WO2009142371A1 - Structure de lentille pour dispositif optique utilisant un moteur linéaire et son dispositif de montage optique - Google Patents

Structure de lentille pour dispositif optique utilisant un moteur linéaire et son dispositif de montage optique Download PDF

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Publication number
WO2009142371A1
WO2009142371A1 PCT/KR2008/006581 KR2008006581W WO2009142371A1 WO 2009142371 A1 WO2009142371 A1 WO 2009142371A1 KR 2008006581 W KR2008006581 W KR 2008006581W WO 2009142371 A1 WO2009142371 A1 WO 2009142371A1
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WO
WIPO (PCT)
Prior art keywords
permanent magnet
mover
lens structure
coil
structure according
Prior art date
Application number
PCT/KR2008/006581
Other languages
English (en)
Inventor
Kyung-Wook Kim
Original Assignee
Tae Geuk Electric Generation Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tae Geuk Electric Generation Co., Ltd. filed Critical Tae Geuk Electric Generation Co., Ltd.
Publication of WO2009142371A1 publication Critical patent/WO2009142371A1/fr

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Classifications

    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
    • G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
    • G02B7/10—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification by relative axial movement of several lenses, e.g. of varifocal objective lens
    • G02B7/102—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification by relative axial movement of several lenses, e.g. of varifocal objective lens controlled by a microcomputer
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof

Definitions

  • the present invention relates to a lens structure for an optical device using a linear motor and an optical device mounted with the same, and more particularly to a lens structure capable of achieving an auto-focusing function or a zooming function through a straight movement, direction change, and position maintenance of a mover provided with a lens, and an optical device mounted with the lens structure.
  • the present invention relates to a lens structure for an optical device using a linear motor, wherein an accurate and rapid thrusting structure is arranged between a mover and a fixed body in the linear motor, to achieve a rapid and accurate movement, direction change, and position maintenance of the mover, and thus to achieve auto- focusing and zooming functions securing accuracy and rapidity.
  • a lens structure for acquiring an image of an object is equipped in various electronic appliances such as a personal digital assistant (PDA), a notebook, a computer, a camera, a camcorder, and a mobile phone, to provide a photographing function to such electronic appliance.
  • PDA personal digital assistant
  • a notebook a computer
  • a camera a camera
  • a camcorder a mobile phone
  • the lens structure includes a single mover provided with a lens.
  • the single mover receives a thrust from a linear motor, to achieve a movement, direction change, and position maintenance thereof, and thus to achieve an auto-focusing function.
  • Conventional lens structures include a linear motor utilizing a co-relation between a resilience according to the coefficient of elasticity of a plate spring and a magnetic coupling force of a permanent magnet with a coil.
  • a mover provided with a lens is straight moved between two points on an optical axis while pressing the plate spring.
  • the mover provided with the lens is stopped at a certain position on the optical axis.
  • a drive circuit In order to drive the linear motor, a drive circuit is used.
  • the drive circuit integrates a pulse width modulation (PWM) signal supplied from a controller, through an integrator, or applies the PWM signal to an input of an operational amplifier, using a digital/analog converter (DAC).
  • PWM pulse width modulation
  • DAC digital/analog converter
  • a switching resistance of a bipolar junction transistor (BJT) or a field effect transistor (FET) is adjusted to control an input current in the case of the BJT or to control an input voltage in the case of FET.
  • the intensity of current applied from a constant voltage source to the coil is adjusted to control the magnetic coupling force.
  • the lens structure including the linear motor having the above-described configuration is bulky and exhibits a slow response because it uses a plate spring. Due to a complex structure and a limited space, it is also practically impossible to install two or more movers for implementing a zooming function through an adjustment of the spacing between the lenses of the movers.
  • the present invention has been made in view of the above problems, and it is an object of the present invention to provide a lens structure for an optical device using a linear motor, which includes a thrusting structure constituted by a permanent magnet group configured to exhibit linear magnetic flux density characteristics in accordance with a variation in position between a fixed body and a mover provided with a lens, and a coil bundle generating an electromagnetic force, to achieve a linear movement, direction change, and position maintenance of the mover by a magnetic flux density coupling force formed between the permanent magnet group and the coil bundle, the thrusting structure, in particular, being arranged between the mover and the fixed body, to provide an accurate and rapid thrust, and thus to achieve an auto- focusing function and a zooming function through the rapid and precise movement and position maintenance of the mover, thereby securing accuracy and rapidity.
  • a thrusting structure constituted by a permanent magnet group configured to exhibit linear magnetic flux density characteristics in accordance with a variation in position between a fixed body and a mover provided with a lens, and a coil
  • the above and other objects can be accomplished by the provision of a lens structure for an optical device using a linear motor, the lens structure comprising a fixed body provided with an installation recess, at least one mover installed in the installation recess of the fixed body, and provided with a lens, and an actuator for generating a thrust required for a straight movement of the mover, and applying the generated thrust to the mover, wherein: the actuator comprises permanent magnet groups each including at least one permanent magnet exhibiting symmetrical linear magnetic flux density characteristics in accordance with a variation in position, coil bundles for generating an electromagnetic force, thereby producing a magnetic flux coupling force in cooperation with the permanent magnet groups, and a drive circuit for applying a drive signal to the coil bundles, to enable the coil bundles to generate the electromagnetic force; the permanent magnet groups and the coil bundles are selectively installed at opposite inner wall surfaces of the fixed body and portions of the mover facing the inner wall surfaces of the fixed body, respectively; the coil bundles generate the electromagnetic force in accordance
  • the lens structure according to the present invention includes a thrusting structure using an improved linear motor between a fixed body and a mover provided with a lens, it is possible to achieve rapid and precise movement and position maintenance of the mover.
  • the permanent magnet group and coil bundle of the thrusting structure is compact, and does not need any additional element such as a plate spring.
  • the arrangement of the thrusting structure proposed by the present invention is efficient. Accordingly, it is possible to implement a compact lens structure.
  • the lens structure can be stably installed in a compact optical device having a limited installation space, for example, a mobile phone or a personal digital assistant (PDA).
  • PDA personal digital assistant
  • the thrusting structure can conveniently achieve a position control for a plurality of movers.
  • a position control for a plurality of movers Through the installation of a plurality of movers that is difficult in conventional compact lens structures, it is possible to achieve a zooming function.
  • the position maintenance of the mover can also be achieved through a metal- magnet coupling force requiring no additional current consumption. Accordingly, there is an advantage of saving of electricity.
  • a permanent magnet group constituted by a plurality of uniformly-spaced permanent magnets faces a single coil bundle. Accordingly, the mover provided with the lens can be stably horizontally maintained.
  • a specific shutter structure is also provided.
  • FIGS. 1 to 3 are views illustrating the overall configuration of a lens structure for an optical device using a linear motor according to a preferred embodiment of the present invention
  • FIG. 4 is a view illustrating the overall configuration of an actuator for generating a thrust to straight move a mover
  • FIG. 5 is a view illustrating an assembled state of permanent magnet groups and a fixed body
  • FIG. 6 is a view illustrating an outer structure of a coil bundle
  • FIG. 7 is a view illustrating an assembled state of the mover and coil bundles and a connected state of terminals formed at the coil bundles installed at the mover;
  • FIGS. 8 A to 8D are a view illustrating various shapes of permanent magnets constituting one permanent magnet group
  • FIGS. 9 A and 9B are graphs depicting a linear magnetic flux density of permanent magnets constituting the permanent magnet group shown in FIGS. 8A to 8D;
  • FIG. 10 is a view illustrating arranged states of coil bundles installed at the mover and permanent magnet groups installed at inner wall surfaces of a fixed body;
  • FIGS. 1 IA to 11C are views schematically illustrating a linear movement of the mover according to a driving operation of the actuator shown in FIG. 4 and a fixed state of the mover caused by stoppers;
  • FIGS. 12 to 14D are views illustrating a shutter member mounted to a cover in the lens structure for an optical device using a linear motor according to the preferred embodiment of the present invention.
  • FIGS. 15A and 15B are waveform diagrams illustrating pulse widths of control signals A and B generated from a controller included in the lens structure for an optical device using a linear motor according to the present invention. Best Mode for Carrying out the Invention
  • FIGS. 1 to 3 each illustrates the overall configuration of a lens structure for an optical device using a linear motor in accordance with an exemplary embodiment of the present invention.
  • FIG. 4 illustrates the overall configuration of an actuator which generates a thrust in accordance with a straight movement of a mover.
  • FIG. 5 illustrates an assembled state of a permanent magnet group and a fixed body.
  • the linear motor according to the present invention which is designated by reference numeral 1, 1' or 1" is used to control a focal distance of a lens.
  • the linear motor 1, 1' or 1" includes a fixed body 10 provided with an installation recess 11, a mover 20 installed in the installation recess 11 of the fixed body 10, and provided with a lens 21, and an actuator 100 for generating a thrust required for a straight movement of the mover 20, and applying the generated thrust to the mover 20.
  • the fixed body 10 and mover 20 are formed using an injection molding process.
  • a resin such as a polycarbonate (PC)-based plastic material, a polyoxymethylene-based plastic material, or a reinforced plastic material may be used.
  • Various constituent elements including not only the fixed body 10 and mover 20, but also coil bundles 120 of the actuator 100 and permanent magnets 111 constituting a permanent magnet group 110, are formed using a corrosion-resistive material in accordance with a coating, plating or deposition process, so that they have an enhanced corrosion resistance. In order to secure a desired assemblability and a desired operation stability, these constituent elements may also be subjected to a rounding or chamfering process.
  • a cover 13 formed with a light hole 13a is mounted to the top of the fixed body 10.
  • the lens 21 may be formed at the mover 20, using an insert injection molding process. Alternatively, as shown in FIG. 1, the lens 21 may be fitted in a fitting hole 20a formed at the mover 20, by a fitting portion 21a formed at a circumferential surface of the lens 21. Referring to FIG. 7, annular protrusions 21b are formed around the fitting hole 20a.
  • the installation recess 11 of the fixed body 10 has a square shape so as to receive the mover 20 which also has a square shape.
  • the inner wall surfaces of the installation recess 11 face four edges of the mover 20, respectively.
  • An air gap G2 of about 0.01 to 0.5mm is defined between each inner wall surface of the square installation recess 11 formed in the fixed body 10 and the corresponding edge of the square mover 20.
  • the mover 20 can straight move along the installation recess 11 of the fixed body 10 without interfering with the inner wall surfaces of the installation recess 11.
  • the inner wall surfaces are designated by reference numerals 1 Ia and 1 Ib in FIG. 7.
  • the air gap G2 can also secure a stable circulation path for air remaining in the interior of the installation recess 11 during the straight movement of the mover 20.
  • one or more movers 20, each of which has the lens 21 may be installed in the installation recess 11 of the fixed body 10 having the above-described structure, in order to provide an auto-focusing function for the lens or lenses 21, and a zooming function to adjust a magnification of the lenses 21 through an adjustment for the spacing between the movers 20.
  • one mover 20 is installed in the fixed body 10.
  • a pair of movers 20 are installed in the fixed body 10 such that they are vertically overlapped along an optical axis.
  • FIG. 6 illustrates an outer shape of one coil bundle in the optical device lens structure according to the present invention.
  • FIG. 7 illustrates an assembled state of the mover and coil bundles and connected states of input and output terminals of the coil bundles mounted to one mover.
  • FIGS. 8 A to 8D illustrate various shapes of permanent magnets constituting one permanent group.
  • FIG. 9 illustrates a linear magnetic flux density distribution of the permanent magnets shown in FIG. 8.
  • FIG. 10 illustrates an arrangement of the coil bundles mounted to the mover and an arrangement of the permanent magnet groups provided at the inner walls of the fixed body.
  • FIGS. 1 IA to 11C illustrate a straight movement of the mover according to an operation of the actuator shown in FIG. 4 and a state in which the mover is maintained at a certain position by a stopper.
  • the actuator 100 includes the permanent magnet groups 110, each of which includes permanent magnets 111 basically exhibiting symmetrical linear magnetic flux density characteristics in accordance with a variation in position thereof, the coil bundles 120, which are arranged to face the permanent magnet group 110, to generate an electromagnetic force, and thus to produce a magnetic flux coupling force with the permanent magnet groups 110, and a drive circuit 130 for applying a drive signal to the coil bundles 120, to enable the coil bundles 120 to generate the electromagnetic force.
  • the permanent groups 110 and coil bundles 120 constituting the actuator 100 are installed at the facing inner wall surfaces 1 Ia and 1 Ib of the fixed body 10 and the edges of the mover 20 facing the inner wall surfaces l la and 1 Ib, respectively, or vice versa.
  • a magnetic density coupling force is generated between each permanent magnet group 110 and the coil bundle 120 facing the permanent magnet group, to straight move the mover 20 provided with the lens 21.
  • the installation positions of the permanent magnet groups 110 and coil bundles 120 may be appropriately determined upon a designing process, taking into consideration the weight, material cost, and volume of the mover 20, and the assembly method.
  • coil bundles 120 are installed at the symmetrical, opposite inner wall surfaces 1 Ia and 1 Ib of the fixed body 10, respectively, and the coil bundles 120 are installed at the opposite edges of the mover 20 facing the inner wall surfaces 11a and 1 Ib, respectively, so that a pair of thrusting structures are provided between the mover 20 and the fixed body 10 by a pair of coil bundles 120 and a pair of permanent magnet groups 110.
  • coil bundles 120 may be installed at the four edges of the mover 20
  • permanent magnet groups 110 may be installed at all inner walls of the fixed body 10 facing the four edges of the mover 20, respectively, to form four thrusting structures between the mover 20 and the fixed body 10.
  • coil bundles 120 may be installed at the symmetrical inner wall surfaces 1 Ia and 1 Ib of the fixed body 10, respectively, and permanent magnet groups 110 may be installed at the opposite edges of the mover 20 facing the inner wall surfaces 11a and 1 Ib, respectively.
  • permanent magnet groups 110 may be installed at the opposite edges of the mover 20 facing the inner wall surfaces 11a and 1 Ib, respectively.
  • the optical device lens structure 1, 1' or 1" in which at least one coil bundle 120 and permanent magnet groups 110 are arranged must move in the same direction as that of an electrical direction control signal. Accordingly, it is necessary to arrange the coil bundles 120 and permanent magnet groups 110, taking directionality into consideration.
  • the lens structure, in which the coil bundles 120 and permanent magnet groups 110 having directionality are arranged may be implemented using various arrangements of the coil bundles 120 and permanent magnet groups 110. Furthermore, such various arrangements of the coil bundles 120 and permanent magnet groups 110 taking directionality into consideration can be easily conceived by a person having an ordinary knowledge in the field to which the present invention pertains. For convenience of the description, accordingly, no description of such arrangements is given.
  • the drive circuit 130 basically includes an inverter 132 and a full bridge circuit 133 which function to change the direction of current flowing through the coil bundles 120 in accordance with an operation control signal from a controller 134.
  • the drive circuit 130 also includes a constant voltage source 131 for supplying a current to the coil bundles 120 or cutting off the supply of the current to the coil bundles 120 in accordance with the operation control signal from the controller 134.
  • the coil bundles 120 generate an electromagnetic force in accordance with the drive signal applied from the drive circuit 130.
  • the coil bundles 120 mainly functions to control the movement direction, position, and movement speed of the mover 20 provided with the lens 21.
  • Each coil bundle 120 may be formed by winding an enamel wire having a diameter of 0.01 to 0. lmm. As shown in FIG. 6, each coil bundle 120 has an oval shape in which a length L is larger than a width H when viewing on a cross-section of the coil bundle 120.
  • Each coil bundle 120 includes an oval hollow body having a central hollow portion 120a. If necessary, each coil bundle 120 may be formed using a method other than the enamel wire winding method, for example, a well-known microelectromechanical system (MEMS) method.
  • MEMS microelectromechanical system
  • the polarity of the electromagnetic force generated from each coil bundle 120 is changed in accordance with the flow direction of the current supplied to the coil bundle 120.
  • a mark 125 made of a paint material is formed on the coil bundle 120, to enable the operator to accurately recognize the directionality, output terminal 122 and input terminal 121 of the coil bundle 120 during an assembly process, and thus, to prevent an erroneous assembly of the coil bundle 120.
  • the installation of the coil bundles 120 at the mover 20 may be achieved by injection-molding the mover 20 in a state in which the coil bundles 120 are embedded in the mover 20, or assembling or bonding the coil bundles 120 to the mover 20.
  • fitting protrusions 22 are protruded from opposite edges of the mover 20 facing the inner wall surfaces 11a and 1 Ib of the fixed body 10, respectively.
  • the coil bundles 120 are fitted around the fitting protrusions 22, respectively, so that they are fixedly mounted to the mover 20.
  • guide protrusions 23 are formed at opposite sides of each fitting protrusion 22 on the corresponding edge of the mover 20, respectively. Accordingly, the opposite sides of each coil bundle 120 are engaged with the corresponding guide protrusions 22, respectively.
  • the terminals 121 and 122 of the coil bundles 120 are connected to a pair of connecting terminal pins 124 by solders 124a and 124b, respectively.
  • the connecting terminal pins 124 connecting the terminals 121 and 122 of the coil bundles 120 in parallel are connected to a pair of output terminals 133a and 133b formed at the full bridge circuit 133 of the drive circuit 130. Accordingly, the coil bundles 120 can simultaneously receive a drive signal via the full bridge circuit 133, so that they can generate an electromagnetic force.
  • the input terminal 121 and output terminal 122 of each coil bundle 120 have a length of 0.001 to 0.1mm, taking into consideration the movement of the coil bundle 120 according to the straight movement of the mover 20.
  • the connecting terminal pins 124 to which the input and output terminals 121 and 122 are fixed by the solders 124a and 124b, are fully or locally subjected to a bonding process, not only to secure a desired insurability, but also to enhance the durability of the terminals 121 and 122 extending from soldering positions by a bonding material.
  • a plurality of pin holes 12 are formed at the fixed body 10, in order to stably fix the connecting terminal pins 124, which connect the terminals 121 and 122 of the coil bundles 120 in parallel, using the pin holes 12.
  • Each connecting terminal pin 124 has an end 124c fitted in a corresponding one of the pin holes 12 formed at the fixed body 10.
  • the end 124c of the connecting terminal pin 124 is downwardly protruded from a lower end of the fixed body 10.
  • the ends 124c of the connecting terminal pins 124 are connected to respective output terminals 133a and 133b of the full bridge circuit 133 included in the drive circuit 130 by solders or connectors (not shown) provided at the output terminals 133a and 133b of the full bridge circuit 133.
  • each permanent magnet 111 of each permanent magnet group 110 generates a permanent magnetic force corresponding to the electromagnetic force generated by the corresponding coil bundle 120, thereby generating a thrust for a straight movement of the mover 20, namely, a magnetic flux coupling force.
  • each permanent magnet 111 of each permanent magnet group 110 has a structure in which N and S poles are divided from each other by a diagonal boundary.
  • the magnetic flux density distribution of each magnetic pole in each permanent magnet 111 is linearly varied (in a linear function manner) in accordance with a pole distance variation in the permanent magnet 111 such that it has a diagonal gradient, as shown in FIGS. 9A and 9B.
  • FIG. 9A depicts a most ideal linear density distribution
  • FIG. 9B depicts a general linear density distribution.
  • Each permanent magnet 111 of each permanent magnet group 110 includes an N pole member 11 IA and an S pole member 11 IB.
  • the N pole member 11 IA and S pole member 11 IB may be integrally formed in a manufacturing process thereof, as shown in FIG. 8A, without being separately formed and then magnetized.
  • the N pole member 11 IA and S pole member 11 IB may be separately formed such that they have a right-angled triangular shape as shown in FIG. 8B, or a right-angled trapezoidal shape as shown in FIG. 8C.
  • each of the N pole member 11 IA and S pole member 11 IB is magnetized at an inclined surface thereof.
  • each permanent magnet 111 may have a rectangular body in which N and S poles are divided from each other by a diagonal boundary.
  • each permanent magnet 111 may be implemented by arranging a plurality of right-angled triangular or trapezoidal N pole members 11 IA and a plurality of right-angled triangular or trapezoidal S pole members 11 IB in an overlapped state, as shown in FIG. 8D. Where each permanent magnet 111 is constituted by the N and S pole members 11 IA and 11 IB, it is possible to prevent the mover 20 from being inclined during a straight movement thereof.
  • each permanent magnet group 110 function as essential constituent elements for determining the movement directionality of the mover 20, in cooperation with the coil bundles 120, marks 111 indicating a polarity are formed on the permanent magnets 111, as in the coil bundles 120, in order to prevent an erroneous assembly possibility.
  • the permanent magnets 111 which have the above-described configuration, are mounted on the inner wall surfaces l la and 1 Ib of the fixed body 10, to form permanent magnet groups 110.
  • the permanent magnet groups 110 face the coil bundles 120 installed at the opposite edges of the mover 20, respectively.
  • the installation of the permanent magnet groups 110 at the inner wall surfaces 1 Ia and 1 Ib of the fixed body 10 may be achieved by injection-molding the fixed body 10 in a state in which the permanent magnet groups 110 are embedded in the fixed body 10, or assembling or bonding the permanent magnet groups 110 to the fixed body 10.
  • 1 Ic are formed at each of the symmetrical inner wall surfaces 1 Ia and 1 Ib of the fixed body 10.
  • the permanent magnets 111 of each permanent magnet group 110 are fitted in the fitting grooves 1 Ic formed at the corresponding inner wall surface 1 Ia or 1 Ib.
  • the mover 20 can be maintained at a desired position by a metal- magnet coupling force formed between the stoppers 30 and the permanent magnet groups 110.
  • Each stopper 30 may be formed of a metal piece so that it may be inserted into or joined to the mover 20, the fixed body 10, or the corresponding coil bundle 120.
  • each stopper 30, which forms a metal-magnet coupling force, in cooperation with the corresponding permanent magnet groups 110, may be formed by printing, plating or depositing ferromagnetic powder on the mover 20 or coil bundle 120, or printing, plating or depositing ferromagnetic powder over a mask, and then attaching the mask to the mover 20 or coil bundle 120.
  • Each stopper 30 may have various shapes such as a straight shape, a rectangular shape, a diamond shape, and a circular shape. If necessary, a nickel coating exhibiting excellent corrosion resistance may be formed over each stopper 30, in order to enable the stopper 30 to have a more stable durability.
  • the shape and formation method of the stoppers 30, namely, the volume, material and installation method of the stoppers 30, should be determined, taking into consideration the moving force, movement distance, and linear control movement control range according to the magnetic flux density distribution curves of the coil bundles 120 and permanent magnet groups 30, and the relation among physical forces applied to the mover 20, which has a certain weight, in moving and stopped states of the mover, namely, an inertial force, a gravity, a frictional force, and a resultant force thereof, upon designing the actuator.
  • the force related to the movement of the mover 20 is based on the resultant force of the physical forces (inertial force, gravity, and frictional force) possessed by the mover 20, which has a certain weight, and the forces according to the use environment of the mover 20 (vertically-upward and downward movements of the mover 20 or a movement of the mover 20 parallel to the earth surface). Accordingly, it is possible to maintain the mover 20 at a desired position only when the metal-magnet coupling force formed between the permanent magnet groups 120 and the stoppers 30 is larger than the resultant force of the physical forces.
  • the stoppers 30 are manufactured such that they have a width slightly smaller than the width of the hollow portions 120a of the coil bundles 120, and are fitted in the hollow portions 120a of the coil bundles 120, respectively, to form a metal-magnet coupling force, in cooperation with the permanent magnet groups 110, and thus to enable the mover 20 to be maintained at a desired position.
  • Each stopper 30 may have a length longer than that of each permanent magnet 111 constituting one permanent magnet group 110. Each stopper 30 may also be arranged such that the center of the stopper 30 is aligned with the center of the corresponding permanent magnet group 110 constituted by a plurality of spaced permanent magnets 111. That is, the stopper 30 may form a uniformly-distributed metal-magnet coupling force, in cooperation with the corresponding permanent magnet group 110.
  • the mover 20 provided with the lens 21 can be maintained at a desired position without being downwardly moved due to a weight thereof or other forces, even when the drive circuit 130 does not always supply an operating signal (current) to the coil bundles 120. Accordingly, it is possible to reduce the consumption of electric power.
  • the permanent magnets 111 constituting the permanent magnet groups 110 are fitted into the fitting grooves l ie formed at the symmetrical inner wall surfaces 11a and 1 Ib of the installation recess 11 of the fixed body 10, respectively, to form the permanent magnet groups 110 at the symmetrical inner wall surfaces 1 Ia and 1 Ib of the fixed body 10, as shown in FIG. 5.
  • the stoppers are also formed by printing, plating, or depositing ferromagnetic powder over the fitting protrusions 22 formed at the opposite edges of the mover 20, or fitting metal pieces into the hollow portions 120a of the coil bundles 120, respectively.
  • the coil bundles 120 are fitted around the fitting protrusions 22 so that the coil bundles 120 are fixed to the mover 20.
  • the mover 20 is then inserted into the installation recess 11 of the fixed body 10 such that the coil bundles 120 face the permanent magnet groups 10, respectively.
  • Each fitting protrusion 22, to which one coil bundle 120 is mounted in a fitted state has a width equal to or slightly shorter than the total width of two permanent magnets 111 constituting the corresponding permanent magnet group 10, but longer than the width of one permanent magnet 111.
  • Each permanent magnet 111 of the permanent magnet group 110 fitted in each fitting groove 1 Ic of the fixed body 10 is parallel to an optical axis, whereas the coil bundles 120 installed at the opposite edges of the mover 20 are arranged such that it is orthogonal to the optical axis. Accordingly, the permanent magnets 111 of the permanent magnet groups installed at the inner wall surfaces of the fixed body 10 are orthogonal to the coil bundles 120 installed at the edges of the mover 20 facing the permanent magnets 111, respectively.
  • the permanent magnets 111 constituting the permanent magnet group 110 installed at each of the inner wall surfaces 11a and 1 Ib of the fixed body 10 always face one surface of the coil bundle 120 mounted at the corresponding edge of the mover 20.
  • the length of each permanent magnet group 110 along one axis (hereinafter, referred to a "movement range") is a theoretical maximum length, by which the mover 20 is movable. In this case, the movement range is always orthogonal to the longitudinal axis of each coil bundle 120.
  • the coil bundle 120 mounted to each edge of the mover 20 and the permanent magnets 111 constituting the permanent magnet group 110 installed at the inner wall surface of the fixed body 10 facing the coil bundle 120 are spaced apart from each other to have a spacing Gl of 0. lmm.
  • the input and output terminals 121 and 122 of the coil bundles 120 mounted to the opposite edges of the mover 20 are connected to the connecting terminal pins 124 by the solders 124a and 124b such that they are connected in parallel.
  • the connecting terminal pins 124 are then subjected to a bonding process using an adhesive.
  • the connecting terminal pins 124 which connect the input and output terminals 121 and 122 of the coil bundles 120 in parallel, are tightly fitted into the pin holes 12 formed at the fixed body 10. In this case, the end 124c of the connecting terminal pin 124 is downwardly protruded from the fixed body 10.
  • the ends 124c of the connecting terminal pins 124 downwardly protruded from the fixed body 10 are connected to respective output terminals 133a and 133b of the full bridge circuit 133 included in the drive circuit 130.
  • one linear motor 1, 1' or 1 " as a lens structure is completely formed.
  • the coil bundles 120 installed at the mover 20 generates an electromagnetic force which, in turn, forms a magnetic flux density coupling force, in cooperation with a permanent magnetic force generated from the permanent magnet groups 110 mounted to the inner wall surfaces 1 Ia and 1 Ib of the fixed body 10.
  • the magnetic flux density coupling force By virtue of the magnetic flux density coupling force, a linear movement of the mover 20 can be achieved.
  • the lens structure 1, 1' and 1" can freely achieve an auto-focusing function and a zooming function through a linear displacement of the lens 21 according to a straight movement of the mover 20.
  • the above-described lens structure 1, 1' or 1" is implemented by constituting each permanent magnet group 110 using at least two permanent magnets 111 arranged to be uniformly spaced apart from each other while exhibiting magnetic densities having symmetrical linear characteristics in accordance with a variation in position, respectively, as shown in FIG. 10, in place of one permanent magnet.
  • the magnetic force generated from each coil bundle 120 forms a magnetic flux density coupling force uniformly distributed by permanent magnetic forces generated by the at least two permanent magnets 111 constituting the corresponding permanent magnet group 110.
  • the mover 20 can always be maintained in a horizontal state by the uniformly-distributed magnetic flux density coupling force, without being twisted or inclined, so that it can stably move in a straight direction along the optical axis.
  • the permanent magnets 111 constituting the permanent magnet group 110 facing the coil bundle 120 mounted to one edge of the mover 20 are provided in a ratio of 2:1 for the coil bundle 120 so that the permanent magnetic forces generated from the permanent magnets 111 arranged to be uniformly spaced apart from each other form a uniformly-distributed magnetic flux density coupling force, in cooperation with the electromagnetic force generated by the coil bundle 120.
  • each permanent magnet group 110 is constituted by a plurality of permanent magnets 111, as described above, the mover 20 can be stably supported by the magnetic flux density coupling force uniformly distributed between the permanent magnet group 110 and the coil bundle 120. Accordingly, it is possible to prevent the mover 20 from being inclined or twisted.
  • FIGS. 2 and 3 show a lens structure in which a pair of movers 20 each having one lens 21 are installed in the installation recess 11 of the fixed body 10 such that they are vertically overlapped along the optical axis, to achieve a zooming function for adjusting the magnification of an object through an adjustment for the spacing between the movers 20.
  • a sufficient movement space longer than the sum of the movement distances of the movers 20 is defined along the optical axis.
  • the permanent magnet groups 110 which are mounted to the inner wall surfaces 1 Ia and 1 Ib of the fixed body 10, have a length sufficient to form a magnetic flux density coupling force, in cooperation with the coil bundles 120 installed at the movers 20.
  • the coil bundles 120 installed at the upper mover 20 and the permanent magnet groups corresponding to the coil bundles 120 installed at the lower mover 20 are mounted to the inner walls of the fixed body 10 such that they are vertically overlapped. Accordingly, the coil bundles 120 installed at the upper and lower movers 20 selectively cooperate with the permanent magnet groups 110 mounted to the inner wall surfaces of the fixed body 10 such that they are vertically overlapped, to form a magnetic flux density coupling force.
  • one elongated permanent magnet group 110 is mounted to each of the opposite inner wall surfaces of the fixed body 10.
  • the coil bundles 120 installed at a pair of movers 20 form a magnetic flux density coupling force, through a permanent magnetic force generated from the elongated permanent magnet group 110.
  • the fixed body 10 may be formed into a single body, as shown in FIGS. 1 and 3.
  • the fixed body 10 may be formed to have an upper body 1OA and a lower body 1OB.
  • the upper and lower bodies 1OA and 1OB are assembled in an overlapped state, to form a single body.
  • the assembly of the upper and lower bodies 1OA and 1OB may be achieved, using co-fitting, bonding, or coupling.
  • the controller should generate control signals corresponding in number to the movers 20. In this case, it is also necessary to use drive circuits 130 corresponding in number to the movers 20. This is because drive signals should be applied to respective coil bundles 120 mounted to the movers 20, in order to achieve an independent position control for each mover 20, using one controller.
  • the drive circuit 130 which applies drive signals to the coil bundles 120 of the actuator 100, includes the inverter 32 and full bridge circuit 133, which function to change the direction of current flowing through the coil bundles 120 in accordance with an operation control signal from the controller 134, and the constant voltage source 131, which supplies a current to the coil bundles 120 or cuts off the supply of the current to the coil bundles 120 in accordance with the operation control signal from the controller 134.
  • the controller 134 includes an image sensor, a microprocessor, a focus sensor, an input/output signal processor, a memory, a temperature detecting circuit 135, a key arrangement circuit 136, etc.
  • the constituent elements of the drive circuit 130 namely, the inverter 132, full bridge circuit 133, and constant voltage source 131, the controller 134 supplying an operation control signal to the constant voltage source 131, and the constituent elements of the controller 134 may be formed into a single chip or a plurality of chips.
  • a control signal 134A generated from the controller 134 functions to control the movement, stoppage, position maintenance, and movement speed of the mover 20. Also, a control signal 134B generated from the controller 134 functions to control the movement direction of the mover 20, namely, the forward/ backward direction of the mover 20.
  • the resistor and thermistor constitute a voltage divider circuit.
  • an output voltage Vt from the voltage divider circuit is equal to "Vcc*(R2/(Rl+R2))" If "R2" is the resistance of the thermistor, it is varied in accordance with a variation in temperature, so that the output voltage Vt is varied in accordance with the temperature variation.
  • the varied output voltage Vt is converted into a digital value by the A/D converter ADC, and then applied to the controller 134. Finally, the value of the signal 135a input to the controller 134 is compared with a predetermined mapping value. Based on the result of the comparison, the controller 134 recognizes the inner and outer temperatures of the optical device.
  • the constant voltage source 131 is turned on/off in accordance with an output signal from the controller 134.
  • the constant voltage source 131 receives an input voltage Vin from a battery or other voltage supply source, and supplies an output voltage Vout having a constant level to the full bridge circuit 133 or cuts off the supply of the output voltage Vout.
  • the supply and cut-off of the output voltage Vout is determined by the control signal 134A input from the controller 134.
  • the inverter 132 receives the control signal 134B from the controller 134, and outputs signals b and c having a polarity opposite to the control signal 134B, and signals a and d having the same polarity as the control signal 134B.
  • the signals a and d having the same polarity as the control signal 134B and the signals b and c having an opposite polarity to the control signal 134B are input to switch pairs of the full bridge circuit 133, namely, switches swl and sw4 and switches sw2 and sw3, respectively.
  • the switch pairs of the full bridge circuit 133 are toggled between an opened state and a closed state by the control signal 134B.
  • the controller can control the full bridge circuit, without using the inverter. It is also possible to control the switch pairs in an independent manner by outputting two signals having different polarities.
  • the full bridge circuit 133 performs a function to directly control the movement direction of the mover 20 by changing the direction of current supplied to the coil bundles 120 by the control signal 134B.
  • the full bridge circuit 133 may be constituted by BJTs or FETs.
  • each BJT or FET may receive an output signal from the inverter 132 or the control signal 134B output from the controller 134 so that the open/close state thereof is electrically controllable.
  • a diode may be added to each switch of the full bridge circuit 133.
  • the design of the full bridge circuit 133 may be determined in accordance with the type of the switches.
  • the functions of the coil bundles 120 and permanent magnet groups 110 constituting the actuator 100 namely, the movement, direction change, and position maintenance of the mover 20, will be described, assuming that the direction of the current flowing in coil bundles 120 is forward when the control signal 134B output from the controller 134 is high, while being backward when the control signal 134B is low.
  • each coil bundle 120 facing the corresponding permanent magnet group 110 namely, the coil boundary surface of each coil bundle 120
  • N polarity when the direction of the current applied to the coil bundle 120 is forward
  • S polarity when the direction of the current is backward.
  • the polarity of the electromagnetic force is varied in accordance with the winding direction of the coil bundle 120.
  • the electromagnetic force generated from each coil bundle 120 has an N polarity, so that it tends to be coupled with the S polarity of the corresponding permanent magnet group 110.
  • the coil bundle 120 forms a magnetic flux density coupling force, in cooperation with the S polarity of the permanent magnet group 110.
  • the coil bundle 120 is gradually moved toward a position where the S -polarity of the magnetic flux density of the corresponding permanent magnet group 110 is highest (in a forward direction) , as shown in FIG. 1 IA.
  • the controller 134 when the controller 134 outputs the control signal 134A, which has a high level, and the control signal 134B, which has a low level, in a state in which the coil bundle 120 is positioned at the position where the S -polarity magnetic flux density of the permanent magnet group 110 is highest, or at any other position, an electromagnetic force having an S polarity is generated at the coil boundary surface of the coil bundle 120. In this case, accordingly, the coil bundle 120 is gradually moved toward a position where the N-polarity magnetic flux density of the corresponding permanent magnet group 110 is highest (in a backward direction), as shown in FIG. HB.
  • the mover 20 or each mover 20, which has the lens 21 installed at the fixed body 10 is straight moved in the upward or downward direction in accordance with a variation in the drive signal supplied from the drive circuit 130 or whether or not the drive signal is supplied. In accordance with this movement, an auto-focusing function or a zooming function is achieved.
  • FIGS. 12 to 14 illustrate a shutter structure formed at the cover in the lens structure for an optical device using the linear motor proposed in accordance with a preferred embodiment of the present invention.
  • a shutter structure is provided at the cover 13 installed at the fixed body 10 in the lens structure 1, 1' or 1" for an optical device using the linear motor having the above-described configuration, in order to open and close the light hole 13a arranged in a light path extending to the lens 21.
  • the shutter structure provided at the cover 13 includes a shutter member 40 formed with a hole 41.
  • the shutter member 40 is slidably mounted on a lower surface of the cover 13.
  • the hole 41 formed through the shutter member 40 is aligned with the light hole 13a formed through the cover 13, along the optical axis. In this case, accordingly, the light hole 13a is opened.
  • the shutter member moves to a second position opposite to the first position, the light hole 13a formed through the cover 13 is closed by the shutter member 40.
  • a pair of guides 13b are formed on the lower surface of the cover 13 at opposite sides of the cover 13, respectively.
  • a pair of rails 42 are formed on the upper surface of the shutter member 40 at opposite sides of the shutter member 40, respectively.
  • Protrusions are formed on the lower surface of the shutter member 40 at the opposite sides of the shutter member 40.
  • guide grooves are formed on the upper end of the fixed body 10 facing the lower surface of the shutter member 40 at the opposite sides of the fixed body 10, respectively, such that the guide grooves are engaged with the protrusions of the shutter member 40. In accordance with the engagement between the guide grooves and the protrusions, a more stable sliding movement of the shutter member 40 can be achieved.
  • the permanent magnet groups 110 which are mounted to the opposite inner wall surfaces of the fixed body 10, to generate a thrust for the mover 20, are also used to achieve the sliding movement of the shutter member 40 to open and close the light hole 13a of the cover 13.
  • the same function as described above may be obtained even when separate permanent magnet groups for the shutter member 40 are installed at opposite sides. Accordingly, this structure also falls under the scope of the present invention.
  • the light hole 13a may have various shapes such as circular, square, and diamond shapes.
  • the hole 41 which functions to selectively close the light hole 13a, simply provides a certain opening. For this reason, it is unnecessary to essentially form the hole 41 at the shutter member 40.
  • the shutter member 40 is manufactured to have a reduced size such that the opening/closing of the light source 13a can be achieved in accordance with a variation in the position of the shutter member 40. It is apparent that this structure falls under the scope of the present invention.
  • coil bundles 43 for the shutter member 40 are installed at the shutter member 40.
  • the coil bundles 43 generates an attractive force or a repulsive force, in cooperation with permanent magnetic forces generated from the permanent magnet groups 110 by receiving a drive signal from the full bridge circuit 133 of the drive circuit 130.
  • the drive circuit 130 which causes the mover 20 to be straight moved by supplying a drive signal to the coil bundles 120, also applies to a drive signal to the coil bundles 43 for the shutter member 40, thereby causing the coil bundles 43 to generate an electromagnetic force for a sliding movement of the shutter member 40.
  • a separate drive circuit may be provided to achieve the same function as described above.
  • Stoppers 44 made of a ferromagnetic material are mounted to the shutter member 40 or to the coil bundles 43 provided at the shutter member 40.
  • the stoppers 44 forms a metal-magnet coupling force in cooperation with the permanent magnet groups 110 arranged at opposite sides of the shutter member 40, to maintain the shutter member 40 at a desired position.
  • the light hole 13a formed through the cover 13 is in a state of being closed by the shutter member 40 arranged beneath the cover 13 when the shutter member 40 is in a state of being moved to a left position.
  • the coil bundles 43 for the shutter member 40 When the coil bundles 43 for the shutter member 40 receives a forward drive signal from the drive circuit 130, they generate an electromagnetic force functioning to form a repulsive force in cooperation with the permanent magnet group 110 arranged at one side of the fixed body 10, while functioning to form an attractive force in cooperation with the permanent magnet group 110 arranged at the other side of the fixed body 10.
  • the shutter member 40 is slidably moved toward a position spaced away from the left position, namely, a right position, as shown in FIG. 14B. In this state, the hole 41 formed through the shutter member 40 is aligned with the light hole 13a formed through the cover 13, along the optical axis. Accordingly, the light hole 13a of the cover 13 is opened.
  • the coil bundles 43 for the shutter member 40 When the coil bundles 43 for the shutter member 40 receives a backward drive signal from the drive circuit 130, they generates an electromagnetic force functioning to form a repulsive force in cooperation with the permanent magnet group 110 arranged at the other side of the fixed body 10, while functioning to form an attractive force in cooperation with the permanent magnet group 110 arranged at one side of the fixed body 10.
  • the shutter member 40 is slidably moved toward the left position, to close the light hole 13a formed through the cover 13, as shown in FIG. 14D.
  • the shutter member 40 is then maintained at the left position by a metal-magnet coupling force formed between the permanent magnet group 110 arranged at one side of the fixed body 10 and the stopper 44 arranged adjacent to the permanent magnet group 110.
  • FIGS. 15A and 15B depict the waveforms of the control signals 134A and 134B output from the controller included in the lens structure for an optical device using the linear motor according to the present invention.
  • the control signals 134A and 134B output from the controller have pulse widths as shown in FIGS. 15A and 15B.
  • the unit movement distance of the mover by varying a high- level period, namely, a pulse width, of the control signal 134A from a pulse width shown in FIG. 15A to a pulse width shown in FIG. 15B.
  • the high-level pulse period is a unit movement command period for the mover 20
  • the low-level pulse period is a period in which the controller 134 executes a desired process when the mover 20 is maintained at a desired position after being moved to the position.
  • the controller 134 receives the intensity of a focus, executes a comparison of the received intensity with a predetermined value through a calculation, and stores various data associated with the focus, based on the result of the comparison. Thereafter, the controller 134 outputs a control signal according to the unit movement.
  • the control signal is used for a control method according to a pulse width modulation (PWM).
  • an auto-focusing operation is carried out in accordance with an electrical control method.
  • an electrical control signal A and a PWM signal namely, frequencies and duty ratios.
  • a control algorithm is applied to adjust an auto-focusing distance.
  • the number of pulses of the control signal A for moving the mover to the initial position is equal to the sum of the number of pulses for moving the mover from the initial position to a final position and a gamma (redundancy).
  • the controller Since it is impossible to recognize the current position of the mover in the movement range, the controller first moves the mover to the initial position. Thereafter, the controller changes the state of the control signal B (for a movement of the mover in a reverse direction), and moves the mover to a final position, using the control signal A, for a scanning operation. In accordance with the scanning operation, the controller recognizes a maximum value output from a focus length sensor and the number of pulses of the control signal A at a position where the maximum value is output.
  • the controller moves the mover to a position near the position where the maximum intensity is output.
  • the controller then focuses light at the position where the maximum value is output from the focus length sensor.
  • the scanning scheme in which a focusing operation is carried out using an electrical control signal A having two components (namely, components having the same frequency while being different from each other in terms of duty ratio), and the scanning scheme, in which a focusing operation is carried out using an electrical control signal A having three components, are identical to the scanning scheme, in which a focusing operation is carried out using an electrical control signal having a single component, in terms of a pre-process.
  • an auto-focusing function is added by moving the mover to a position near a position where a maximum value is output from the focusing length sensor, using control signals A and B, after the recognition of the maximum value of the focusing length sensor and the number of pulses of the control signal A in the pre-process, and then precisely searching for the position where the maximum value is output from the focusing distance sensor, while finely moving the mover, using new control signals A and B having smaller pulse widths.
  • the above-described scanning scheme is configured to recognize the maximum value output from the focusing length sensor for the entire movement range and the number of pulses of a control signal A while moving the mover to the final position of the movement range, using the control signal A, and then finely searching a portion of the movement range, in which the position of the maximum value of the focusing length sensor is present, for the maximum value output position and the number of pulses of the control signal A at the maximum value output position.
  • the control algorithm using the set value comparison scheme is configured to compare an output value from the focus sensor with an initially-set focus value stored in a memory.
  • the mover is first moved to an initial position, and then moved by a unit movement corresponding to one pulse of a control signal. Thereafter, an output value from the focus sensor is compared with the initial set value stored in the memory. When the output value is equal to or higher than the initial set focus value at a certain position, the mover is stopped at that position. Thus, a desired focalization is achieved.
  • the maximum output value from the focus sensor throughout the movement range is set to a re-set focus value (hereinafter, referred to as a "re-set value”) (The re-set value is equal to or lower than the maximum output value.).
  • a re-set value a re-set focus value
  • the mover is then moved by a unit movement in accordance with the control signal A.
  • the output value from the focus sensor is compared with the re-set value.
  • a temperature variation range of -1O 0 C to 7O 0 C may be set, and the output signal of the temperature detecting circuit may be divided by a unit of 1O 0 C.
  • the pulse width corresponding to the movement of the mover for each of the 8 temperature ranges is calculated.
  • the controller outputs a PWM pulse width corresponding to -1O 0 C, using a control signal A.
  • the controller When the voltage sensed at the output terminal of the temperature detecting circuit, namely, the output signal 71, corresponds to 35 0 C, the controller outputs a PWM pulse width corresponding to 4O 0 C, using a control signal A, because the output signal 71 is divided by the unit of 1O 0 C. Thus, it is possible to minimize operation errors caused by a variation in temperature.
  • the optical device which is equipped with the lens structure according to the present invention, and to which the control algorithm for the lens structure is applied, has a function for photographing a still image, and a function for recording a moving image. Accordingly, when the user sets an auto-focusing function or an auto-zooming function, using a setting key attached to the opticThe optical device, which is equipped with the lens structure according to the present invention, and to which the control algorithm for the lens structure is applied, has a function for photographing a still image, and a function for recording a moving image. Accordingly, when the user sets an auto-focusing function or an auto-zooming function, using a setting key attached to the optical device, the auto-focusing function or auto-zooming function is automatically carried out by the controller. Thus, it is possible to eliminate trouble- someness caused by manually operating keys one by one to perform the focusing and zooming operations.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Lens Barrels (AREA)
  • Linear Motors (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)

Abstract

La présente invention concerne une structure de lentille destinée à un dispositif optique utilisant un moteur linéaire et un dispositif optique monté avec celle-ci. La structure de lentille peut réaliser une fonction de mise au point automatique ou une fonction de zoom par un mouvement linéaire, un changement de direction et un maintien de position d’un objet en mouvement pourvu d’une lentille. Dans la structure de lentille, une structure précise et rapide de chevauchement est disposée entre un objet en mouvement et un corps fixe dans le moteur linéaire, afin d’atteindre un mouvement, un changement de direction et un maintien de position rapides et précis de l’objet en mouvement et ainsi parvenir à des fonctions de mise au point automatique et de zoom précises et rapides.
PCT/KR2008/006581 2008-05-22 2008-11-07 Structure de lentille pour dispositif optique utilisant un moteur linéaire et son dispositif de montage optique WO2009142371A1 (fr)

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KR20080047764 2008-05-22

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WO2011108775A1 (fr) * 2010-03-04 2011-09-09 (주)태극기전 Actionneur pour commander la longueur focale d'une lentille
KR101173111B1 (ko) 2010-08-30 2012-08-14 (주)태극기전 내구성이 향상된 렌즈의 초점거리 조절모듈
WO2014092212A1 (fr) * 2012-12-10 2014-06-19 (주)태극기전 Actionneur pour module de caméra
WO2017043884A1 (fr) 2015-09-08 2017-03-16 엘지이노텍(주) Dispositif d'entraînement de lentille, et module d'appareil de prise de vues et dispositif optique le comprenant
US10928607B2 (en) 2016-02-04 2021-02-23 Lg Innotek Co., Ltd. Lens driving device, and camera module and optical device including same
KR102080656B1 (ko) * 2017-07-06 2020-02-25 삼성전기주식회사 카메라 모듈
KR20210155633A (ko) * 2020-06-16 2021-12-23 엘지이노텍 주식회사 초음파 리니어 모터 및 이의 구동 방법

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