path of light through the lens using techniques including those described herein.

A lens system for a folded camera is configured to include an actuated fold lens 9100 . An example of an actuated fold lens is a tilted lens, such as the one depicted in FIG. 91 . In the example depicted in FIG. 91 , the folded lens is mounted on an actuator 9104 in a pan 9102 . The actuator includes, but is not limited to, an SMA actuator, including the SMA actuators described herein. For some embodiments, the tilt plate is mounted on an SMA actuator comprising 4 bimorph actuators 9106, such as the bimorph actuators described herein. According to some embodiments, the actuated folded lens 9100 is configured as an optical image stabilizer using techniques including those described herein. For example, an actuated folded lens is configured to include an SMA system, such as the one depicted in FIG. 39 . Another example of an actuated folded lens may include an SMA actuator, such as the one depicted in FIG. 21 . However, the fold lens may also include other actuators.

Figure 92 illustrates a bimorph arm with an offset, according to one embodiment. The bimorph arm 9201 includes a bimorph beam 9202 having a length 9208 and a shaped offset 9203 . The shaped offset 9203 adds mechanical advantage to produce a higher force compared to a bimorph arm without an offset. According to some embodiments, the depth of offset 9204 (also referred to herein as curved plane z offset 9204) and the length of offset 9206 (also referred to herein as slot width 9206) are configured to define a bimorph Properties of the arm, such as peak force. For example, the graph in FIG. 106 illustrates the relationship between bending plane z-offset 9204, slot width 9206, and peak force of a bimorph beam 9202 according to one embodiment.

The bimorph arms comprise one or more SMA materials, such as an SMA tape or SMA wire 9210, such as those described herein. The SMA material was attached to the beam using techniques including those described herein. For some embodiments, SMA material such as an SMA wire 9210 is attached to a fixed end 9212 of the bimorph arm and a point-of-load end 9214 of the bimorph arm such that the formed offset 9203 is attached to the SMA material between the two ends. For various embodiments, the ends of the SMA material are electrically and mechanically coupled to contacts configured to supply current to the SMA material using techniques including techniques known in the art. Bimorph arms with an offset can be included in SMA actuators and systems such as those described herein.

Figure 93 illustrates a bimorph arm with an offset and a limiter, according to one embodiment. The bimorph arm 9301 includes a bimorph beam 9302 having a shaped offset 9303 and a limiter 9304 adjacent to the shaped offset 9303 . The offset 9303 adds the mechanical advantage to produce a higher force and the limiter 9304 prevents the arm from moving away from the unsecured, point-of-load end of the bimorph actuator compared to the bimorph arm 9301 without an offset. Movement in the direction of 9306. The bimorph arm 9301 with a shaped offset 9303 and limiter 9304 can be included in SMA actuators and systems such as those described herein. The bimorph arm 9301 comprises one or more SMA materials such as an SMA tape or SMA wire 9308, such as those described herein attached to the bimorph arm 9301 using techniques including the techniques described herein .

Figure 94 illustrates a bimorph arm with an offset and a limiter, according to one embodiment. The bimorph arm 9401 includes a bimorph beam 9402 having a shaped offset 9403 and a limiter 9404 adjacent to the shaped offset 9403 . The limiter 9404 is formed as part of a base 9406 for the bimorph arm 9401 . The base 9406 is configured to receive a bimorph arm 9401 and includes a recess 9408 configured to receive the offset portion of the bimorph beam. The bottom of the recess is configured as a limiter 9404 adjacent to the formed offset 9403 . The base 9406 may also include one or more portions 9410 configured to support the bimorph arm when the bimorph arm is not actuated. The bimorph arm 9401 with a shaped offset 9403 and limiter 9404 can be included in SMA actuators and systems such as those described herein. The bimorph arm 9401 comprises one or more SMA materials, such as an SMA tape or SMA wire, such as those described herein attached to the bimorph arm 9401 using techniques including the techniques described herein.

Figure 95 illustrates an embodiment of a pedestal including a bimorph arm with an offset, according to an embodiment. The bimorph arm 9501 includes a bimorph beam 9502 with a shaped offset 9504 . The bimorph arm may also use a limiter including techniques described herein. The bimorph arm 9501 comprises one or more SMA materials such as an SMA tape or SMA wire 9506, such as those described herein attached to the bimorph arm 9501 using techniques including techniques described herein .

Figure 96 illustrates an embodiment of a base 9608 comprising two bimorph arms with an offset, according to an embodiment. Each bimorph arm 9601a, 9601b includes a bimorph beam 9602a, 9602b with a shaped offset 9604a, 9604b. Each bimorph arm 9601a, 9601b comprises one or more SMA materials, such as an SMA tape or SMA wire 9606a, 9606b, such as herein attached to the bimorph arm 9601 using techniques including those described herein. The SMA material described. Each bimorph arm 9601a, 9601b may also use one of the limiters including techniques described herein. Some embodiments include a base that includes two or more bimorph arms formed using techniques including those described herein. According to some embodiments, the bimorph arms 9601 are integrally formed with the base 9608 . For other embodiments, one or more of the bimorph arms 9601a, 9601b are formed separately from and attached to the base 9608 using techniques including, but not limited to, solder, resistance welding, laser welding, and adhesives . For some embodiments, two or more bimorph arms 9601a, 9601b are configured to act on a single object. This implementation has the ability to increase the force applied to an object. The graph in Figure 107 below shows an example of how the volume of the box, which is an approximation of a box surrounding the entire bimorph actuator, relates to the work of each bimorph component. The length of the bimorph actuator 9612, the width of the bimorph actuator 9610, and the height of the bimorph actuator 9614 were used to approximate the cartridge volume (collectively "cartridge volume").

Figure 97 depicts a buckle arm including a point of load extension according to one embodiment. The buckle arm 9701 includes a beam portion 9702 and one or more point-of-load extensions 9704a, 9704b extending from the beam portion 9702. Each end 9706a, 9706b of the buckle arm 9701 is configured to be attached to or integrally formed with or to a board or other base using techniques including those described herein. According to some embodiments, one or more point-of-load extensions 9704a, 9704b are attached to or integrally formed with the beam portion 9702 at an offset from one of the point-of-load 9710a, 9710b of the beam portion 9702 . Load points 9710a, 9710b are portions of beam portion 9702 configured to transfer the force of buckle arm 9701 to another object. For some embodiments, the load point 9710a, 9710b is the center of the beam portion 9702. For other embodiments, the load point 9710a, 9710b is at a location other than the center of the beam portion 9702. A point of load extension 9704a, 9704b is configured to extend in the direction of the longitudinal axis of the beam portion 9702 from the point of attachment to the beam portion 9702 towards the point of load 9710a, 9710b of the beam portion 9702. For some embodiments, the ends of the point-of-load extensions 9704a, 9704b extend to at least the point-of-load 9710a, 9704b of the beam portion 9702 . Buckle arm 9701 comprises one or more SMA materials, such as an SMA tape or SMA wire 9712, such as those described herein. SMA material such as an SMA wire 9712 is attached at opposite ends of the beam portion 9702 . The SMA material was attached to the opposite end of the beam section using techniques including those described herein. For some embodiments, the length of the point-of-load extensions 9704a, 9704b may be configured to be any length contained within the longitudinal length of the associated flat (de-actuation) beam portion 9702 of the buckle arm 9701 .

Figure 98 depicts a buckle arm 9801 including a point of load extension 9810 in an actuated position, according to one embodiment. The SMA material attached to the opposite end of the beam portion 9802 is actuated using techniques including those described herein. The load point 9804 enables the buckle arm 9801 to increase the range of stroke on the buckle arm without extensions. Thus, a greater maximum vertical stroke can be achieved for the buckle arm including the point-of-load extension. Buckle arms with point-of-load extensions may be included in SMA actuators and systems such as those described herein.

Figure 99 depicts a bimorph arm including a point-of-load extension according to one embodiment. The bimorph arm 9901 includes a beam portion 9902 and one or more point-of-load extensions 9904a, 9904b extending from the beam portion. One end of the bimorph arm 9901 is configured to be attached or integrally formed to a plate or other base using techniques including those described herein. The end of the beam portion 9902 opposite the attached or integrally formed end is unfixed and free to move. According to some embodiments, one or more point-of-load extensions 9904a, 9904b are attached or integrally formed with the beam portion 9902 at an offset from one of the free ends of the beam portion 9902 . The point-of-load extensions 9904a, 9904b are configured to extend from a point of attachment to the beam portion 9902 in a direction away from a plane containing the longitudinal axis of the beam portion 9902 . For example, point of load extensions 9904a, 9904b extend in the direction that the free ends of the beam portions extend when actuated. Some embodiments of a bimorph arm 9901 include one or more point-of-load extensions 9904a, 9904b having a longitudinal axis that forms a plane that includes the longitudinal axis of the beam portion from 1 degree to 90 degrees inclusive. one angle. For some embodiments, the ends 9910a, 9910b of the point-of-load extensions 9904a, 9904b are configured to engage an object configured to be moved.

The bimorph arm 9901 comprises one or more SMA materials, such as an SMA tape or SMA wire 9906, such as those described herein. SMA material such as an SMA wire 9906 is attached at opposite ends of the beam portion 9902 . The SMA material is attached to the opposite end of the beam portion 9902 using techniques including those described herein. For some embodiments, the length of the point-of-load extensions 9904a, 9904b can be configured to be any length. According to some embodiments, the location of the point where an object is joined by an end 9910a, 9910b of a point of load extension 9904a, 9904b may be configured to be any point along the longitudinal length of the beam portion 9902. When the beam portion at the end of a point-of-load extension is flat (deactivated), the height above the beam portion can be configured to be any height. For some embodiments, the point-of-load extension may be configured to be at least above other portions of the bimorph arm when the bimorph arm is actuated.

Figure 100 illustrates a bimorph arm including a point-of-load extension in an actuated position, according to one embodiment. The SMA material attached to the opposite end of the beam portion 2 is actuated using techniques including those described herein. The point-of-load extension 10 enables the bimorph arm 1 to increase the stroke force compared to a bimorph arm without the extension. Thus, the bimorph arm 1 comprising the point-of-load extension 10 enables a greater force to be exerted by the bimorph arm 1 . The bimorph arm 1 with the point-of-load extension 10 may be included in SMA actuators and systems such as those described herein.

FIG. 101 illustrates an SMA optical image stabilizer according to one embodiment. The SMA optical image stabilizer 20 includes a moving plate 22 and a static plate 24 . The moving plate 22 includes a spring arm 26 integrally formed with the moving plate 22 . For some embodiments, moving plate 22 and static plate 24 are each formed as a single, one-piece plate. The moving plate 22 includes a first SMA material attachment portion 28a and a second SMA material attachment portion 28b. The static plate 24 includes a first SMA material attachment portion 30a and a second SMA material attachment portion 30b. Each SMA material attachment portion 28, 30 is configured to secure SMA material, such as an SMA wire, to a board using a resistance weld joint. The first SMA material attachment portion 28a of the moving plate 22 includes a first SMA wire 32a disposed between it and a first SMA material attachment portion 30a of the static plate and a second SMA wire 32a disposed between it and the static plate 24. A second SMA wire 32b between the SMA attachment portions 30b. The second SMA material attachment portion 28b of the moving plate 22 includes a third SMA wire 32c disposed between it and a second SMA material attachment portion 30b of the static plate and a first SMA wire 32c disposed between it and the static plate 24. A fourth SMA wire 32d between the SMA attachment portions 30a. Actuating each SMA wire moves the moving plate 22 away from the static plate 24 using techniques including those described herein. Figure 102 illustrates a SMA material attachment portion 40 of a moving portion according to one embodiment. The SMA material attachment portion is configured to have SMA material, such as an SMA wire 41 , resistively welded to the SMA material attachment portion 40 . FIG. 103 illustrates an SMA attachment portion 42 in which a resistance soldered SMA wire 43 is attached to one of its static plates, according to an embodiment.

Figure 104 illustrates an SMA actuator 45 comprising a buckle actuator according to one embodiment. Buckle actuator 46 includes a buckle arm 47, such as the buckle arm described herein. Buckle arm 47 is configured to move in the z-axis when actuating and deactivating SMA wire 48 using techniques including techniques described herein. Each SMA wire 48 is attached to a respective resistance bond wire crimp 49 using resistance welding. Each resistance wire crimp 49 includes an island 50 isolated from the metal that forms a buckle arm 47 on at least one side of the SMA wire 48 . The island structure can be used in other actuators, optical image stabilizers, and autofocus systems to connect at least one side of an SMA wire to an isolated island structure formed in an alkali metal layer, such as in FIG. 101 OIS application shown.

105 illustrates a resistance weld crimp including an island for an SMA actuator used to bond an SMA wire 48 using techniques including those described herein, according to one embodiment. Attached to belt buckle actuator 46 . FIG. 105 a shows a bottom portion of the SMA actuator 45 . According to some embodiments, the SMA actuator 45 is formed from a stainless steel base 51 . A dielectric layer 52 such as a polyimide layer is disposed on the bottom portion of the base layer 51 of stainless steel. According to some embodiments, a conductor layer 53 is electrically connected to the stainless steel island 50 through a via in the dielectric layer 52, thereby enabling a connection between a wire soldered to the stainless steel island 50 and a conductor attached to the stainless steel island. An electrical connection is established between the circuits. According to some embodiments, an island 50 is etched from the base layer of stainless steel 50 . The dielectric layer 52 maintains the position of the islands 50 within the base stainless steel 51 . Island 50 is configured to have an SMA wire attached thereto using techniques including those described herein (eg, resistance welding). FIG. 105b shows a top portion of an SMA actuator 45 comprising an island 50 . For some embodiments, glue or adhesive may also be placed on top of the welds to aid in mechanical strength and serve as fatigue strain relief during handling and impact loading.

Figure 108 includes a lens system with an SMA actuator of a buckle actuator according to an embodiment. The lens system includes a liquid lens assembly 61 mounted on a base 62 . The lens system also includes a forming ring/coupler 64 mechanically coupled to the buckle actuator 60 . SMA actuators including buckle actuators 60 such as those described herein are mounted on a slide base 65 which is mounted on base 62 . The SMA actuator is configured to move the forming ring/coupler 64 along the optical axis of the liquid lens assembly 61 by actuating the buckle actuator 60 using techniques including the techniques described herein. This moves the shaping ring/coupler 64 to change the focal point of the liquid lens in the liquid lens assembly.

Figure 109 depicts one of the unsecured, point-of-load ends of a bimorph arm according to one embodiment. The unsecured, point-of-load end 70 of a bimorph arm includes a flat surface 71 for attaching SMA material, such as an SMA wire 72 . SMA wire 72 is attached to planar surface 71 by a resistance weld 73 . Resistance weld 73 is formed using techniques including those known in the art.

Figure 110 depicts an unsecured, point-of-load end of a bimorph arm, according to one embodiment. The free, point-of-load end 76 of a bimorph arm includes a flat surface 77 for attaching SMA material, such as an SMA wire 78 . SMA wire 78 is attached to planar surface 77 by a resistance weld similar to that depicted in FIG. 109 . An adhesive 79 is placed on the resistance weld. This enables a more reliable joint between the SMA wire 78 and the unsecured, point-of-load end 76 . Adhesive 79 includes, but is not limited to, conductive adhesives, non-conductive adhesives, and other adhesives known in the art.

Figure 111 depicts an unsecured, point-of-load end of a bimorph arm, according to one embodiment. The free, point-of-load end 80 of a bimorph arm includes a flat surface 81 for attaching SMA material, such as an SMA wire 82 . A metal interlayer 84 is disposed on the flat surface 81 . The metal interlayer 84 includes but is not limited to a gold layer, a nickel layer or an alloy layer. SMA wires 82 are attached by a resistance weld 83 to a metal interlayer 84 disposed on a flat surface 81 . Resistance weld 83 is formed using techniques including those known in the art. The metal interlayer 84 enables better adhesion to the unsecured, point-of-load end 80 .

Figure 112 depicts an unsecured, point-of-load end of a bimorph arm, according to one embodiment. The free, point-of-load end 88 of a bimorph arm includes a flat surface 89 for attaching SMA material, such as an SMA wire 90 . A metal interlayer 92 is disposed on the flat surface 89 . The metal interlayer 92 includes but is not limited to a gold layer, a nickel layer or an alloy layer. SMA wire 90 is attached to planar surface 89 by a resistance weld similar to that depicted in FIG. 111 . An adhesive 91 is placed on the resistance weld. This enables a more reliable joint between the SMA wire 90 and the unsecured, point-of-load end 88 . Adhesive 91 includes, but is not limited to, conductive adhesives, non-conductive adhesives, and other adhesives known in the art.

Figure 113 depicts a fixed end of a bimorph arm according to one embodiment. The fixed end 95 of a bimorph arm includes a flat surface 96 for attaching SMA material, such as an SMA wire 97 . SMA wire 97 is attached to planar surface 96 by a resistance weld 98 . Resistance weld 98 is formed using techniques including those known in the art.

Figure 114 depicts a fixed end of a bimorph arm according to one embodiment. The fixed end 120 of a bimorph arm includes a flat surface 121 for attaching SMA material, such as an SMA wire 122 . SMA wire 122 is attached to planar surface 121 by a resistance weld similar to that depicted in FIG. 113 . An adhesive 123 is placed on the resistance weld. This enables a more reliable joint between the SMA wire 122 and the fixed end 120 . Adhesive 123 includes, but is not limited to, conductive adhesives, non-conductive adhesives, and other adhesives known in the art.

Figure 115 depicts a fixed end of a bimorph arm according to one embodiment. The fixed end 126 of a bimorph arm includes a flat surface 127 for attaching SMA material, such as an SMA wire 128 . A metal interlayer 130 is disposed on the flat surface 127 . The metal interlayer 130 includes but is not limited to a gold layer, a nickel layer or an alloy layer. The SMA wire 128 is attached by a resistance weld 129 to the metal interlayer 130 disposed on the flat surface 127 . Resistance weld 129 is formed using techniques including those known in the art. The metal interlayer 130 achieves better adhesion to the fixed end 126 .

Figure 116 depicts a fixed end of a bimorph arm according to one embodiment. The fixed end 135 of a bimorph arm includes a flat surface 136 for attaching SMA material, such as an SMA wire 137 . A metal interlayer 138 is disposed on the flat surface 136 . The metal interlayer 138 includes but is not limited to a gold layer, a nickel layer or an alloy layer. SMA wire 137 is attached to planar surface 136 by a resistance weld similar to that depicted in FIG. 115 . An adhesive 139 is placed on the resistance weld. This enables a more reliable joint between the SMA wire 137 and the fixed end 135 . Adhesives 139 include, but are not limited to, conductive adhesives, non-conductive adhesives, and other adhesives known in the art.

Figure 117 depicts a rear view of a fixed end of a bimorph arm according to one embodiment. The bimorph arm is configured according to embodiments described herein. The fixed end 143 of a bimorph arm includes an island 144 isolated from the exterior 145 of the fixed end 143 . This enables the island 144 to be electrically and/or thermally isolated from the exterior 145 . For some embodiments, the SMA material attached to the opposite side of the fixed end 143 of the bimorph arm is electrically coupled to the SMA material, such as an SMA wire, through a via. Islands 144 are disposed on an insulator 146, such as the insulators described herein. Islands 144 may be formed using etching techniques including etching techniques known in the art.

Figure 118 depicts an unsecured, point-of-load end 870 of a bimorph arm according to one embodiment. The free, point-of-load end 870 of a bimorph arm includes a planar surface 871 configured to include a radiating surface area 874 extending from a resistive pad 873 . Radiating surface area 874 includes a distal portion 876 and a proximal portion 875 . The flat surface 871 is configured to have SMA material, such as an SMA wire 872 , attached to the flat surface 871 . According to some embodiments, SMA wire 872 is attached to planar surface 871 at a resistance land 873 by a resistance weld. Resistance welding is formed using techniques including those known in the art. For other embodiments, SMA wire 872 is attached to planar surface 871 using other attachment techniques including those described herein.

A temperature drop at the unsecured, point-of-load terminal 870 is related to the phase transition temperature of the SMA wire 872 . The radiating surface area 874 significantly increases the surface area of the unsecured point-of-load end 870 .

The increased surface area improves the temperature reduction of the unsecured, point-of-load end 870 . The increased surface area enables cooling to prevent shape memory alloy phase transformation during actuation.

Figure 119 depicts an unsecured, point-of-load end 170 of a bimorph arm according to one embodiment. The free, point-of-load end 170 of a bimorph arm includes a planar surface 171 configured to include a radiating surface area 174 extending from a resistive pad 173 .

Radiating surface area 174 includes a distal portion 176 and a proximal portion 175 . The planar surface 171 is configured to have SMA material, such as an SMA wire 172 , attached to the planar surface 171 . According to some embodiments, SMA wire 172 is attached to planar surface 171 by resistance welding to a resistance welding zone 173 . For other embodiments, SMA wire 172 is attached to planar surface 171 using other attachment techniques including those described herein.

The unsecured, point-of-load terminal 170 also includes a proximal aperture 178 and a distal aperture 179 separated by a resistive land 173 . Proximal aperture 178 and distal aperture 179 are formed using techniques including techniques known in the art. Although apertures 178 and 179 are shown as full-through features, in some examples apertures 178 and 179 may be partially etched.

A proximal aperture 178 and a distal aperture 179 physically disrupt the planar surface 171 and define the location of the resistive pad 173 . According to some embodiments, apertures 178 and 179 are configured to mitigate interference between wire 172 and planar surface 171 near resistive land 173 .

Figure 120 depicts an unsecured, point-of-load end 270 of a bimorph arm according to one embodiment. The free, point-of-load end 270 of a bimorph arm includes a planar surface 271 configured to include a radiating surface area 274 extending from a resistive pad 273 . The planar surface 271 is configured to have SMA material, such as an SMA wire 272 , attached to the planar surface 271 . According to some embodiments, SMA wire 272 is attached to planar surface 271 by resistance welding to a resistance welding zone 273 . For other embodiments, SMA wire 272 is attached to planar surface 271 using other attachment techniques including those described herein.

The unsecured, point-of-load terminal 270 also includes a proximal aperture 278 and a distal aperture 279 separated by a resistive weld 273 . Unsecured, point-of-load end 270 also includes an elongated aperture 280 corresponding to a section of SMA wire 272 . Elongated aperture 280 may be removed to create a wire gap for SMA wire 272 . In some embodiments, elongated aperture 280 extends from proximal aperture 278 . Although apertures 278, 279, and 280 are depicted as full-through features, in some examples apertures 278, 279, and 280 may be partially etched.

A proximal aperture 278 and a distal aperture 279 physically disrupt the planar surface 271 and define the location of the resistive pad 273 . Similarly, elongated aperture 280 physically disrupts planar surface 271 and defines the location of SMA wire 272 . According to some embodiments, apertures 278 , 279 , and 280 are configured to mitigate interference between wire 272 and planar surface 271 near resistive land 273 .

Figure 121 depicts an unsecured, point-of-load end 370 of a bimorph arm according to one embodiment. The flat surface 371 is configured to have SMA material, such as an SMA wire 372 , attached to the flat surface 371 . According to some embodiments, SMA wire 372 is attached to planar surface 371 by resistance welding to a resistance welding zone 373 at least partially isolated by a non-linear aperture 378 . In some configurations, the nonlinear aperture 378 is u-shaped to physically isolate up to 90% of the resistive pad 373 . Resistive pad 373 may be mounted on a solder tongue bounded by non-linear aperture 378 . For other embodiments, SMA wire 372 is attached to planar surface 371 using other attachment techniques including those described herein. Although non-linear aperture 378 is depicted as an all-pass feature, non-linear aperture 378 may be partially etched in some examples.

The increased surface area from the radiating surface region 374 enables cooling to prevent shape memory alloy phase transformation during actuation. In some alternative embodiments, the resistive land 373 may be completely etched from the unsecured, point-of-load terminal 370 . Alternatively, the resistive land 373 may also contain a portion of an etched slot to increase the compliance of the tongue.

Figure 122 depicts an unsecured, point-of-load end 470 of a bimorph arm according to one embodiment. Adjacent flat surface 471 is provided for attaching SMA material, such as an SMA wire 472 . SMA wire 472 is attached to planar surface 471 by a resistive pad 473 at least partially isolated by a non-linear aperture 478 .

Resistive pads 473 may be installed using a partially etched slot 479 in nonlinear aperture 478 . In some configurations, the nonlinear aperture 478 physically disrupts the planar surface 471 and defines the location of the resistive pad 473 . According to some embodiments, the aperture 478 is configured to mitigate interference between the wire 472 and the planar surface 471 near the resistive pad 473 . Although aperture 478 is depicted as a full pass feature, in some examples aperture 478 may be partially etched.

The increased surface area from the radiating surface area 474 enables cooling to prevent shape memory alloy phase transformation during actuation.

The disclosed embodiments can be applied to the fixed end of a bimorph arm. 123-125 are provided herein as example embodiments incorporating fixed ends of the disclosed embodiments.

Figure 123 depicts a fixed end of a bimorph arm according to one embodiment. The fixed end 895 of a bimorph arm includes a flat surface 896 for attaching SMA material, such as an SMA wire 897 . SMA wire 897 is attached to planar surface 896 by a resistive land 898 . Resistive pads 898 are formed using techniques including those known in the art.

Fixed end 895 includes a proximal aperture 893 and a distal aperture 894 separated by a resistive solder land 898 . Proximal aperture 893 and distal aperture 894 are formed using techniques including techniques known in the art.

A proximal aperture 893 and a distal aperture 894 physically disrupt the planar surface 896 and define the location of the resistance weld 898 . According to some embodiments, apertures 893 and 894 are configured to mitigate interference between SMA wire 897 and planar surface 896 near resistance pad 898 . Although apertures 893 and 894 are shown as full-through features, in some examples apertures 893 and 894 may be partially etched.

Figure 124 depicts a fixed end of a bimorph arm according to one embodiment. The fixed end 195 of a bimorph arm includes a flat surface 196 for attaching SMA material, such as an SMA wire 197 . SMA wire 197 is attached to planar surface 196 by a resistance weld at a resistance land 198 . Resistive pads 198 are formed using techniques including techniques known in the art.

The fixed end 195 includes a proximal aperture 193 and a distal aperture 194 separated by a resistive solder land 198 . Proximal aperture 193 and distal aperture 194 are formed using techniques including techniques known in the art.

Fixed end 195 also includes an elongated aperture 160 corresponding to a section of SMA wire 197 . Elongated aperture 160 may be removed to provide wire clearance for SMA wire 197 . In some embodiments, elongated aperture 160 extends from distal aperture 194 .

A proximal aperture 193 and a distal aperture 194 at least partially physically isolate the resistance pad 198 . Elongated aperture 160 physically disrupts planar surface 196 and defines the location of SMA wire 197 . According to some embodiments, aperture 193 and aperture 194 are configured to mitigate interference between SMA wire 197 and planar surface 196 proximate resistive pad 198 . Although apertures 193 and 194 are shown as full-through features, in some examples apertures 193 and 194 may be partially etched.

Figure 125 illustrates a fixed end 295 of a bimorph arm according to one embodiment. A fixed end 295 of a bimorph arm includes a flat surface 296 for attaching SMA material, such as an SMA wire 297 . The SMA wire 297 is attached to the planar surface 296 by a resistance weld at a resistance land 298 .

Resistive pads 298 are at least partially isolated by a non-linear aperture 294 . In some configurations, the non-linear aperture 294 is u-shaped to physically isolate up to 90% of the resistive pad 298 . Resistive pad 298 may be mounted on a solder tongue defined by nonlinear aperture 294 .

Non-linear aperture 294 physically disrupts planar surface 296 and defines the location of resistive pad 298 . According to some embodiments, the linear aperture 294 is configured to mitigate interference between the SMA wire 297 and the planar surface 296 near the resistance pad 298 . In some alternative embodiments, the resistive pad 298 may be completely etched from the fixed end 295 . Alternatively, the resistance pad 298 may also include a portion of etched slots to reduce a contact area.

Figure 126 illustrates a balanced bimorph actuator according to one embodiment. Balanced bimorph actuator 440 includes two bimorph arms 442, 443 formed and configured using techniques including those described herein. For some embodiments, bimorph actuator 440 is secured to a base 441 , such as a bracket for mounting to an outer housing. The bimorph actuator 440 is secured to the base using techniques including techniques known in the art, such as adhesives and solder. The balanced bimorph actuator 440 is configured to reduce the net friction of the bimorph actuator 440 by minimizing or eliminating its own friction components 444a, 444b, as it includes configurations on opposite sides Two bimorph arms 442,443 in the direction. The friction force component 444a, 444b of each bimorph arm 442, 443 acts in a direction different from the desired force stroke 445a, 445b of each bimorph arm 442, 443. According to some embodiments, a balanced bimorph actuator 440 includes at least one first bimorph arm 442 and is configured to have a frictional force acting in an opposite direction of the first bimorph arm 442 At least one other bimorph arm 443 of the components 444a, 444b. Accordingly, the balanced bimorph actuator 440 is configured to balance the sliding friction due to the friction component of one or more bimorph arms. This allows for more precise control with less or no need to actively counteract unwanted friction forces. Balanced bimorph actuators including the balanced bimorph actuators described herein overcome the problems of other bimorph actuators that create a friction component at the tip. These other bimorph actuators generate thrust in the Y direction and an unwanted force in the X direction due to sliding along the surface of the actuator's pushing member in the X direction. This will produce a small amount of unwanted motion in the X direction that the control system will have to compensate for. However, such compensating bimorph actuators will also induce their own unwanted friction forces. This requires complex control algorithms to achieve good motion performance eg as used in an optical image stabilization system.

Figure 127 illustrates an optical image stabilization system including balanced bimorph actuators according to one embodiment. Balanced bimorph actuators 448a-448d on all sides serve to cancel their own frictional components as they are configured in opposite directions using techniques including those described herein. With approximately net zero friction, there is a minimum open loop position error. In some instances, small errors will be due to typical assembly and component size tolerances and can be easily corrected by using a closed loop control system.

Figure 128 illustrates a balanced bimorph actuator according to one embodiment. Balanced bimorph actuator 450 includes two bimorph arms 452a, 452b configured in an in-line, mirror image orientation, such as the bimorph arms described herein. For some embodiments, the bimorph actuator 450 is secured to a base 453, such as a bracket for mounting to an outer housing. The bimorph actuator 450 is secured to the base using techniques including techniques known in the art, such as adhesives and solder. According to some embodiments, a first bimorph arm 452a is configured to have a direction primarily parallel to the fixed end 456a of the first bimorph arm of a longitudinal axis of the balanced bimorph actuator. A friction component 454a. The second bimorph arm 452b is configured to be in-line with the first bimorph arm 452a such that the fixed end 456b of the second bimorph arm is adjacent to the fixed end of the first bimorph arm 456a. end. The second bimorph arm 452b is configured to have a friction component 454b in an opposite direction to the first bimorph arm 452a. This results in the bimorph actuator being configured to reduce the net friction of the bimorph actuator by minimizing or eliminating the net friction. For some embodiments, for a balanced bimorph actuator, the net friction is approximately a net total friction of zero. For some embodiments, each bimorph arm 452a, 452b of the balanced bimorph actuator includes an SMA wire 458a, 458b. The SMA wires 458a, 458b are connected in series and configured to receive equal current to both wires. For some embodiments, the first SMA wire 458a is connected to an actuation control via a first bimorph arm 452a coupled to a control input pad 451a, for example through a 1-channel input for controlling the actuation of the actuator. Component coupling. The second SMA line 458b is coupled to ground through a second bimorph arm 452b coupled to a ground pad 451b.

FIG. 129 illustrates a balanced bimorph actuator including a polyimide layer 459 configured to hold and isolate metal components, according to one embodiment. Other embodiments of balanced bimorph actuators do not include a polyimide layer. For some embodiments of a balanced bimorph actuator without a polyimide layer, a control input pad, a ground pad, and a common base island are secured to the first bimorph arm and the second bimorph arm. A base layer between the fixed ends of the bimorph arms. For some embodiments, the control input pads, ground pads, and common base islands are secured to a base layer using an adhesive, such as those known in the art. FIG. 130 illustrates a balanced bimorph actuator including a common base island 460 according to one embodiment. Common base island 460 is configured for attaching an end of a first SMA wire and an end of a second SMA wire. For some embodiments, the common base island 460 is electrically isolated from a control input pad 461a and a ground pad 461b before any SMA wires are attached to the common base island 460 . A common base island 460 is formed on the fixed ends of the first bimorph arm 462a and the second bimorph arm 462b.

Figure 131 illustrates a balanced bimorph actuator according to one embodiment. The balanced bimorph actuator includes two bimorph arms 464a, 464b configured in an opposite in-line orientation, such as the bimorph arms described herein. For some embodiments, the bimorph actuator is secured to a base 463, such as a bracket for mounting to an outer housing. The bimorph actuator is secured to the base using techniques including techniques known in the art, such as adhesives and solder. According to some embodiments, a first bimorph arm 464a is configured to be primarily in a direction parallel to the fixed end 468a of the first bimorph arm 464a to a longitudinal axis of the balanced bimorph actuator. There is a friction component 466a. The second bimorph arm 464b is configured to be in-line with the first bimorph arm 464a such that the fixed ends 468a, 468b of the bimorph arms 464a, 464b are attached between the bimorph actuators. at the opposite end. Thus, the unsecured end 469a of the first bimorph arm and the unsecured end 469b of the second bimorph arm are disposed close to each other. The second bimorph arm 464b is configured to have a friction component 466b in the opposite direction to the first bimorph arm 464a. This results in the bimorph actuator being configured to reduce the net friction of the bimorph actuator by minimizing or eliminating the net friction. For some embodiments, for a balanced bimorph actuator, the net friction is approximately a net total friction of zero. For some embodiments, each bimorph arm 464a, 464b of the balanced bimorph actuator includes an SMA wire 467a, 467b. The SMA wires 467a, 467b are connected in series and configured to receive equal current to both wires, for example through a 1-channel input used to control the actuation of the actuator. For some embodiments, the first SMA wire 467a is connected to an actuation control via a first bimorph arm 452a coupled to a control input pad 451a, such as through a 1-channel input for controlling the actuation of the actuator. Component coupling. The second SMA line 458b is coupled to ground through a second bimorph arm 452b coupled to a ground pad 451b.

FIG. 132 illustrates a balanced bimorph actuator including a polyimide layer 570 configured to hold and isolate metal components using techniques described herein, according to one embodiment. Other embodiments of balanced bimorph actuators do not include a polyimide layer. For some embodiments of a balanced bimorph actuator without a polyimide layer, a control input pad and a ground pad are secured near the first bimorph arm and the second bimorph arm. For some embodiments, control input pads and a ground pad are secured to a base layer using an adhesive, such as those known in the art. FIG. 133 illustrates a balanced bimorph actuator including a control input pad 572 and a ground pad 573 using the techniques described herein, according to one embodiment.

Figure 134 illustrates a balanced bimorph actuator according to one embodiment. A balanced bimorph actuator includes two bimorph arms 574a, 574b configured in an in-line, mirror-image orientation, such as the bimorph arms described herein. For some embodiments, the bimorph actuator is secured to a base 571, such as a bracket for mounting to an outer housing. The bimorph actuator is secured to the base using techniques including techniques known in the art, such as adhesives and solder. According to some embodiments, a first bimorph arm 574a is configured to have a direction primarily parallel to the fixed end 576a of the first bimorph arm of a longitudinal axis of the balanced bimorph actuator. A friction component 575a. The second bimorph arm 574b is configured to be in-line with the first bimorph arm 574a such that the fixed end 576b of the second bimorph arm is adjacent to the fixed end of the first bimorph arm 576a. The second bimorph arm 574b is configured to have a friction component 575b in a direction opposite to the friction component 575a of the first bimorph arm. This results in the bimorph actuator being configured to reduce the net friction of the bimorph actuator by minimizing or eliminating the net friction. For some embodiments, for a balanced bimorph actuator, the net friction is approximately a net total friction of zero. For some embodiments, a single SMA wire 578 is used and each end of the SMA wire 578 is coupled to a respective unsecured end of each bimorph arm 577a, 577b. A single SMA wire 578 enables more stroke of the balanced bimorph actuator.

Figure 135 illustrates a balanced bimorph actuator comprising a single SMA wire 579 using the techniques described herein, according to one embodiment. 136 illustrates a balanced bimorph actuator configured for use with a single SMA wire and including a control, according to one embodiment, using the techniques described herein. Input pad 480 and a ground pad 481 . For some embodiments, the balanced bimorph actuator is configured to include a polyimide layer configured to hold and isolate metal components. Other embodiments of balanced bimorph actuators do not include a polyimide layer. For some embodiments of a balanced bimorph actuator without a polyimide layer, a control input pad and a ground pad are secured to fixed ends of the first bimorph arm and the second bimorph arm a layer in between. For some embodiments, control input pads and a ground pad are secured to a base layer using an adhesive, such as those known in the art.

Figure 137 illustrates a balanced bimorph actuator according to one embodiment. A balanced bimorph actuator includes two bimorph arms 482a, 482b arranged in a staggered orientation, such as the bimorph arms described herein. For some embodiments, the bimorph actuator is secured to a base 489, such as a bracket for mounting to an outer housing. The bimorph actuator is secured to the base using techniques including techniques known in the art, such as adhesives and solder. According to some embodiments, a first bimorph arm 482a is configured to have a direction primarily parallel to the fixed end 484a of the first bimorph arm 482a along a longitudinal axis of the first bimorph arm. A friction component 483a. The second bimorph arms 482b are configured to interleave with the first bimorph arms 482a such that the longitudinal axis of the second bimorph arms is substantially parallel to the longitudinal axis of the first bimorph arms. In addition, the fixed ends 484a, 484b of the bimorph arms 482a, 482b are at opposite ends of the bimorph actuator. Thus, the unsecured ends of the first bimorph arms 482a and the unsecured ends of the second bimorph arms 482b are staggered relative to each other. The second bimorph arm 482a is configured to have a friction component 483a in an opposite direction to the first bimorph arm 482a. This results in the bimorph actuator being configured to reduce the net friction of the bimorph actuator by minimizing or eliminating the net friction. For some embodiments, for a balanced bimorph actuator, the net friction is approximately a net total friction of zero. For some embodiments, each bimorph arm 482a, 482b of the balanced bimorph actuator includes an SMA wire 485a, 485b. The SMA wires 485a, 485b are connected in series and configured to receive equal current to both wires, eg, through a 1-channel input used to control the actuation of an actuator such as that described herein.

Figure 138 depicts a balanced bimorph actuator having a staggered orientation comprising a polyimide layer 486 configured to hold and isolate metal components according to one embodiment . Other embodiments of balanced bimorph actuators do not include a polyimide layer. For some embodiments of a balanced bimorph actuator without a polyimide layer, a control input pad and a ground pad are fixed adjacent to the first bimorph arm and the second bimorph arm. For some embodiments, control input pads and a ground pad are secured to the base layer using an adhesive, such as those described herein. Figure 139 illustrates a balanced bimorph actuator including a control input pad 487 and a ground pad 488 according to one embodiment.

Figure 140 illustrates an optical image stabilization system including balanced bimorph actuators according to one embodiment. Since the balanced bimorph actuators on all sides are configured in opposite directions, the balanced bimorph actuators serve to cancel their own frictional components. With approximately net zero friction, there is a minimum open loop position error. In some instances, small errors will be due to typical assembly and component size tolerances and can be easily corrected by using a closed loop control system.

Figure 141 depicts an exploded view of an optical image stabilization system including balanced bimorph actuators according to one embodiment. The optical image stabilization system is configured to receive a bimorph actuator, such as the bimorph actuator described herein, positioned itself flush into one of the pockets 510a-510d around the perimeter of the outer housing 511. device. This configuration enables bimorph modules by having bimorph actuators 514a-514d (such as the balanced bimorph actuators described herein) share the same X/Y space as outer housing 511 One of 512a-512d has a smaller X/Y footprint. This also simplifies the assembly of the bimorph modules 512a-512d by enabling the bimorph actuators 510a-510d to be externally inserted in a final step. Outer housing 511 may be made of molded plastic, metal or other materials.

Figure 142 illustrates an optical image stabilization system including balanced bimorph actuators according to one embodiment. The optical image stabilization outer housing 516 is configured to receive bimorph actuators 518a-518d, such as the bimorph actuators described herein, positioned themselves flush into a recess on the outer housing 516. device. This configuration enables bimorph modules by having bimorph actuators 518a-518d (such as the balanced bimorph actuators described herein) share the same X/Y space as the outer housing One of 520a-520d has a smaller X/Y footprint. This also simplifies assembly of the bimorph modules 520a-520d by enabling the bimorph actuators 518a-518d to be externally inserted in a final step. Outer housing 516 may be made of molded plastic, metal or other materials.

Figure 143 illustrates a sensor-shift optical image stabilization system including bimorph actuators according to one embodiment. The optical image stabilization system is configured to receive a balanced bimorph actuator configured as a balanced bracket/module 522a-522d, such as the balanced bimorph actuator described herein. The bimorph brackets/modules 522a-522d are configured to be inserted from the outside of the sensor shift OIS module. For some embodiments, the sensor shift OIS module uses an eccentric design of the bimorph actuator to also induce a moving image sensor mounted on a roll that can be controlled for suppression of roll excitation as well as X/Y excitation. Rotation of the image sensor 524 on the sensor bracket 528. This configuration enables bimorph modules 522a-522d by having bimorph actuators, such as the balanced bimorph actuators described herein, share the same X/Y space as outer housing 526 One of the smaller X/Y footprints. Assembly of the bimorph modules 522a-d is also simplified by allowing the bimorph actuators to be inserted externally at a final stage. Outer housing 526 may be made of molded plastic, metal or other materials.

Figure 144 illustrates an optical image stabilization system including balanced bimorph actuators according to one embodiment. The optical image stabilization system is configured to receive a bimorph actuator, such as the bimorph described herein, which is itself flush positioned into a recess 530 on an optical image stabilization system outer housing 532 actuator. This configuration enables bimorph modules 534a to 534d by having bimorph actuators, such as the balanced bimorph actuators described herein, share the same X/Y space as outer housing 532 One of the smaller X/Y footprints. This also simplifies the assembly of the bimorph modules 534a to 534d by enabling the bimorph actuators to be externally inserted as a last step. Outer housing 532 may be made of molded plastic, metal or other materials.

Figure 145 illustrates a metal outer housing 536 for an optical image stabilization system manufactured to be attached with molded plastics 538a-538d in an insert molding process according to embodiments described herein Formed metal. Figure 146 depicts a metal housing/housing 536 embodiment that includes formed into 4 sides of the metal housing/housing 536 configured to allow for flush mounting of bimorph actuators 544a-544d (such as herein The pockets 542a to 542d of the bimorph actuator described in

Figure 147 depicts an exploded view of an optical image stabilization (OIS) system including a balanced bimorph actuator and centering springs, according to one embodiment. The optical image stabilization system includes an autofocus (AF) actuator 400 with four AF solder connections 402 or other electrical connections that pass current between the AF actuator 400 and a focus control circuit pieces. For some embodiments, autofocus actuator 400 includes one or more SMA actuators, such as the SMA actuators disclosed herein. According to some embodiments, the AF actuator 400 is mounted on a base 404 coupled with the AF actuator 400 . According to some embodiments, base 404 includes four isolation sections, where each of the isolation sections is attached to springs 406a-406d. For some embodiments, the base 404 and the springs 406a-406d are each formed from a single flat member that is divided into four isolated sections to create four electrical leaf spring circuits to control the movement of an object, such as an optical image stabilization X/Y axis movement of the system and/or Z axis movement of an automatic focus.

For some embodiments, isolated sections of pedestal 404 and/or springs 406a-406d are formed using an etching process or other fabrication techniques such as those known in the art. To form four leaf spring circuits, the springs 406 a - 406 d are soldered to the base 404 such that each of the four springs 406 a - 406 d is soldered to one of the four isolated sections of the base 404 . For some embodiments, soldering secures springs 406a-406d to isolated sections of base 404 at solder points 408a-408d included on each of the four leaf spring circuits to create four isolated electrical paths. For some embodiments, four isolated electrical paths are configured for closed loop AF. Four OIS solder connections 410 a - 410 d are configured to connect the leaf spring circuit to the OIS control circuit contained in the bimorph OIS actuator 412 . The OIS control circuit is configured to connect to a printed circuit board (PCB) to enable a camera control circuit to operate an AF actuator 400 and an OIS actuator 412, such as the embodiments disclosed herein.

Figure 148 shows a top view of an OIS system comprising four leaf spring circuits. According to some embodiments, the leaf spring circuits 414a-414d are configured as a stainless steel (SST) circuit to enable a low-cost solution for controlling the movement of an image sensor. For some embodiments, the leaf spring circuits 414a-414d are formed from gold plated 100 micron stainless steel. The stiffness of the springs comprising the leaf spring circuits 414a-414d achieves a reliable and stable spring force that can be used to center the AF actuator relative to an image sensor or otherwise control the movement of the AF actuator. The springs 416a-416d included in the leaf spring circuits 414a-414d are configured to produce low stress during large changes in movement, such as movement in a positive or negative direction on an x-axis and/or a y-axis . For example, for some embodiments, the maximum stress on a spring during a stroke motion of 330 microns is 425 megapascals (Mpa). Minimizing the stress on the springs can prolong the service life (eg, one with an infinite fatigue limit below <638 MPa), thereby improving the reliability of the OIS system relative to other motion control solutions. The spring is also configured to provide a downward force on a bearing (eg, bearing) supporting the assembly to provide near-zero dynamic tilt effects on an AF module and/or an OIS system.

Figure 149 shows a base containing four springs. According to one embodiment, the springs 418a to 418d are freely formed to create a preload (e.g., the springs can be freely formed such that the free ends of the springs extend from the base in a positive or negative direction on a z-axis for 6.4 millimeters (mm)). For some embodiments, a spring is freely formed to have a preload in a range inclusive of 15 millinewtons to 35 millinewtons. The preload of a spring in an OIS system is configured to ensure that a moving mass, such as an AF actuator, is held against one or more bearings.

Free forming of the springs 418a-418d can reduce the deflection of the springs 418a-418d (for example, the deflection of the springs is reduced to plus or minus 0.1 mm) to reduce the overall height requirement of the leaf spring circuit, such as required in the z-axis for proper operation. amount of space. Figure 150 shows the spring 429 after it has been soldered to the base to create a leaf spring circuit. One or more flat bends may be formed in the spring before the spring is freely formed. For some embodiments, a spring 429 includes a flat bend near each end of the spring 429 . For example, a spring includes: a first flat bend 430 configured to have a bend in a negative direction, such as a minus 3.5 degrees in a z-axis; and/or a second flat bend 431, It is configured to have a curvature in a positive direction, for example a positive 3.5 degrees in a z-axis. For some embodiments, the flattened portion is within a range between 0 degrees and plus or minus 7 degrees inclusive. Other embodiments of the spring include flat bends configured to have a bend within a range as desired to meet design constraints. The one or more flat bends of the spring enable the spring to achieve a downward force (e.g., +/- 25 microNewtons (mN)) while minimizing the amount of spring deflection (e.g., <0.1 arm deflection under normal conditions) mm and arm deflection at full spring height <0.2 mm). The one or more flat bends of the spring also configure the spring to move in one direction (eg, a positive z-axis direction) to minimize the clearance space required below the leaf spring circuit. Minimizing the amount of spring deflection and minimizing spring deflection in a positive z-axis direction reduces the amount of space taken up by the leaf spring circuit (eg, +/- 0.2 mm in the z-axis). Accordingly, flattening one or more bends of the spring in the leaf spring circuit minimizes the impact of the OIS actuator on the overall camera height, enabling smaller and more compact assembly of electronic camera systems.

Figure 151 illustrates a bimorph actuator including a crimp according to one embodiment. According to various embodiments, a bimorph actuator 1512 includes a beam 1514 (such as the beams described herein) and one or more SMA materials 1516 (such as an SMA tape or SMA wire 1516). For some embodiments, SMA material (such as an SMA wire 1516) is attached to a fixed end 1518 of the bimorph actuator (such as those described herein), and the bimorph actuates A point-of-load end 1520 of the device, such as the point-of-load end described herein, such that the beam 1514 is tied between the two ends in which the SMA material is attached. Fixed end 1518 includes a crimp portion 1522 configured to clamp down on a portion of SMA wire 1516 to attach the wire to fixed end 1518 . The point-of-load end 1520 includes a crimp portion 1524 configured to clamp down on a portion of the SMA wire 1516 to attach the wire to the point-of-load end 1520 . For various embodiments, the ends of the SMA material are electrically and mechanically coupled to contacts configured to supply current to the SMA material using techniques including techniques known in the art.

It will be understood that terms such as "top," "bottom," "above," "below," and x, y, and z directions, as used herein as terms of convenience, denote parts relative to one another rather than any particular spatial or gravitational force. The spatial relationship of orientation. Accordingly, these terms are intended to cover an assembly of component parts, whether or not the assembly is oriented in the particular orientation shown in the drawings and described in the specification, inverted from that orientation, or any other rotational variation.

It will be appreciated that the term "the present invention" as used herein should not be interpreted to mean that only a single invention having a single basic element or group of elements or elements is presented. Similarly, it will also be understood that the term "the invention" covers several separate innovations, each of which may be regarded as a separate invention. Although the invention has been described in detail with respect to preferred embodiments and drawings thereof, it should be apparent to those skilled in the art that various embodiments of the invention can be practiced without departing from the spirit and scope of the invention. Adapt and modify. Additionally, the techniques described herein can be used to make a device with two, three, four, five, six, or more typically n bimorph actuators and buckle actuators. Accordingly, it should be understood that the detailed description and accompanying drawings, as set forth above, are not intended to limit the breadth of the present invention, which breadth should be inferred only from the following claims and their legal equivalents when properly construed.

1: Bimorph arm 2: beam part 10: Point of load extension 20: Shape memory alloy (SMA) optical image stabilizer 22: Mobile board 24: static board 26: spring arm 28a: First SMA material attachment portion 28b: Second SMA material attachment portion 30a: first SMA material attachment portion 30b: Second SMA material attachment portion 32a-d: 1st SMA wire 40: SMA material attachment part 41a: SMA wire 41b: SMA wire 43a: SMA wire 43b: SMA wire 42: SMA attachment part 46a: Buckle actuator 46b: Buckle Actuator 47a-d: buckle arm 48a: SMA wire 48b: SMA wire 49a: Resistance bonding wire crimp 49b: Resistance bonding wire crimp 45: SMA actuator 50: island 51: Metal/stainless steel substrate 52: Dielectric layer 53: conductor layer 60: Buckle Actuator 61: Liquid lens assembly 62: base 64: Forming ring coupler / forming ring / coupler 65: sliding base 70: Unfixed, point-of-load end 71: flat surface 72: SMA line 73: resistance welding 76: Unfixed, point-of-load end 77: flat surface 78: SMA line 79: Adhesive 80: Unfixed, point-of-load end 81: flat surface 82: SMA line 83: resistance welding 84: metal interlayer 88: Unfixed, point-of-load end 89: flat surface 90: SMA line 91: Adhesive 92: metal interlayer 95: fixed end 96: flat surface 97: SMA line 98: resistance welding 100: Shape memory alloy (SMA) wire 101: base 102: buckle actuator 104: central part 106: Crimp structure 108:z stroke direction 120: fixed end 121: flat surface 122: SMA line 123: Adhesive 126: fixed end 127: flat surface 128: SMA line 129: resistance welding 130: metal interlayer 135: fixed end 136: flat surface 137: SMA line 138: metal interlayer 139: Adhesive 143: Bimorph arm/fixed end 144: island 145: external 146: insulator 160: Long aperture 170: Unfixed, point-of-load end 171: flat surface 172: SMA line 173: resistance welding area 174: Radiation Surface Area 175: Proximal part 176: Distal part 178: proximal aperture 179: Distal Aperture 193: proximal aperture 194: Distal Aperture 195: fixed end 196: flat surface 197: SMA line 198: resistance welding area 202: Bimorph Actuator 204: base 206: SMA belt 208:z stroke direction 270: Unfixed, point-of-load end 271: flat surface 272: SMA line 273: resistance welding area 274: Radiation Surface Area 278: proximal aperture 279: Distal Aperture 280: Long aperture 294: Nonlinear Aperture 295: fixed end 296: flat surface 297: SMA line 298: resistance welding area 302: SMA actuator 304: Optical Image Stabilizer ("OIS") 306: Lens bracket 308: return spring 310: vertical sliding bearing 312: boot cover 370: Unfixed, point-of-load end 371: flat surface 372: SMA line 373: resistance welding area 374: Radiation Surface Area 378:Nonlinear Aperture 400: Auto Focus (AF) Actuator 402: AF solder connector 404: base 406a to 406d: Spring 408a to 408d: solder joints 410a to 410d: OIS solder connections 412: Bimorph OIS Actuator 414a to 414d: leaf spring circuit 416a to 416d: Spring 418a to 418d: Spring 429: spring 430: the first flat curved part 431: second flat curved part 440: Balanced Bimorph Actuator 441: base 442: Bimorph Arm/First Bimorph Arm 443: bimorph arm/another bimorph arm 444a: Friction component/Friction force component 444b: Friction component/Friction component 445a: force stroke 445b: force stroke 448a to 448d: Balanced bimorph actuators 450: Balanced Bimorph Actuator 451a: Control input pad 451b: Ground pad 452a: Bimorph Arm/First Bimorph Arm 452b: Bimorph Arm/Second Bimorph Arm 453: base 454a: Friction component 454b: Friction component 456a: First bimorph arm 456b: Second bimorph arm 458a: SMA line / first SMA line 458b: SMA line/Second SMA line 459: polyimide layer 460:Common base island 461a: Control input pad 461b: Ground pad 462a: First bimorph arm 462b: Second bimorph arm 463:Pedestal 464a: Bimorph Arm/First Bimorph Arm 464b: Bimorph Arm/Second Bimorph Arm 466a: Friction component 466b: Friction component 467a: SMA line / first SMA line 467b: SMA line/Second SMA line 468a: fixed end 468b: fixed end 469a: First bimorph arm 469b: Second bimorph 470: Unfixed, point-of-load end 471: flat surface 472: SMA line 473: resistance welding area 474: Radiation Surface Area 478:Nonlinear Aperture 479: Partial etching groove 480:Control Input Pad 481: Ground pad 482a: Bimorph Arm/First Bimorph Arm 482b: Bimorph Arm/Second Bimorph Arm 483a: Friction component 483b: Friction component 484a: fixed end 484b: fixed end 485a: SMA wire 485b: SMA wire 486: polyimide layer 487:Control Input Pad 488: Ground pad 489:Pedestal 502: sensor 504: z direction 506: Buckle Actuator 508: SMA line 510a to 510d: pockets 511: Outer shell 512a to 512d: bimorph modules 514a to 514d: bimorph actuators 516: Optical image stabilization housing 518a to 518d: bimorph actuators 520a to 520d: bimorph modules 522a to 522d: Balance Bracket/Module, Bimorph Bracket/Module 524: image sensor 526: Outer shell 528:Mobile Image Sensor Bracket 530: pit 532: Outer shell 534a to 534d: bimorph modules 536: Metal shell, metal shell/shell 536a to 536d: Metal outer shell, metal shell/housing 538a to 538d: molded plastic 542a to 542d: pockets 570: polyimide layer 571: base 572:Control Input Pad 573: Ground pad 574a: Bimorph Arm/First Bimorph Arm 574b: Bimorph Arm/Second Bimorph Arm 575a: Friction component 575b: Friction component 576a: First bimorph arm 576b: Second bimorph arm 577a: Bimorph arm 577b: Bimorph Arm 578: SMA line 579: SMA line 604: Lens bracket 606: wire retainer 608:Smart Memory Alloy (“SMA”) Wire/Smart Memory Alloy (“SMA”) Wire 610: buckle arm 612: spring arm 702: sliding base 704: Assembly base 706: sliding bearing 708: Vertical sliding surface 710: buckle actuator 802: Buckle Actuator 804: buckle arm 806: hammock part 870: Unfixed, point-of-load end 871: flat surface 872: SMA line 873: resistance welding area 874: Radiation Surface Area 875:proximal part 876: Distal part 893: Proximal Aperture 894: Distal Aperture 895: fixed end 896: flat surface 897: SMA line 898: resistance welding area 902: Bimorph Actuator 904: Lens bracket 906: end 908: base 1002: Auto focus assembly 1004: Position sensor 1005: z direction 1006: mobile spring 1008: magnet 1010: Lens bracket 1102a: Bimorph Actuator 1102b: Bimorph Actuator 1104a: Beam 1104b: Beam 1106b: SMA belt 1108b: adhesive film material 1110a: contact piece 1110b: contact piece 1110c: contact piece 1112b: 20 micron thick insulator 1112c: 20 micron thick insulator 1202: SMA material 1203a: End pad 1203b: End pad 1204: Center feed 1206: Beam 1208: center metal 1210: insulator 1212: Opening or through hole 1214a: Power section 1214b: Grounding section 1216: Power supply contact piece 1218: Ground contact 1220: surface coating 1222: gap 1224: through hole section 1226: through hole section 1302: First Buckle Actuator 1304: Second Buckle Actuator 1306: Lens bracket 1308a: Hammock part 1308b: Hammock part 1310a: buckle arm 1310b: buckle arm 1312a: buckle arm 1312b: buckle arm 1314: sliding base 1316: sliding base 1318a: SMA wire 1318b: SMA wire 1512: Bimorph Actuator 1514: Beam 1516: SMA material/SMA tape or SMA wire 1518: fixed end 1520: point of load terminal 1522: Crimp part 1524: Crimp part 1902: First Buckle Actuator 1904: Second Buckle Actuator 1906: Lens holder 1908a: Hammock section 1908b: Hammock section 1914: Sliding base 1916: Sliding base 1918: Base section 1920: cover part 2202: First Buckle Actuator 2204: Second Buckle Actuator 2206: Lens bracket 2218a: left SMA wire 2218b: Right SMA wire 2302: First Buckle Actuator 2304:Second Buckle Actuator 2305: Coupler ring 2306: Lens bracket 2308a: Hammock part 2309b: Hammock part 2401: sliding base 2402: Buckle Actuator 2403: return spring 2404a to 2404d: buckle arm 2405: Lens bracket 2406: Lens bracket 2406a: Laminated Hammock 2406b: Laminated Hammock 2408a: SMA wire 2408b: SMA wire 2409: shell 2412a to 2412d: lamination to form crimp connections 2413: Crimp 2414: Adapter board 2415: signal trace 2501: SMA system 3000: reinforcement 3001a: sliding base 3001b: sliding base 3002: Buckle Actuator 3003: return spring 3004a to 3004d: buckle arm 3006: Lens bracket 3008a: SMA wire 3008b: SMA wire 3009a: shell 3009b: shell 3012a to 3012d: Resistance Bonding Wire Crimps 3014: Adapter board 3020: Flexible Circuits 3022a: Plating Pad 3022b: Plating Pads 3101: SMA system 3501: SMA Bimorph Liquid Lens 3502: Liquid Lens Subassembly 3504: shell 3506: SMA Actuator 3508: Bimorph Actuator 3510: forming ring 3512: flexible diaphragm 3514: liquid 3516: body containment ring 3518: lens 3520: contact piece 3902: SMA Actuator 3904: Positive z-stroke actuator 3906: Negative z-stroke actuator 3908: SMA wire 3910: Lens Holder 3912: top spring 3914: top spacer 3916: Bottom spacer 3918: bottom spring 3920:Pedestal 4102: Length 4103: Bimorph Actuator 4104: Bonding Pad 4106: SMA wire 4108: Extended length 4202: SMA Bimorph Actuator 4302: Negative Actuator Signal Connection 4304: base 4306a: Bimorph Actuator 4306b: Bimorph Actuator 4308: Wire Bonding Pads 4310: adhesive layer 4312b: SMA wire 4314: Positive Actuator Signal Connection 4316: Wire Bonding Pads 4318: adhesive layer 4322: connection pad 4602: Flexible Sensor Circuit 4604: Bimorph Actuator Circuit 4606: Bimorph Actuator 4606a to 4606h: Bimorph Actuators 4608: Mobile bracket 4610: shell 4802: SMA Actuator 4804: Shell 5002:SMA Actuator 5004: 4 Side Mount SMA Bimorph Actuators 5202: Bimorph Actuator 5402: Bottom Mounted Bimorph Actuator 5502: Top and Bottom Mount SMA Bimorph Actuators 5802: SMA Actuator / Cassette Bimorph Actuator 5806: Bimorph Actuator 5806a to 5806d: Bimorph Actuators 6202: SMA Actuator / Cassette Bimorph Actuator 6204: Bimorph Actuator 6204a to 6204h: Bimorph Actuators 6504: Shell 6506: Lens holder 6602: SMA Actuator 6604: Bimorph Actuator/Lens Holder 6604a to 6604h: Bimorph Actuators 6802: SMA Actuator / Cassette Bimorph Actuator 6804: Sensor bracket 6806a to 6806d: Bimorph Actuators 7402: SMA Actuator / Cassette Bimorph Actuator 7404: Bimorph Actuator 7404a to 7404d: Bimorph Actuators 7902: SMA Actuator 7904: Bimorph Actuator 8402: SMA Actuator 8404: Bimorph Actuator 8404a to 8404d: Bimorph Actuators 8901: lens system 8902: folding lens 8903a to 8903d: Lenses 8904:Spindle 8906: Transmission Axis 9001: Lens system 9002a to 9002h: Liquid lenses 9004: image sensor 9100: Actuated Folding Lenses 9102: 稜鏡 9104: Actuator 9106: Bimorph Actuator 9201: Bimorph arm 9202: Bimorph Beam 9203: Forming offset 9204: Offset/bend plane z offset 9206: Offset/slot width 9208: length 9210: SMA tape or SMA wire 9212: fixed end 9214: Point of load terminal 9301: Bimorph Arm 9302: Bimorph Beam 9303: Forming offset 9304: limiter 9306: Unfixed, point-of-load 9308: SMA tape or SMA wire 9401: Bimorph Arm 9402: Bimorph Beam 9403: Forming offset 9404: limiter 9406: base 9408: Concave 9410: part 9501: Bimorph Arm 9502: Bimorph Beam 9504: Forming offset 9506: SMA tape or SMA wire 9601a: Bimorph Arm 9601b: Bimorph Arm 9602a: Bimorph Light Beam 9602b: Bimorph Light Beam 9604a: Forming Offset 9604b: Form offset 9606a: SMA tape or SMA wire 9606b: SMA tape or SMA wire 9608: base 9610: Bimorph Actuator 9612: Bimorph Actuator 9614: Bimorph Actuator 9701: buckle arm 9702: beam part 9704a: Point of Load Extension 9704b: Point of Load Extension 9706a: terminal 9706b: end 9710a: Point of Load 9710b: Point of Load 9712: SMA tape or SMA wire 9801: buckle arm 9802: beam part 9804: Point of load 9810: Point of Load Extension 9901: Bimorph Arm 9902: beam part 9904a: Point of Load Extension 9904b: Point of Load Extension 9906: SMA tape or SMA wire 9910a: terminal 9910b: terminal

Embodiments of the present invention are depicted by way of example and not limitation in the figures of the accompanying drawings, wherein like element numbers indicate like elements and wherein:

Figure 1a illustrates a lens assembly including an SMA actuator configured as a buckle actuator according to one embodiment;

Figure 1b illustrates an SMA actuator according to an embodiment;

Figure 2 illustrates an SMA actuator according to an embodiment;

Figure 3 illustrates an exploded view of an autofocus assembly including an SMA wire actuator according to one embodiment;

Figure 4 illustrates an autofocus assembly including an SMA actuator according to one embodiment;

Figure 5 illustrates an SMA actuator including a sensor according to one embodiment;

6 depicts a top view and a side view of an SMA actuator configured as a buckle actuator equipped with a lens holder according to one embodiment;

Figure 7 shows a side view of a section of the SMA actuator according to the embodiment;

Figure 8 depicts multiple views of an embodiment of a belt buckle actuator;

Figure 9 illustrates a bimorph actuator with a lens holder according to one embodiment;

10 illustrates a cross-sectional view of an autofocus assembly including an SMA actuator, according to one embodiment;

11a-11c illustrate views of bimorph actuators according to some embodiments;

12 illustrates a view of an embodiment of a bimorph actuator according to an embodiment;

13 illustrates a cross-section of an end pad of a bimorph actuator according to an embodiment;

Figure 14 illustrates a central supply pad cross-section of a bimorph actuator according to one embodiment;

Figure 15 illustrates an exploded view of an SMA actuator comprising two buckle actuators according to one embodiment;

Figure 16 illustrates an SMA actuator comprising two buckle actuators according to one embodiment;

Figure 17 illustrates a side view of an SMA actuator comprising two buckle actuators according to one embodiment;

Figure 18 illustrates a side view of an SMA actuator comprising two buckle actuators according to one embodiment;

Figure 19 depicts an exploded view of an assembly including an SMA actuator including two buckle actuators according to one embodiment;

Figure 20 illustrates an SMA actuator comprising two buckle actuators according to one embodiment;

Figure 21 illustrates an SMA actuator comprising two buckle actuators according to one embodiment;

Figure 22 illustrates an SMA actuator comprising two buckle actuators according to one embodiment;

Figure 23 illustrates an SMA actuator comprising two buckle actuators and a coupler, according to one embodiment;

24 depicts an exploded view of an SMA system including an SMA actuator including a buckle actuator with a laminated hammock, according to one embodiment;

Figure 25 illustrates an SMA system comprising an SMA actuator comprising a buckle actuator 2402 with a laminated hammock, according to one embodiment;

Figure 26 illustrates a buckle actuator comprising a laminated hammock according to one embodiment;

Figure 27 illustrates a laminated hammock with an SMA actuator according to one embodiment;

Figure 28 illustrates a lamination of an SMA actuator to form a crimp connection according to one embodiment;

Figure 29 depicts an SMA actuator comprising a buckle actuator with a laminated hammock;

30 illustrates an exploded view of an SMA system including an SMA actuator including a belt buckle actuator, according to one embodiment;

Figure 31 illustrates an SMA system comprising an SMA actuator comprising a buckle actuator, according to one embodiment;

Figure 32 illustrates an SMA actuator including a buckle actuator according to one embodiment;

Figure 33 illustrates a double yoke capture joint of a buckle arm of an SMA actuator according to one embodiment;

34 illustrates a resistance weld crimp of an SMA actuator used to attach an SMA wire to a buckle actuator, according to one embodiment;

Figure 35 depicts an SMA actuator comprising a buckle actuator with a double yoke capture joint;

Figure 36 illustrates a SMA bimorph liquid lens according to one embodiment;

Figure 37 illustrates a see-through SMA bimorph liquid lens according to one embodiment;

38 illustrates a cross-section and a bottom view of an SMA bimorph liquid lens according to an embodiment;

39 illustrates an SMA system including an SMA actuator with a bimorph actuator, according to one embodiment;

Figure 40 illustrates an SMA actuator with a bimorph actuator according to one embodiment;

Figure 41 depicts the length of a bimorph actuator and the location of a bond pad for an SMA wire extending the wire length beyond the bimorph actuator;

Figure 42 depicts an exploded view of an SMA system including a bimorph actuator according to one embodiment;

Figure 43 depicts an exploded view of a subsection of an SMA actuator according to one embodiment;

Figure 44 depicts a subsection of an SMA actuator according to one embodiment;

Figure 45 illustrates a 5-axis sensor displacement system according to one embodiment;

Figure 46 depicts an exploded view of a 5-axis sensor displacement system according to one embodiment;

Figure 47 depicts an SMA actuator including a bimorph actuator integrated into the circuit for all motions, according to one embodiment;

Figure 48 depicts an SMA actuator including a bimorph actuator integrated into the circuit for all motions, according to one embodiment;

Figure 49 depicts a cross-section of a 5-axis sensor displacement system according to one embodiment;

Figure 50 illustrates an SMA actuator including a bimorph actuator according to one embodiment;

51 illustrates a top view of an SMA actuator comprising a bimorph actuator that moves an image sensor in different x and y positions, according to one embodiment;

52 illustrates an SMA actuator including a bimorph actuator configured as a cassette bimorph autofocus device according to one embodiment;

Figure 53 illustrates an SMA actuator comprising a bimorph actuator according to one embodiment;

Figure 54 illustrates an SMA actuator comprising a bimorph actuator according to one embodiment;

Figure 55 illustrates an SMA actuator comprising a bimorph actuator according to one embodiment;

Figure 56 illustrates an SMA system including an SMA actuator comprising a bimorph actuator, according to one embodiment;

57 depicts an exploded view of an SMA system comprising an SMA actuator comprising a bimorph actuator configured as a biaxial lens shift OIS, according to one embodiment;

58 depicts a cross-section of an SMA system comprising an SMA actuator comprising a bimorph actuator configured as a biaxial lens shift OIS, according to one embodiment;

Figure 59 illustrates a cartridge bimorph actuator according to one embodiment;

Figure 60 illustrates an SMA system comprising an SMA actuator comprising a bimorph actuator, according to one embodiment;

61 depicts an exploded view of an SMA system including an SMA actuator comprising a bimorph actuator, according to one embodiment;

Figure 62 depicts a cross-section of an SMA system comprising an SMA actuator comprising a bimorph actuator, according to one embodiment;

Figure 63 illustrates a cassette bimorph actuator according to one embodiment;

Figure 64 illustrates an SMA system comprising an SMA actuator comprising a bimorph actuator, according to one embodiment;

Figure 65 illustrates an exploded view of an SMA system including an SMA actuator comprising a bimorph actuator, according to one embodiment;

Figure 66 illustrates an SMA system comprising an SMA actuator comprising a bimorph actuator, according to one embodiment;

Figure 67 illustrates an SMA system comprising an SMA actuator comprising a bimorph actuator, according to one embodiment;

Figure 68 illustrates an SMA system comprising an SMA actuator comprising a bimorph actuator, according to one embodiment;

69 depicts an exploded view of an SMA including an SMA actuator comprising a bimorph actuator, according to one embodiment;

70 depicts a cross-section of an SMA system including an SMA actuator including a bimorph actuator configured as a 3-axis sensor shift OIS, according to one embodiment. ;

Figure 71 depicts a cassette bimorph actuator assembly according to one embodiment;

Figure 72 illustrates a flexible sensor circuit for use in an SMA system according to one embodiment;

Figure 73 illustrates an SMA system comprising an SMA actuator comprising a bimorph actuator, according to one embodiment;

74 depicts an exploded view of an SMA system including an SMA actuator comprising a bimorph actuator, according to one embodiment;

Figure 75 depicts a cross-section of an SMA system including an SMA actuator, according to one embodiment;

Figure 76 illustrates a cassette bimorph actuator according to one embodiment;

Figure 77 illustrates a flexible sensor circuit for use in an SMA system according to one embodiment;

Figure 78 illustrates an SMA system comprising an SMA actuator comprising a bimorph actuator, according to one embodiment;

79 depicts an exploded view of an SMA system including an SMA actuator comprising a bimorph actuator, according to one embodiment;

Figure 80 depicts a cross-section of an SMA system including an SMA actuator, according to one embodiment;

Figure 81 illustrates a cassette bimorph actuator according to one embodiment;

Figure 82 illustrates a flexible sensor circuit for use in an SMA system according to one embodiment;

Figure 83 illustrates an SMA system comprising an SMA actuator comprising a bimorph actuator, according to one embodiment;

Figure 84 depicts an exploded view of an SMA system including an SMA actuator according to one embodiment;

Figure 85 depicts a cross-section of an SMA system comprising an SMA actuator comprising a bimorph actuator, according to one embodiment;

Figure 86 illustrates a cassette bimorph actuator for use in an SMA system according to one embodiment;

Figure 87 illustrates a flexible sensor circuit for use in an SMA system according to one embodiment;

88 illustrates exemplary dimensions of a bimorph actuator of an SMA actuator according to an embodiment;

Figure 89 illustrates a lens system for a foldable camera according to an embodiment;

Figure 90 illustrates several embodiments of a lens system including liquid lenses according to an embodiment;

FIG. 91 illustrates a folded lens as a lens mounted on an actuator according to one embodiment;

Figure 92 illustrates a bimorph arm with an offset, according to one embodiment;

Figure 93 illustrates a bimorph arm with an offset and a limiter, according to one embodiment;

Figure 94 illustrates a bimorph arm with an offset and a limiter, according to one embodiment;

Figure 95 illustrates an embodiment of a base including a bimorph arm with an offset, according to an embodiment;

Figure 96 illustrates an embodiment of a base comprising two bimorph arms with an offset, according to an embodiment;

Figure 97 depicts a buckle arm including a point of load extension according to one embodiment;

Figure 98 depicts a buckle arm 9801 including a point of load extension 9810 according to one embodiment;

Figure 99 depicts a bimorph arm including a point-of-load extension, according to one embodiment;

Figure 100 illustrates a bimorph arm including a point-of-load extension, according to one embodiment;

Figure 101 illustrates an SMA optical image stabilizer according to an embodiment;

Figure 102 illustrates a SMA material attachment portion 40 of a moving portion according to an embodiment;

Figure 103 depicts an SMA attachment portion of a static plate with resistance welded SMA wires attached to the SMA attachment portion, according to an embodiment;

Figure 104 depicts an SMA actuator 45 comprising a buckle actuator according to one embodiment;

Figures 105a-105b illustrate a resistance welding crimp including an island for an SMA actuator according to one embodiment;

Figure 106 depicts the relationship between bending plane z-offset, slot width and peak force of a bimorph beam according to one embodiment;

Figure 107 shows an example of how the volume of the box, which is an approximation of a box surrounding the entire bimorph actuator, relates to the work of each bimorph element, according to one embodiment;

Figure 108 depicts a liquid lens actuated using a buckle actuator according to one embodiment;

Figure 109 depicts an unsecured, point-of-load end of a bimorph arm according to one embodiment;

Figure 110 depicts an unsecured, point-of-load end of a bimorph arm, according to an embodiment;

Figure 111 depicts an unsecured, point-of-load end of a bimorph arm according to one embodiment;

Figure 112 depicts an unsecured, point-of-load end of a bimorph arm according to one embodiment;

Figure 113 depicts a fixed end of a bimorph arm according to one embodiment;

Figure 114 depicts a fixed end of a bimorph arm according to one embodiment;

Figure 115 depicts a fixed end of a bimorph arm according to one embodiment;

Figure 116 depicts a fixed end of a bimorph arm according to one embodiment;

Figure 117 depicts a rear view of a fixed end of a bimorph arm according to one embodiment;

Figure 118 depicts an unsecured, point-of-load end of a bimorph arm according to one embodiment;

Figure 119 depicts an unsecured, point-of-load end of a bimorph arm according to an alternate embodiment;

Figure 120 depicts an unsecured, point-of-load end of a bimorph arm according to an alternative embodiment;

Figure 121 depicts an unsecured, point-of-load end of a bimorph arm according to an alternate embodiment;

Figure 122 depicts an unsecured, point-of-load end of a bimorph arm according to an alternate embodiment;

Figure 123 depicts a fixed end of a bimorph arm according to one embodiment;

Figure 124 depicts a fixed end of a bimorph arm according to one embodiment;

Figure 125 depicts a fixed end of a bimorph arm according to one embodiment;

Figure 126 illustrates a balanced bimorph actuator comprising two bimorph arms arranged in a staggered orientation, according to one embodiment;

Figure 127 illustrates an optical image stabilization system including balanced bimorph actuators according to one embodiment;

Figure 128 illustrates a balanced bimorph actuator comprising two bimorph arms arranged in an in-line orientation, according to one embodiment;

129 depicts a top view of a balanced bimorph actuator comprising two bimorph arms arranged in an in-line orientation, according to one embodiment;

Figure 130 illustrates a top view of a balanced bimorph actuator including a common base island, according to one embodiment;

Figure 131 depicts a side view of a balanced bimorph actuator comprising two bimorph arms arranged in a reverse in-line orientation, according to one embodiment;

132 depicts a top view of a balanced bimorph actuator comprising two bimorph arms arranged in a reverse in-line orientation, according to one embodiment;

133 depicts a top view of a balanced bimorph actuator comprising two bimorph arms arranged in a reverse in-line orientation, according to one embodiment;

Figure 134 illustrates a balanced bimorph actuator comprising two bimorph arms arranged in an in-line orientation, according to one embodiment;

135 depicts a top view of a balanced bimorph actuator comprising two bimorph arms arranged in an in-line orientation, according to one embodiment;

136 depicts a top view of a balanced bimorph actuator comprising two bimorph arms arranged in an in-line orientation, according to one embodiment;

Figure 137 illustrates a balanced bimorph actuator comprising two bimorph arms arranged in a staggered orientation, according to one embodiment;

138 depicts a top view of a balanced bimorph actuator comprising two bimorph arms arranged in a staggered orientation, according to one embodiment;

139 depicts a top view of a balanced bimorph actuator comprising two bimorph arms arranged in a staggered orientation, according to one embodiment;

Figure 140 illustrates an optical image stabilization system including balanced bimorph actuators according to one embodiment;

Figure 141 depicts an exploded view of an optical image stabilization system including balanced bimorph actuators according to one embodiment;

Figure 142 illustrates an optical image stabilization system including balanced bimorph actuators according to one embodiment;

Figure 143 illustrates a sensor-shift optical image stabilization system including bimorph actuators according to one embodiment;

Figure 144 illustrates an optical image stabilization system including balanced bimorph actuators according to one embodiment;

Fig. 145 illustrates an outer casing of an optical image stabilization system according to an embodiment;

Figure 146 depicts a cross-section of an optical image stabilization system including an outer housing according to one embodiment;

Figure 147 illustrates an exploded view of an optical image stabilization system including leaf spring circuits according to one embodiment;

Figure 148 depicts a cross-section of an optical image stabilization system including leaf spring circuits according to one embodiment;

Figure 149 depicts a base including springs according to one embodiment;

Figure 150 illustrates a leaf spring circuit according to one embodiment; and

Figure 151 illustrates a bimorph actuator including a crimp according to one embodiment.

100: Shape memory alloy (SMA) wire

101: base

102: buckle actuator

104: central part

106: Crimp structure

108:z stroke direction

Claims (21)

An actuator comprising: A plurality of bimorph arms configured to reduce net friction in one of the plurality of bimorph arms. The actuator of claim 1, wherein each of the plurality of bimorph arms comprises a shape memory alloy (SMA) wire, and The SMA wires attached to the plurality of bimorph arms are connected in series and configured to receive current to each SMA wire to control actuation of the actuator. The actuator of claim 1, wherein the plurality of bimorph arms are arranged in an in-line, mirror image orientation. The actuator of claim 3, wherein the in-line, mirror image orientation comprises a first bimorph arm of the plurality of bimorph arms and a second bimorph arm of the plurality of bimorph arms. a wafer arm, the second bimorph arm configured in-line with the first bimorph arm such that a fixed end of the second bimorph arm is fixed adjacent to one of the first bimorph arms end. The actuator of claim 4, wherein the first bimorph arm is configured to have a direction parallel to a fixed end of the first bimorph arm along a longitudinal axis of the actuator. a friction component, and The second bimorph arm is configured to have a friction component in a direction opposite to the first bimorph arm to reduce the net total friction to zero. The actuator of claim 4, which includes a single shape memory alloy wire having a first end and a second end, the first end of the shape memory alloy and the first end of the plurality of bimorph arms A bimorph arm is coupled and the second end of the shape memory alloy is coupled to the second bimorph arm of the plurality of bimorph arms. The actuator of claim 1, wherein the plurality of bimorph arms are arranged in a reverse in-line orientation. The actuator of claim 7, wherein the reverse in-line orientation comprises a first bimorph arm of the plurality of bimorph arms and a second bimorph arm of the plurality of bimorph arms a wafer arm, wherein the second bimorph arm is arranged in-line with the first bimorph arm such that a fixed end of the first bimorph arm is positioned at an end of the actuator, the end Opposite an end of the actuator adjacent to a fixed end of the second bimorph arm. The actuator of claim 8, wherein the first bimorph arm is configured to have a direction parallel to a longitudinal axis of the actuator at the fixed end of the first bimorph arm a friction component, and The second bimorph arm is configured to have a friction component in an opposite direction to the first bimorph arm to reduce the net total friction to zero. The actuator of claim 1, wherein the plurality of bimorph arms are arranged in a staggered orientation. The actuator of claim 10, wherein the interleaved orientation comprises a first bimorph arm of the plurality of bimorph arms and a second bimorph arm of the plurality of bimorph arms, wherein the second bimorph arms are interleaved with the first bimorph arms such that a longitudinal axis of the second bimorph arms is parallel to a longitudinal axis of the first bimorph arms, and the first bimorph arms A fixed end of a bimorph arm is tied at an end of the actuator opposite an end of the actuator adjacent to a fixed end of the second bimorph arm. The actuator of claim 11, wherein the first bimorph arm is configured to be at the fixed end of the first bimorph arm parallel to the longitudinal axis of the first bimorph arm has a friction component in one direction, and The second bimorph arm is configured to have a friction component in an opposite direction to the first bimorph arm to reduce the net total friction to zero. An actuator module assembly comprising: An outer housing configured with pockets around a perimeter of the outer housing, the pockets configured to externally receive one or more bimorph actuators. The actuator module assembly according to claim 13, wherein the outer casing is made of plastic. The actuator module assembly according to claim 13, wherein the outer casing is made of metal. The actuator module assembly of claim 13, which includes one or more bimorph actuators, the one or more bimorph actuators comprising two bimorph arm. The actuator module assembly of claim 13, wherein the one or more bimorph actuators comprise two bimorph arms arranged in a staggered orientation. An actuator comprising: A plurality of leaf spring circuits configured to create isolated electrical paths, each of the plurality of leaf spring circuits including a spring configured to have a stiffness that controls movement of an object. The actuator of claim 18, wherein each of the springs includes at least one flat bend configured to reduce a clearance space of the spring and to control a direction of movement of the spring. As the actuator of claim 18, it includes an outer shell configured with one or more pockets around a periphery of the outer shell, each one or more pockets configured to receive from the shell The exterior of the body receives one or more bimorph actuators, and the plurality of leaf spring circuits are disposed within the housing. The actuator of claim 20, wherein the one or more bimorph actuators comprise two bimorph arms arranged in an in-line, mirror image orientation, or in a staggered orientation.

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